⚙️ 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
/dock_robot	/docking_server/reload_database
/undock_robot
/detect_dock

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

Actions#

📚 /learn_dock#

Detects and learns dock station. The dock’s location is stored in the database for future use.

Goal:

Parameter	Description	Type
`dock_id`	Unique identifier for the dock station (i.e: `"my_dock"`).	`string`
`target_id`	ID of the target to detect (i.e: `0`).	`uint16`
`dock_type`	Type of dock station (i.e: `0`).	`uint16`
`execute_dock_maneuver`	Indicates whether to validate the dock by performing the docking maneuver.	`bool`
`dock_charging_plugin`	Plugin used for docking operations (`pal_charging_dock` by default).	`string`

Result:

Parameter	Description	Type
`success`	Indicates if the dock was successfully learned.	`bool`
`transform`	The pose of the detected dock in the reference frame.	`geometry_msgs::msg::TransformStamped`
`accuracy`	Accuracy of the detected dock pose.	`float64`

🔄 /go_and_dock#

Guides the robot to a previously learned dock station and performs the docking maneuver.

Goal:

Parameter	Description	Type
`dock_id`	Full identifier of the dock to navigate to (i.e: `"/my_building/my_floor/my_dock"`).	`string`
`dock_charging_plugin`	Plugin used for docking operations (`pal_charging_dock` by default).	`string`

Result:

Parameter	Description	Type
`success`	Indicates if the docking maneuver was successful.	`bool`

Services#

🗂️ /docking_manager/get_docks#

Retrieves a list of all known dock stations stored in the database.

Request:

Parameter	Description	Type
(none)	The service does not require any parameters.

Response:

Parameter	Description	Type
`dock_list`	A list of dock stations, each containing `dock_id`, `dock_type`, and `transform`.	`array`

RViz GUI#

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

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#