Pepper autonomous recharge and displacements.

 Hello Lukas,

Thanks for your response.

As you describe in your answer, I have reached the same conclusion. And the solution you gave of checking
if the robot is on the Charging Station, to behave in one way or another is what I already have done.
So, thank you for confirming my theory.

 Hello Clement,

First of all, thanks for answering me.

I have read the documentation you refer me to and if I have understood correctly,
even though I manage the loading of the map when my activity resumes, the robot needs to localize again.

Is there any way in which I can establish to the robot the position in which it is in,
without doing the localization process?
Or is there a way to obtain the necessary code to carry out the docking/undocking process
and thus be able to include it in my app and not have to change the Activity?

Unfortunately, there is no other way to use the Autonomous Recharge App.

It will always start its own activity, which interrupts the running activity and starts the docking process.

Before this happens you can subscribe to an event:

Subscribe to the docking soon event, triggered by the Autonomous Recharge application. This event is triggered when the battery level is less than 3% above the specified low battery threshold, or when the time is 5 minutes before the specified docking alarm goes off.

The listeners can be taken from this project:

https://github.com/softbankrobotics-labs/maplocalizeandmove/tree/master/autonomousrecharge/src/main/java/com/aldebaran/qi/sdk/autonomousrecharge

In the end, you have no choice but to include the listener and react to the event. As soon as the signal is received, Pepper should interrupt its work and navigate to the stored point of the Charging Station. As soon as Pepper arrives in front of the Charging Station, the command to dock should be given directly. This ensures that Pepper arrives at the Charging Station before the Autonomous Recharge App interrupts your activity on its own and Pepper then searches for the Charging Station in the wrong place.

A small tip would be to create the MapFrame directly in front of the Charging Station and to map this point very precisely. When Pepper returns to your Activity, it should be checked whether Pepper is on the Charging Station, in which case you could display a charging screen.

When the Autonomous Recharge App starts undocking after the charging process and returns to your Activity, you can check again at this point whether Pepper is on the charging station. In this case, relocation could be started directly in front of the charging station, which may also be the MapFrame, and the normal process of your app could be continued.