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 UndockRobot action message for the enumerated set of error codes.

Example

<UndockRobot dock_type="{dock_type}"/>