docking_server

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docking_server Quick Facts

Category

🧭 Navigation

Debian package

opennav_docking-None

License

Apache-2.0

Source code

https://gitlab.pal-robotics.com/navigation/opennav_docking

The Docking Server implements a plugin-based framework designed for executing low-level docking and undocking maneuvers

Including:

  • 📡 Dynamic Dock Detection: Uses the Target Detection Server to detect and localize docking stations dynamically.

  • 🔄 Flexible Docking Configurations: Customizable parameters such as staging pose offsets or detection methods for adapting to diverse environments.

  • 🎯 Precise Docking and Servoing: Enables robots to approach and servo to any target detected by the detection plugin, even non-charging targets.

  • 🔋 Charging State Monitoring: Tracks the robot’s docking and charging status using the /power_status topic or a configurable distance threshold.

For more information, check Docking Server Documentation

Node management

How to check the status of the node?

# this  a copy-pastable snippet to check the status
# this  a copy-pastable snippet using rosnode/rostopic to check the node is working

How to access the node’s logs?

# this  a copy-pastable snippet

How to start/stop/restart the node

# this  a copy-pastable snippet

Using in your code/application

Access via the robot’s GUI

[insert screenshots here]

Access via ROS standard tools

# this  a copy-pastable snippet

[insert screenshots here]

Using in Python

# this  a copy-pastable snippet

Using in C++

# this  a copy-pastable snippet

Reference

Subscribed topics

Published topics

Actions server

Actions client

Services