# Autodocking demo in ROS

**URL:** <https://forum.hello-robot.com/t/autodocking-demo-in-ros/634>\
**Category:** Share\
**Created:** [March 13, 2023, 5:28pm UTC](https://forum.hello-robot.com/t/autodocking-demo-in-ros/634 "2023-03-13T17:28:01Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![chintujaguar](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/chintujaguar/32/260_2.png) [@chintujaguar](https://forum.hello-robot.com/u/chintujaguar)\
**Post date:** [March 13, 2023, 5:28pm UTC](https://forum.hello-robot.com/t/autodocking-demo-in-ros/634/1 "2023-03-13T17:28:01Z")

</div>

Hello community members!

Keeping in line with our motivation to release new development to users as soon as it is in a usable state, I wanted to inform everyone that we have beta software for autodocking out for review. Although it currently resides in a feature branch we hope to mainline it soon.

The code in its current form was a result of a short sprint to kick off development on the autodocking feature and also to try out new ways for high-level task planning through the behavior tree framework. If you want to get started with using Behavior Trees (BTs) with Stretch, this tutorial could be a great starting point!

While we work on polishing it further, if you want to play with it and suggest improvements, you can do so by executing the following commands:

```bash
cd ~/catkin_ws/src/stretch_ros
git pull
git checkout feature/autodocking

```

Follow the rest of the instructions to install dependencies and set up the demo in [the tutorial](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/autodocking_nav_stack/).

![autodocking_optimized](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/01f5f8e7292fed71fea9c8994c9ae3f457693431.gif)

Happy docking!  
Chintan Desai