Auto Charging

Autonomous docking and charging, with per-map charger locations.

For a robot that's meant to run all day, someone plugging it in defeats the purpose. Auto-charging lets it take itself to the dock and charge — and because you can save a charger location per map, it knows where the dock is in each space it works. Paired with patrol, it closes the loop: patrol until low, dock, charge, resume.

Like patrol, this is Go2-only and needs Nav2 running.

In the portal

The OpenMind portal shows live battery state and lets you send the robot to dock (and stop docking) from the machine view.

Docking and monitoring

Send the robot to dock:

curl -X POST http://<robot>:5000/charging/dock -H 'Content-Type: application/json' -d '{}'

Watch the battery and docking state:

curl http://<robot>:5000/charging/status

You get back is_charging, battery_soc (%), battery_current (mA — negative discharging, positive charging), battery_voltage, battery_temperature, dock_process_running, and charging_confirmation_pending (charging detected but not yet confirmed).

Abort or undock:

curl -X POST http://<robot>:5000/charging/stop -H 'Content-Type: application/json' -d '{}'

Telling the robot where the dock is

Read the current charger waypoints, optionally for a specific map:

curl "http://<robot>:5000/charging/location?map_name=office"

OM1 resolves the location in order — a per-map override, then a global waypoint file, then built-in defaults — and the source field in the response tells you which one it used.

If the robot docks in the wrong place, save a per-map override with a predock staging pose and the charger pose:

curl -X POST http://<robot>:5000/charging/location/save \
  -H 'Content-Type: application/json' \
  -d '{"map_name": "office",
       "predock": {"position": {"x": 0.5, "y": -2.0, "z": 0}, "orientation": {"x":0,"y":0,"z":-0.707,"w":0.707}},
       "charger": {"position": {"x": 0.5, "y": -1.0, "z": 0}, "orientation": {"x":0,"y":0,"z":-0.707,"w":0.707}}}'

If something goes wrong

• 400 on dock — not a Go2, Nav2 isn't running, or it's already charging/docking.

• 400 on save — a field is missing, a pose failed validation, or the map_name is invalid or doesn't exist.

• Wrong dock spot — save a per-map override as above.

For system endpoints like GET /status and base control, see the Autonomy API Overview.