⚙️ Docking API#

The Docking API provides access to docking functionalities, enabling users to interact with Docking Server and Docking Manager through ROS 2 actions and services.

🔌 Docking Server ROS 2 API#

The Docking Server supports docking, undocking, and other docking-related services through the interfaces below:

Actions	Services	Topics
/dock_robot	/docking_server/reload_database	/dock_detector_server/detected_target
/undock_robot		/dock_detector_server/image
/detect_dock		/docked_pose
		/docking_vel

Attention

For detailed documentation on the Nav2 Docking Server API, including action definitions and usage examples, please visit the official Nav2 Docking Server API reference.

🛠️ Docking Manager ROS 2 API#

The Docking Manager supports learning, navigating, and managing dock stations through the following actions and services:

Actions	Services
/learn_dock	/docking_manager/get_docks
/go_and_dock

RViz GUI#

The Docking Manager integrates seamlessly with the PAL Navigation 2 Panel in rviz. Through this interface, users can:

Dock: Click Dock, assumes the robot is already in front of the dock, performs the docking maneuver.
Learn Dock: Click Learn Dock, select a target, and define parameters interactively.
Go and Dock: Choose a dock from the list and trigger the docking maneuver.
Undock: Perform undocking operations with ease.
Clear: Remove selected setting.

:term:`rviz` Docking Manager Interface — Docking Manager Interface in rviz#