autonomous_docking

Basic Usage

Start Bringup

ros2 launch robot_controll_pkg bringup_launch.py

Start docking to Workspace 1

ros2 topic pub /start_dock custom_interfaces/DockTrigger "{trigger: true, wsnumber: 1}" --once

Start Global Planer

ros2 launch global_manager_pkg global_planer_launch.py

Start navigation to Workspace 1 and dock subsequently

ros2 topic pub /dock_goal std_msgs/msg/String "data: 'ws_1'" --once

Undock from Current Workspace

ros2 topic pub /start_undock std_msgs/msg/Bool "data: true" --once