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: string Default: N/A

The dock plugin type, if not previous instance used for docking.

max_undocking_time

Type: float Default: 30.0

Maximum time to get back to the staging pose.

server_name

Type: string Default: N/A

Action server name. If not specified, undock_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.

error_code_id

Type: uint16 Default: N/A

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

error_msg

Type: string Default: N/A

Dock robot error message. See UndockRobot action 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}/>