package bosdyn.api.docking

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The DockingService provides an interface to dock and undock the robot from Spot Docks, as well as get feedback on command status, and get the current docked status of the robot.

• rpc DockingCommand (DockingCommandRequest, DockingCommandResponse)

  docking_service.proto:19

  Starts a docking command on the robot.

  message DockingCommandRequest

  docking.proto:22

  Message to command the robot to dock. \ Note: If the robot is docked, you can undock the robot by issuing a command with `prep_pose_behavior=PREP_POSE_UNDOCK`. If undocking, `docking_station_id` is not required.

  • optional RequestHeader header = 1

    Common request header.

  • optional Lease lease = 2

    The Lease to show ownership of the robot.

  • uint32 docking_station_id = 3

    ID of docking station to dock at. This is ignored if undocking the robot, the current dock is used.

  • string clock_identifier = 4

    Identifier provided by the time sync service to verify time sync between robot and client.

  • optional google.protobuf.Timestamp end_time = 5

    The timestamp (in robot time) at which a command will stop executing. This can be updated by other RPCs This is a required field and used to prevent runaway commands.

  • PrepPoseBehavior prep_pose_behavior = 9

    [Optional] Specify the prep pose behavior

  • bool require_fiducial = 10

    Require the detection of the dock's fiducial

  message DockingCommandResponse

  docking.proto:50

  Response to a DockingCommandRequest

  • optional ResponseHeader header = 1

    Common response header.

  • optional LeaseUseResult lease_use_result = 2

    Details about how the lease was used.

  • DockingCommandResponse.Status status = 3

    Result of issued command.

  • uint32 docking_command_id = 5

    Unique identifier for the command (if accepted, `status=STATUS_OK`).

• rpc DockingCommandFeedback (DockingCommandFeedbackRequest, DockingCommandFeedbackResponse)

  docking_service.proto:22

  Check the status of a docking command.

  message DockingCommandFeedbackRequest

  docking.proto:98

  Message to get the status of a previously issued DockingCommand

  • optional RequestHeader header = 1

    Common request header.

  • uint32 docking_command_id = 2

    Unique identifier of the command to get feedback for.

  • optional UpdateDockingParams update_docking_params = 3

    [optional] Update parameters relating to the specified command ID

  message DockingCommandFeedbackResponse

  docking.proto:110

  Response to a DockingCommandFeedbackRequest for a particular docking command ID

  • optional ResponseHeader header = 1

    Common response header.

  • optional LeaseUseResult lease_use_result = 2

    Details about how the lease was used (unset if unknown).

  • DockingCommandFeedbackResponse.Status status = 3

    Current feedback of specified command ID.

• rpc GetDockingConfig (GetDockingConfigRequest, GetDockingConfigResponse)

  docking_service.proto:26

  Get the configured dock ID ranges.

  message GetDockingConfigRequest

  docking.proto:197

  • optional RequestHeader header = 1

    Common request header.

  message GetDockingConfigResponse

  docking.proto:202

  • optional ResponseHeader header = 1

    Common response header.

  • repeated ConfigRange dock_configs = 2

    A series of `ConfigRange` specifying details for dock ID numbers.

• rpc GetDockingState (GetDockingStateRequest, GetDockingStateResponse)

  docking_service.proto:29

  Get the robot's docking state

  message GetDockingStateRequest

  docking.proto:263

  Message to get the overall docking state

  • optional RequestHeader header = 1

    Common request header.

  message GetDockingStateResponse

  docking.proto:269

  Response of a GetDockingStateRequest

  • optional ResponseHeader header = 1

    Common response header.

  • optional DockState dock_state = 2

The configuration of a range of dock ID's

Used in: GetDockingConfigResponse

• uint32 id_start = 1

  Starting ID

• uint32 id_end = 2

  Ending ID

• DockType type = 3

  Type of dock for this range

Message describing the overall dock state of the robot, including power & comms connections. \ Not tied to any particular DockingCommand ID. \ Note: [*] indicates fields which are only valid if the status is DOCK_STATUS_DOCKED or DOCK_STATUS_DOCKING \ or DOCK_STATUS_UNDOCKING. \ Note: [^] indicates fields which are only valid if the status is DOCK_STATUS_DOCKED. \

Used in: GetDockingStateResponse

• DockState.DockedStatus status = 1

  Status of if the robot is on dock

• DockType dock_type = 2

  [*] Type of the dock

• uint32 dock_id = 3

  [*] ID of the dock

• DockState.LinkStatus power_status = 4

  [^] Status of power detection from the dock

Used in: DockState

• DOCK_STATUS_UNKNOWN = 0

  Unknown

• DOCK_STATUS_DOCKED = 1

  Robot is detected as on a dock

• DOCK_STATUS_DOCKING = 2

  Robot is currently running a docking command

• DOCK_STATUS_UNDOCKED = 3

  Robot is not detected as on dock

• DOCK_STATUS_UNDOCKING = 4

  Robot is currently running an undocking command

Used in: DockState

• LINK_STATUS_UNKNOWN = 0

  Unknown or Not applicable

• LINK_STATUS_DETECTING = 3

  The link status is being detected

• LINK_STATUS_CONNECTED = 1

  The link is detected as connected

• LINK_STATUS_ERROR = 2

  The link could not be detected

Type of dock

Used in: DockProperties, ConfigRange, DockState

• DOCK_TYPE_UNKNOWN = 0

  Unknown type of dock

• DOCK_TYPE_CONTACT_PROTOTYPE = 2

  Prototype version SpotDock

• DOCK_TYPE_SPOT_DOCK = 3

  Production version SpotDock

• DOCK_TYPE_SPOT_DOGHOUSE = 4

  Production version SpotDock located in the dog house.

Used in: DockingCommandFeedbackResponse

• STATUS_UNKNOWN = 0

  Status is not specified.

• STATUS_IN_PROGRESS = 1

  Docking command is executing.

• STATUS_DOCKED = 2

  Docking command succeeded, the robot is docked.

• STATUS_AT_PREP_POSE = 11

  Final success state for `PREP_POSE_ONLY_POSE` or `PREP_POSE_UNDOCK`.

• STATUS_MISALIGNED = 10

  Misaligned was detected between the robot and the dock. The docking command was aborted to save an ending up in an unrecoverable state, please try again.

• STATUS_OLD_DOCKING_COMMAND = 3

  This DockingCommand overridden by new docking command.

• STATUS_ERROR_DOCK_LOST = 4

  ERROR: The sensed dock has been lost and is no longer found.

• STATUS_ERROR_LEASE = 5

  ERROR: Lease rejected.

• STATUS_ERROR_COMMAND_TIMED_OUT = 6

  ERROR: End time has been reached.

• STATUS_ERROR_NO_TIMESYNC = 7

  ERROR: No Timesync with system.

• STATUS_ERROR_TOO_DISTANT = 8

  ERROR: Provided end time too far in the future.

• STATUS_ERROR_NOT_AVAILABLE = 12

  ERROR: The dock is not available for docking.

• STATUS_ERROR_UNREFINED_PRIOR = 13

  ERROR: The prior could not be confirmed as a real dock

• STATUS_ERROR_STUCK = 14

  ERROR: The robot could not make progress towards docking. For example, there may be an obstacle in the way.

• STATUS_ERROR_SYSTEM = 9

  ERROR: Internal system error during execution This error cannot be resolved by issuing a new DockingCommand Check the returned message for details

Used in: DockingCommandResponse

• STATUS_UNKNOWN = 0

  Status is not specified.

• STATUS_OK = 1

  Docking command accepted

• STATUS_ERROR_LEASE = 4

  ERROR: Lease rejected

• STATUS_ERROR_DOCK_NOT_FOUND = 5

  ERROR: Dock fiducial not found.

• STATUS_ERROR_NOT_DOCKED = 6

  ERROR: Trying to undock while not docked

• STATUS_ERROR_GRIPPER_HOLDING_ITEM = 8

  ERROR: Trying to dock when the arm is holding an object.

• STATUS_ERROR_NOT_AVAILABLE = 9

  ERROR: The dock is not available for docking.

• STATUS_ERROR_SYSTEM = 7

  ERROR: Internal system error during execution This error cannot be resolved by issuing a new DockingCommand Check the returned message for details

Defines how and whether we use the "pre-docking" pose.

Used in: DockingCommandRequest, mission.Dock

• PREP_POSE_UNKNOWN = 0

  Default behavior, equivalent to PREP_POSE_USE_POSE.

• PREP_POSE_USE_POSE = 1

  Goes to the pre-docking pose before docking.

• PREP_POSE_SKIP_POSE = 2

  Docks before going to the pre-docking pose.

• PREP_POSE_ONLY_POSE = 3

  Goes to the pre-docking pose, and then returns SUCCESS without docking.

• PREP_POSE_UNDOCK = 4

  Use this enum to undock a currently docked robot.

Used in: DockingCommandFeedbackRequest

• optional google.protobuf.Timestamp end_time = 5

  The new timestamp (in robot time) at which a command will stop executing.