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}"/>