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: bool Default: true

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

dock_id

Type: string Default: N/A

Dock ID or name to use.

dock_pose

Type: geometry_msgs::msg::PoseStamped Default: N/A

The dock pose, if not using dock id.

dock_type

Type: string Default: N/A

The dock plugin type, if using dock pose.

max_staging_time

Type: float Default: 1000.0

Maximum time to navigate to the staging pose.

navigate_to_staging_pose

Type: bool Default: true

Whether to autonomously navigate to staging pose.

server_name

Type: string Default: N/A

Action server name. If not specified, dock_robot is used.

server_timeout

Type: chrono::milliseconds Default: N/A

Action server timeout (ms). If not provided, uses the BT Navigator's default_server_timeout parameter value (20 ms by default).

Output Ports

success

Type: bool Default: N/A

If the action was successful.

num_retries

Type: uint16 Default: N/A

The number of retries executed.

error_code_id

Type: uint16 Default: N/A

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

error_msg

Type: string Default: N/A

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

Example

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