Care-O-bot 4 Charging
There are two possibilities to charge the robot. Either use the charging station for autonomous docking or connect the power supply manually.
Note: There should only be one charger connected to the robot. Do not connect charging station and power supply at the same time! This will cause serious damage to the robot hardware.
There is a dock service which will trigger the autonomous docking process. By default you can use the reference frame station_charger. This command can only be called if the robot stands approximately 1m in front of the charging station.
rosservice call /docker_control/dock "data: 'station_charger'"
The undock service will autonomously undock the robot from the charging station. Note: This command can only be called if the robot is currently docked to the charging station.
rosservice call /docker_control/undock "data: 'station_charger'"
Always plug the power supply into the socket before connecting the power supply to the robot.
Connect the cable from the power supply to the robot plug to manually charge the robot.
Unplug the cable from the robot plug to stop the charging process.