UndockRobot
Invokes the UndockRobot ROS 2 action server, which is implemented by the docking server.
It is used to undock the robot from a docking station.
Input Ports
- dock_type
Type
Default
string
N/A
- Description
The dock plugin type, if not previous instance used for docking.
- max_undocking_time
Type
Default
float
30.0
- Description
Maximum time to get back to the 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
UndockRobotaction message for the enumerated set of error codes.
- error_msg
Type
Default
string
0
- Description
Dock robot error message. See
UndockRobotaction message for the enumerated set of error codes.
Example
<UndockRobot dock_type="{dock_type}" error_code_id={undock_error_code} error_msg={undock_error_msg}/>