package bosdyn.api.auto_return

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• rpc Configure (ConfigureRequest, ConfigureResponse)

  auto_return_service.proto:17

  Configure the service.

  message ConfigureResponse

  auto_return.proto:54

  Response to a configuration request.

  • optional ResponseHeader header = 1

    Common response header.

  • ConfigureResponse.Status status = 2

    Return status for the request.

  • optional Params invalid_params = 3

    If status is STATUS_INVALID_PARAMS, this contains the settings that were invalid.

• rpc GetConfiguration (GetConfigurationRequest, GetConfigurationResponse)

  auto_return_service.proto:20

  Get the current configuration.

  message GetConfigurationRequest

  auto_return.proto:71

  Ask for the current configuration.

  • optional RequestHeader header = 1

    Common request header.

  message GetConfigurationResponse

  auto_return.proto:77

  Response to a "get configuration" request.

  • optional ResponseHeader header = 1

    Common response header.

  • bool enabled = 2

    A simple yes/no, will AutoReturn automatically trigger.

  • optional ConfigureRequest request = 3

    The most recent successful ConfigureRequest. Will be empty if service has not successfully been configured.

• rpc Start (StartRequest, StartResponse)

  auto_return_service.proto:23

  Start AutoReturn now.

  message StartRequest

  auto_return.proto:90

  Start AutoReturn behavior now.

  • optional RequestHeader header = 1

    Common request header.

  • repeated Lease leases = 2

    Leases that AutoReturn may use to accomplish its goals. If left empty, use the leases specified in ConfigureRequest. If empty and no leases have been specified by ConfigureRequest, the response will have a CODE_INVALID_REQUEST in the header.

  • optional Params params = 3

    Parameters to use. If left empty, use the params specified in ConfigureRequest. If empty and no params have been specified by ConfigureRequest, the response will have a CODE_INVALID_REQUEST in the header.

  message StartResponse

  auto_return.proto:107

  • optional ResponseHeader header = 1

    Common response header.

  • StartResponse.Status status = 2

  • optional Params invalid_params = 3

    If status is STATUS_INVALID_PARAMS, this contains the settings that were invalid.

Configure the AutoReturn system.

Used as request type in: AutoReturnService.Configure

Used as field type in: GetConfigurationResponse

• optional RequestHeader header = 1

  Common request header.

• repeated Lease leases = 2

  Leases that AutoReturn may use to accomplish its goals when AutoReturn automatically triggers. If left empty, AutoReturn will not automatically trigger.

• optional Params params = 3

  Parameters to use when AutoReturn automatically triggers.

• bool clear_buffer = 4

  Forget any buffered locations the robot may be remembering. Defaults to false. Set to true if the robot has just crossed an area it should not traverse in AutoReturn.

Used in: ConfigureResponse

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

• STATUS_INVALID_PARAMS = 2

Parameters to AutoReturn actions.

Used in: ConfigureRequest, ConfigureResponse, StartRequest, StartResponse, keepalive.ActionAfter.AutoReturn

• optional google.protobuf.Any mobility_params = 1

  Robot-specific mobility parameters to use. For example, see bosdyn.api.spot.MobilityParams.

• float max_displacement = 2

  Allow AutoReturn to move the robot this far in the XY plane from the location where AutoReturn started. Travel along the Z axis (which is gravity-aligned) does not count. Must be > 0.

  meters

• optional google.protobuf.Duration max_duration = 3

  Optionally specify the maximum amount of time AutoReturn can take. If this duration is exceeded, AutoReturn will stop trying to move the robot. Omit to try indefinitely. Robot may become stuck and never take other comms loss actions!

Used in: StartResponse

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

• STATUS_INVALID_PARAMS = 2