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Vibe-install kit · vibe robotics / ROS 2

Dock automatically when battery drops below 20%

Monitor battery voltage or SoC, cancel the current task, and navigate home to a docking station before the robot bricks mid-mission.

Platforms

  • turtlebot3
  • turtlebot4
  • yahboom-ros2
  • unitree-go
  • pi-diy-diff

Safety

  • Validate dock current draw before unattended charging
  • Set threshold with hysteresis (e.g. 20% trip, 25% clear)
  • Cancel active goals cleanly before docking

Dock on low battery

Goal: When battery SoC/voltage crosses ~20%, preempt tasks and navigate to a saved dock pose.

Hardware checklist

  • [ ] Battery topic or ADC reading available
  • [ ] Saved dock pose on your map
  • [ ] Charging pad / IR dock aligned and tested manually
  • [ ] E-stop accessible

30-minute path

  1. Teleop to the dock; save pose as dock.
  2. Subscribe to /battery_state (or your ADC node); print SoC.
  3. Add a node: if SoC < 20% and not already docking → cancel goals → NavigateToPose(dock).
  4. Add hysteresis so it doesn't chatter at the threshold.
  5. On Unitree Go: use vendor battery API + carefully capped return path; prefer slow mode.
  6. Test by faking SoC in software before trusting real drain.

Safety

  • Unattended charging only after thermal/current checks.
  • If dock fails twice, stop and alert — don't wander.

Files

  • kit.yaml, agent-skill.md

Kit files

  • kits/dock-low-battery/README.md
  • kits/dock-low-battery/agent-skill.md
  • kits/dock-low-battery/kit.yaml

Clone the repo and open this folder, or ask an agent to follow agent-skill.md.