Cargo Handling

Operate the jack, roller, towing hook, and cargo-loading mechanisms.

Jack Device Up, Down, Self-Check

Raise or lower the jack device. The state of the jack device is available via the WebSocket Jack State.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/jack_up

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/jack_down

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/jack_self_check

Clear Jack Errors

The jack device will report an error if it becomes overloaded.

When this occurs, most jack models can still accept new commands. However, some rare models require errors to be cleared manually before they will accept further commands.

curl -X POST http://192.168.25.25:8090/services/clear_jack_errors

Load/Unload Cargo with Roller

Since 2.9.0.

The state of the roller is available via the WebSocket Roller State.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/roller_load

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/roller_unload

Load/Unload Cargo

Triggers loading or unloading of cargo via the robot's cargo handling mechanism.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/load_cargo

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/unload_cargo

Towing Hook Lock

Locks the towing hook to secure an attached trailer.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/towing_hook_lock

Towing Hook Release

Releases the towing hook to detach an attached trailer.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/towing_hook_release

Clear Towing Hook Error

Clears an error reported by the towing hook device.

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/clear_towing_hook_error

Start Rack Size Detection

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/start_rack_size_detection

curl -X POST \
  -H "Content-Type: application/json" \
  http://192.168.25.25:8090/services/stop_rack_size_detection

Detect the width and depth of a rack using the robot's laser scanner.

Warning

It is generally more accurate to refer to the rack's technical specifications or measure it manually with a ruler. Use this service only as a last resort.

Steps to use:

Position the robot directly in front of the rack.
Call /start_rack_size_detection.
Subscribe to the /detected_rack WebSocket topic.
Slowly push the robot under the rack.
Once successfully detected, stop pushing and record the rack dimensions.
Enter the width and depth into the system settings.