Our auto-docking script that allows CoffeeBot to auto-dock requires an auto-docking server. During our testing this crashed fairly often. That said, ROS provides launch files that can automatically spawn nodes that crash.

We’ll modify the auto-docking server launch file so it auto-spawns. We will be using this in the final demo.

Open a terminal window and run:

roscd kobuki_auto_docking/launch/
cp minimal.launch coffeebot.launch
gedit coffeebot.launch

In the editor, replace this line:

<node pkg="nodelet" type="nodelet" name="dock_drive" args="load kobuki_auto_docking/AutoDockingNodelet mobile_base_nodelet_manager">

with this:

<node pkg="nodelet" type="nodelet" name="dock_drive" args="load kobuki_auto_docking/AutoDockingNodelet mobile_base_nodelet_manager" respawn="true">

Save and exit.