Turtlebot ROOMBA autodock

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Hi community,

I'd like to use the autodock feature of CREATE/ROOMBA base. How can I use this feature from ROS ?

As far as I know, the OI command is available in passive mode only. Where is the best location to hook this call ? Do I need to implement a new service mode and call service via service call ? e.g. call service oi_mode 0 which uses function to switch to passive mode and calls OI cmd for autodock ? Ideas and suggestions ?

Thanks in advance

Cheers Christian