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
DockRobotaction 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}"/>