Added Dock/Undock BT to config (#577)

Signed-off-by: Alberto Tudela <[email protected]>

configuration/packages/bt-plugins/actions/DockRobot.rst

@@ -0,0 +1,120 @@
+.. _bt_dock_robot_action:
+
+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 ``DockRobot`` action message for the enumerated set of error codes.
+
+:num_retries:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  uint16 0
+  ====== =======
+
+  Description
+    	The number of retries executed.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <DockRobot dock_id="{dock_id}" error_code_id="{dock_error_code}"/>

configuration/packages/bt-plugins/actions/UndockRobot.rst

@@ -0,0 +1,65 @@
+.. _bt_undock_robot_action:
+
+UndockRobot
+===========
+
+Invokes the UndockRobot ROS 2 action server, which is implemented by the docking server.
+
+It is used to undock the robot from a docking station.
+
+Input Ports
+***********
+
+:dock_type:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A
+  ====== =======
+
+  Description
+    	The dock plugin type, if not previous instance used for docking.
+
+:max_undocking_time:
+
+  ===== =======
+  Type  Default
+  ----- -------
+  float 30.0
+  ===== =======
+
+  Description
+    	Maximum time to get back to the 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 ``UndockRobot`` action message for the enumerated set of error codes.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <UndockRobot dock_type="{dock_type}"/>

configuration/packages/configuring-bt-xml.rst

@@ -51,6 +51,8 @@ Action Plugins
   bt-plugins/actions/CancelAssistedTeleop.rst
   bt-plugins/actions/Smooth.rst
   bt-plugins/actions/GetPoseFromPath.rst
+  bt-plugins/actions/DockRobot.rst
+  bt-plugins/actions/UndockRobot.rst
 
 Condition Plugins
 *****************

plugins/index.rst

@@ -412,6 +412,10 @@ Behavior Tree Nodes
 +--------------------------------------------+---------------------+------------------------------------------+
 | `Get Pose From Path Action`_               |  Marc Morcos        | Extracts a pose from a path              |
 +--------------------------------------------+---------------------+------------------------------------------+
+| `Dock Robot Action`_                       | Steve Macenski      | Calls dock robot action                  |
++--------------------------------------------+---------------------+------------------------------------------+
+| `Undock Robot Action`_                     | Steve Macenski      | Calls undock robot action                |
++--------------------------------------------+---------------------+------------------------------------------+
 
 .. _Back Up Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp
 .. _Drive On Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -445,6 +449,8 @@ Behavior Tree Nodes
 .. _Cancel Complete Coverage Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp
 .. _Compute Complete Coverage Path Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
 .. _Get Pose From Path Action: https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
+.. _Dock Robot Action: https://github.com/ros-navigation/navigation2/blob/main/nav2_docking/opennav_docking_bt/src/dock_robot.cpp
+.. _Undock Robot Action: https://github.com/ros-navigation/navigation2/blob/main/nav2_docking/opennav_docking_bt/src/undock_robot.cpp
 
 
 +------------------------------------+--------------------+------------------------+