DockRobot

Invokes the DockRobot ROS 2 action server, which is implemented by the docking server.

It is used to dock the robot to a docking station.

Input Ports

use_dock_id

Type

Default

bool

true

Description

Whether to use the dock’s ID or dock pose fields.

dock_id

Type

Default

string

N/A

Description

Dock ID or name to use.

dock_pose

Type

Default

geometry_msgs/PoseStamped

N/A

Description

The dock pose, if not using dock id.

dock_type

Type

Default

string

N/A

Description

The dock plugin type, if using dock pose.

max_staging_time

Type

Default

float

1000.0

Description

Maximum time to navigate to the staging pose.

navigate_to_staging_pose

Type

Default

bool

true

Description

Whether to autonomously navigate to staging pose.

Output Ports

success

Type

Default

bool

true

Description

If the action was successful.

error_code_id

Type

Default

uint16

0

Description

Dock robot error code. See DockRobot action message for the enumerated set of error codes.

num_retries

Type

Default

uint16

0

Description

The number of retries executed.

Example

<DockRobot dock_id="{dock_id}" error_code_id="{dock_error_code}"/>