06: Auto Docking & Charging - Interbotix/turtlebot2i GitHub Wiki
Self charging with Kobuki Docking Station
01. Follow previous guides from this wiki:
The previous wiki documents will help before auto docking:
02. Bringup your robot:
roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch
03. Initiate auto docking sequence:
The robot can automatically dock with the docking station in an appropriate area and the robot within a 2 meter wide by 5 meter long area in front of the station.
roslaunch kobuki_auto_docking activate.launch
Charging:
Charging will automatically begin when the robot is docked. If you do not have a dock the Kobuki base charger can be used to charge the base battery pack as well as the LiPo connected to the OpenUPS unit.