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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
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diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
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 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -1018,7 +1018,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/_images/docking_panel.gif b/_images/docking_panel.gif
diff --git a/_sources/migration/Jazzy.rst.txt b/_sources/migration/Jazzy.rst.txt
@@ -5,3 +5,22 @@ Jazzy to K-Turtle
 
 Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.
 
+
+New RViz panel for Docking
+**************************
+
+In `PR #4458 <https://github.com/ros-navigation/navigation2/pull/4458>`_ a new RViz panel was added to interact with the Docking Server.
+
+This panel allows the user to:
+
+- Dock the robot to a charger, selecting the dock id or the dock pose and type. It also allows the user to set whether or not to navigate to the staging pose.
+- Undock the robot from a charger.
+
+The panel displays the action goal status and feedback published by ``nav2_msgs/DockRobot`` and ``nav2_msgs/UndockRobot`` actions. Users can find information such as elapsed time, number of retries and the current state of the action (staging, controlling, etc.), as well as the error codes of the action.
+
+
+Here we can see the working demo of the plugin:
+
+.. image:: images/docking_panel.gif
+
+.. attention:: If the docking server is unavailable, then the combo box of the dock type will be empty.
diff --git a/about/index.html b/about/index.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/about/related_projects.html b/about/related_projects.html
@@ -1019,7 +1019,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/about/robots.html b/about/robots.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/behavior_trees/index.html b/behavior_trees/index.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>

diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
@@ -1020,7 +1020,10 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>