Overview
The Deposit action interface provides mechanism-agnostic control for material dumping operations. It supports both autonomous and teleoperated modes with configurable dump duration and automatic closing. Action Server Endpoint:/mission/deposit
Goal Parameters
Operation mode for deposition
MODE_AUTO(0): Fully autonomous depositionMODE_TELEOP_ASSIST(1): Teleoperated with assistance
Maximum time allowed for deposition operation in seconds
Duration to hold dump position in seconds
Whether to automatically close the deposition mechanism after dumping
Result Fields
Whether the deposition operation completed successfully
Result reason code indicating outcome:
REASON_SUCCESS(0): Operation completed successfullyREASON_TIMEOUT(1): Operation exceeded timeout limitREASON_ESTOP(2): Emergency stop activatedREASON_DRIVER_FAULT(3): Actuator driver fault detectedREASON_LIMIT_NOT_REACHED(4): Required limit switch not reachedREASON_INTERLOCK_BLOCKED(5): Safety interlock prevented operationREASON_CANCELED(6): Operation was canceledREASON_FORCED_FAILURE(7): Operation forced to failREASON_SHUTDOWN(8): System shutdown requested
Human-readable description of failure cause (empty on success)
Estimated remaining fill level after deposition as a fraction (0.0 to 1.0)
Total duration of the deposition operation in seconds
Feedback Fields
Current phase of the deposition operation:
PHASE_PRECHECK(0): Pre-operation safety checksPHASE_OPENING(1): Opening deposition doorPHASE_RAISING(2): Raising bed or mechanismPHASE_DUMPING(3): Material dumping in progressPHASE_CLOSING(4): Closing deposition mechanism
Time elapsed since operation start in seconds
Current draw of deposition actuator in amperes
Whether the deposition door is open
Whether the bed or mechanism is in raised position
Whether emergency stop is currently active