Overview
The Excavate action interface provides mechanism-agnostic control for material collection operations. It supports both autonomous and teleoperated modes with configurable fill targets and safety interlocks. Action Server Endpoint:/mission/excavate
Goal Parameters
Operation mode for excavation
MODE_AUTO(0): Fully autonomous excavationMODE_TELEOP_ASSIST(1): Teleoperated with assistance
Maximum time allowed for excavation operation in seconds
Target fill level as a fraction (0.0 to 1.0) of total capacity
Maximum drive speed in meters per second during excavation
Result Fields
Whether the excavation 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): Motor driver fault detectedREASON_JAM_OR_OVERCURRENT(4): Jam or overcurrent condition detectedREASON_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 mass of collected material in kilograms
Total duration of the excavation operation in seconds
Feedback Fields
Current phase of the excavation operation:
PHASE_PRECHECK(0): Pre-operation safety checksPHASE_SPINUP(1): Excavation mechanism startingPHASE_DIGGING(2): Active material collectionPHASE_RETRACT(3): Retracting excavation mechanism
Time elapsed since operation start in seconds
Current estimated fill level as a fraction (0.0 to 1.0)
Current draw of excavation motor in amperes
Whether a jam condition has been detected
Whether emergency stop is currently active