Movement.md

@@ -31,6 +31,23 @@ roslaunch turtlebot_bringup minimal.launch
 roslaunch turtlebot_follower follower.launch  
 ```  
 The follower should now be running. To initiate following, walk in front of the TurtleBot. Then, slowly walk away from the TurtleBot. The robot should move forward. Moving close to the TurtleBot will cause it to back away. Moving slowly to the left or right will cause the TurtleBot to turn. To stop the robot from following, walk quickly away from the robot.  
+### Auto parking the Turtlebot  
+To run automatic docking properly, docking station should be placed in an open space of at least 2 meters wide by 5 meters long. There should be no obstacles between kobuki robot and docking station. And the dock station should be held by a wall or something heavy enough to prevent the robot to push it. A static red light on top of the docking station signals that it is powered on properly.  
+If everything is ready, you can easily launch the auto docking algorithm by using the commands below, If you already launched kobuki_node, load the auto-docking nodelet into the running kobuki core. For convenience, just type:  
+`roslaunch kobuki_auto_docking minimal.launch –screen  `
+Or if you have not launched the kobuki core yet, type:  
+`roslaunch kobuki_auto_docking compact.launch --screen`  
+Be aware that this is just loading the algorithm; it is still not active. The algorithm is implemented as a typical action server. You need to call the server via an action client. To activate the auto docking run the following:  
+`roslaunch kobuki_auto_docking activate.launch --screen`  
+Kobuki robot will follow the docking station's infrared ray, and will dock automatically. If the robot manages to dock successfully, both the status LED of robot and docking station will start blinking with green light. When fully charged, you can see a static green light on both, with a happy be-beep sound from the robot.
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