diff --git a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
index 4987960ec4..b1363c40b0 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
@@ -22,11 +22,11 @@
 
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/twist.hpp"
-#include "nav_msgs/msg/path.hpp"
 #include "nav2_costmap_2d/costmap_subscriber.hpp"
 #include "nav2_costmap_2d/footprint_subscriber.hpp"
 #include "nav2_costmap_2d/costmap_topic_collision_checker.hpp"
 #include "nav2_graceful_controller/smooth_control_law.hpp"
+#include "nav_msgs/msg/path.hpp"
 #include "nav2_util/lifecycle_node.hpp"
 
 namespace opennav_docking
@@ -59,22 +59,25 @@ class Controller
    * @brief Compute a velocity command using control law.
    * @param pose Target pose, in robot centric coordinates.
    * @param cmd Command velocity.
+   * @param is_docking If true, robot is docking. If false, robot is undocking.
    * @param backward If true, robot will drive backwards to goal.
    * @returns True if command is valid, false otherwise.
    */
   bool computeVelocityCommand(
-    const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool backward = false);
+    const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool is_docking,
+    bool backward = false);
 
 protected:
   /**
    * @brief Check if a trajectory is collision free.
    *
    * @param target_pose Target pose, in robot centric coordinates.
+   * @param is_docking If true, robot is docking. If false, robot is undocking.
    * @param backward If true, robot will drive backwards to goal.
    * @return True if trajectory is collision free.
    */
   bool isTrajectoryCollisionFree(
-    const geometry_msgs::msg::Pose & target_pose, bool backward = false);
+    const geometry_msgs::msg::Pose & target_pose, bool is_docking, bool backward = false);
 
   /**
    * @brief Callback executed when a parameter change is detected.
@@ -116,6 +119,7 @@ class Controller
   double projection_time_;
   double simulation_time_step_;
   double collision_tolerance_;
+  double transform_tolerance_;
   std::shared_ptr<tf2_ros::Buffer> tf2_buffer_;
   std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
   std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
index 08c3cc1f7c..9e03c5b154 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
@@ -112,12 +112,13 @@ class DockingServer : public nav2_util::LifecycleNode
    * @param pose The pose to command towards.
    * @param linear_tolerance Pose is reached when linear distance is within this tolerance.
    * @param angular_tolerance Pose is reached when angular distance is within this tolerance.
+   * @param is_docking If true, the robot is docking. If false, the robot is undocking.
    * @param backward If true, the robot will drive backwards.
    * @returns True if pose is reached.
    */
   bool getCommandToPose(
     geometry_msgs::msg::Twist & cmd, const geometry_msgs::msg::PoseStamped & pose,
-    double linear_tolerance, double angular_tolerance, bool backward);
+    double linear_tolerance, double angular_tolerance, bool is_docking, bool backward);
 
   /**
    * @brief Get the robot pose (aka base_frame pose) in another frame.
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
index ecc3c78de3..1aee1a7b71 100644
--- a/nav2_docking/opennav_docking/src/controller.cpp
+++ b/nav2_docking/opennav_docking/src/controller.cpp
@@ -85,15 +85,14 @@ Controller::Controller(
   node->get_parameter("controller.use_collision_detection", use_collision_detection_);
   node->get_parameter("controller.projection_time", projection_time_);
   node->get_parameter("controller.simulation_time_step", simulation_time_step_);
+  node->get_parameter("controller.transform_tolerance", transform_tolerance_);
 
   if (use_collision_detection_) {
-    double transform_tolerance;
     std::string costmap_topic, footprint_topic;
     node->get_parameter("controller.costmap_topic", costmap_topic);
     node->get_parameter("controller.footprint_topic", footprint_topic);
-    node->get_parameter("controller.transform_tolerance", transform_tolerance);
     node->get_parameter("controller.collision_tolerance", collision_tolerance_);
-    configureCollisionChecker(node, costmap_topic, footprint_topic, transform_tolerance);
+    configureCollisionChecker(node, costmap_topic, footprint_topic, transform_tolerance_);
   }
 
   trajectory_pub_ =
@@ -104,21 +103,22 @@ Controller::~Controller()
 {
   control_law_.reset();
   trajectory_pub_.reset();
+  collision_checker_.reset();
   costmap_sub_.reset();
   footprint_sub_.reset();
-  collision_checker_.reset();
 }
 
 bool Controller::computeVelocityCommand(
-  const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool backward)
+  const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool is_docking,
+  bool backward)
 {
   std::lock_guard<std::mutex> lock(dynamic_params_lock_);
   cmd = control_law_->calculateRegularVelocity(pose, backward);
-  return isTrajectoryCollisionFree(pose, backward);
+  return isTrajectoryCollisionFree(pose, is_docking, backward);
 }
 
 bool Controller::isTrajectoryCollisionFree(
-  const geometry_msgs::msg::Pose & target_pose, bool backward)
+  const geometry_msgs::msg::Pose & target_pose, bool is_docking, bool backward)
 {
   // Visualization of the trajectory
   nav_msgs::msg::Path trajectory;
@@ -128,14 +128,14 @@ bool Controller::isTrajectoryCollisionFree(
   // First pose
   geometry_msgs::msg::PoseStamped next_pose;
   next_pose.header.frame_id = base_frame_;
-  next_pose.pose.orientation.w = 1.0;
   trajectory.poses.push_back(next_pose);
 
   // Get the transform from base_frame to fixed_frame
   geometry_msgs::msg::TransformStamped base_to_fixed_transform;
   try {
-    base_to_fixed_transform =
-      tf2_buffer_->lookupTransform(fixed_frame_, base_frame_, tf2::TimePointZero);
+    base_to_fixed_transform = tf2_buffer_->lookupTransform(
+      fixed_frame_, base_frame_, trajectory.header.stamp,
+      tf2::durationFromSec(transform_tolerance_));
   } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR(
       logger_, "Could not get transform from %s to %s: %s",
@@ -157,12 +157,15 @@ bool Controller::isTrajectoryCollisionFree(
     local_pose.header.stamp = trajectory.header.stamp;
     tf2::doTransform(local_pose, local_pose, base_to_fixed_transform);
 
-    // Compute the distance between the end of the current trajectory and the dock pose
-    double dock_collision_distance =
-      nav2_util::geometry_utils::euclidean_distance(target_pose, next_pose.pose);
+    // Determine the distance at which to check for collisions
+    // Skip the final segment of the trajectory for docking
+    // and the initial segment for undocking
+    // This avoids false positives when the robot is at the dock
+    double dock_collision_distance = is_docking ?
+      nav2_util::geometry_utils::euclidean_distance(target_pose, next_pose.pose) :
+      std::hypot(next_pose.pose.position.x, next_pose.pose.position.y);
 
     // If this distance is greater than the collision_tolerance, check for collisions
-    // Skipping the last part of the trajectory where the dock should be
     auto projected_pose = nav_2d_utils::poseToPose2D(local_pose.pose);
     if (use_collision_detection_ &&
       dock_collision_distance > collision_tolerance_ &&
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index a29ddf4d07..d7af36c9eb 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -449,7 +449,9 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
     // Compute and publish controls
     auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
     command->header.stamp = now();
-    if (!controller_->computeVelocityCommand(target_pose.pose, command->twist, dock_backwards_)) {
+    if (!controller_->computeVelocityCommand(target_pose.pose, command->twist, true,
+        dock_backwards_))
+    {
       throw opennav_docking_core::FailedToControl("Failed to get control");
     }
     vel_publisher_->publish(std::move(command));
@@ -515,7 +517,7 @@ bool DockingServer::resetApproach(const geometry_msgs::msg::PoseStamped & stagin
     auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
     command->header.stamp = now();
     if (getCommandToPose(
-        command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_,
+        command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_, false,
         !dock_backwards_))
     {
       return true;
@@ -533,7 +535,7 @@ bool DockingServer::resetApproach(const geometry_msgs::msg::PoseStamped & stagin
 
 bool DockingServer::getCommandToPose(
   geometry_msgs::msg::Twist & cmd, const geometry_msgs::msg::PoseStamped & pose,
-  double linear_tolerance, double angular_tolerance, bool backward)
+  double linear_tolerance, double angular_tolerance, bool is_docking, bool backward)
 {
   // Reset command to zero velocity
   cmd.linear.x = 0;
@@ -556,7 +558,7 @@ bool DockingServer::getCommandToPose(
   tf2_buffer_->transform(target_pose, target_pose, base_frame_);
 
   // Compute velocity command
-  if (!controller_->computeVelocityCommand(target_pose.pose, cmd, backward)) {
+  if (!controller_->computeVelocityCommand(target_pose.pose, cmd, is_docking, backward)) {
     throw opennav_docking_core::FailedToControl("Failed to get control");
   }
 
@@ -643,7 +645,7 @@ void DockingServer::undockRobot()
       auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
       command->header.stamp = now();
       if (getCommandToPose(
-          command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_,
+          command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_, false,
           !dock_backwards_))
       {
         RCLCPP_INFO(get_logger(), "Robot has reached staging pose");
diff --git a/nav2_docking/opennav_docking/test/test_controller.cpp b/nav2_docking/opennav_docking/test/test_controller.cpp
index 2dee5308f7..eb4caafe28 100644
--- a/nav2_docking/opennav_docking/test/test_controller.cpp
+++ b/nav2_docking/opennav_docking/test/test_controller.cpp
@@ -17,9 +17,10 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/pose.hpp"
+#include "opennav_docking/controller.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
+#include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/node_utils.hpp"
-#include "opennav_docking/controller.hpp"
 #include "tf2_ros/buffer.h"
 #include "ament_index_cpp/get_package_share_directory.hpp"
 
@@ -37,6 +38,163 @@ RosLockGuard g_rclcpp;
 namespace opennav_docking
 {
 
+class ControllerFixture : public opennav_docking::Controller
+{
+public:
+  ControllerFixture(
+    const rclcpp_lifecycle::LifecycleNode::SharedPtr & node, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::string fixed_frame, std::string base_frame)
+  : Controller(node, tf, fixed_frame, base_frame)
+  {
+  }
+
+  ~ControllerFixture() = default;
+
+  bool isTrajectoryCollisionFree(
+    const geometry_msgs::msg::Pose & target_pose, bool is_docking, bool backward = false)
+  {
+    return opennav_docking::Controller::isTrajectoryCollisionFree(
+      target_pose, is_docking, backward);
+  }
+
+  void setCollisionTolerance(double tolerance)
+  {
+    collision_tolerance_ = tolerance;
+  }
+};
+
+class TestCollisionChecker : public nav2_util::LifecycleNode
+{
+public:
+  explicit TestCollisionChecker(std::string name)
+  : LifecycleNode(name)
+  {
+  }
+
+  ~TestCollisionChecker()
+  {
+    footprint_pub_.reset();
+    costmap_pub_.reset();
+  }
+
+  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & /*state*/)
+  {
+    RCLCPP_INFO(this->get_logger(), "Configuring");
+
+    costmap_ = std::make_shared<nav2_costmap_2d::Costmap2D>(100, 100, 0.1, -5.0, -5.0);
+
+    footprint_pub_ = create_publisher<geometry_msgs::msg::PolygonStamped>(
+      "test_footprint", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+    costmap_pub_ = std::make_shared<nav2_costmap_2d::Costmap2DPublisher>(
+      shared_from_this(), costmap_.get(), "test_base_frame", "test_costmap", true);
+
+    return nav2_util::CallbackReturn::SUCCESS;
+  }
+
+  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & /*state*/)
+  {
+    RCLCPP_INFO(this->get_logger(), "Activating");
+    costmap_pub_->on_activate();
+    return nav2_util::CallbackReturn::SUCCESS;
+  }
+
+  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & /*state*/)
+  {
+    RCLCPP_INFO(this->get_logger(), "Deactivating");
+    costmap_pub_->on_deactivate();
+    costmap_.reset();
+    return nav2_util::CallbackReturn::SUCCESS;
+  }
+
+  void publishFootprint(
+    const double radius, const double center_x, const double center_y,
+    std::string base_frame, const rclcpp::Time & stamp)
+  {
+    std::unique_ptr<geometry_msgs::msg::PolygonStamped> msg =
+      std::make_unique<geometry_msgs::msg::PolygonStamped>();
+
+    msg->header.frame_id = base_frame;
+    msg->header.stamp = stamp;
+
+    geometry_msgs::msg::Point32 p;
+
+    p.x = center_x + radius;
+    p.y = center_y + radius;
+    msg->polygon.points.push_back(p);
+
+    p.x = center_x + radius;
+    p.y = center_y - radius;
+    msg->polygon.points.push_back(p);
+
+    p.x = center_x - radius;
+    p.y = center_y - radius;
+    msg->polygon.points.push_back(p);
+
+    p.x = center_x - radius;
+    p.y = center_y + radius;
+    msg->polygon.points.push_back(p);
+
+    footprint_pub_->publish(std::move(msg));
+  }
+
+  void publishCostmap()
+  {
+    costmap_pub_->publishCostmap();
+  }
+
+  geometry_msgs::msg::Pose setPose(double x, double y, double theta)
+  {
+    geometry_msgs::msg::Pose pose;
+    pose.position.x = x;
+    pose.position.y = y;
+    pose.position.z = 0.0;
+    pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(theta);
+    return pose;
+  }
+
+  void setRectangle(
+    double width, double height, double center_x, double center_y, unsigned char cost)
+  {
+    unsigned int mx, my;
+    if (!costmap_->worldToMap(center_x, center_y, mx, my)) {
+      RCLCPP_ERROR(this->get_logger(), "Failed to convert world coordinates to map coordinates");
+      return;
+    }
+
+    unsigned int width_cell = static_cast<unsigned int>(width / costmap_->getResolution());
+    unsigned int height_cell = static_cast<unsigned int>(height / costmap_->getResolution());
+
+    for (unsigned int i = 0; i < width_cell; ++i) {
+      for (unsigned int j = 0; j < height_cell; ++j) {
+        costmap_->setCost(mx + i, my + j, cost);
+      }
+    }
+  }
+
+  void clearCostmap()
+  {
+    if (!costmap_) {
+      RCLCPP_ERROR(this->get_logger(), "Costmap is not initialized");
+      return;
+    }
+
+    unsigned int size_x = costmap_->getSizeInCellsX();
+    unsigned int size_y = costmap_->getSizeInCellsY();
+
+    for (unsigned int i = 0; i < size_x; ++i) {
+      for (unsigned int j = 0; j < size_y; ++j) {
+        costmap_->setCost(i, j, nav2_costmap_2d::FREE_SPACE);
+      }
+    }
+  }
+
+private:
+  std::shared_ptr<nav2_costmap_2d::Costmap2D> costmap_;
+
+  rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr footprint_pub_;
+  std::shared_ptr<nav2_costmap_2d::Costmap2DPublisher> costmap_pub_;
+};
+
 TEST(ControllerTests, ObjectLifecycle)
 {
   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
@@ -48,29 +206,19 @@ TEST(ControllerTests, ObjectLifecycle)
     node, "controller.use_collision_detection", rclcpp::ParameterValue(false));
 
   auto controller = std::make_unique<opennav_docking::Controller>(
-    node, tf, "test_fixed_frame", "test_base_frame");
-
-  // Set a transform between fixed_frame and base_frame
-  geometry_msgs::msg::TransformStamped fixed_to_base;
-  fixed_to_base.header.frame_id = "test_fixed_frame";
-  fixed_to_base.header.stamp = node->get_clock()->now();
-  fixed_to_base.child_frame_id = "test_base_frame";
-  fixed_to_base.transform.translation.x = 0.0;
-  fixed_to_base.transform.translation.y = 0.0;
-  fixed_to_base.transform.translation.z = 0.0;
-  tf->setTransform(fixed_to_base, "test", false);
+    node, tf, "test_base_frame", "test_base_frame");
 
   geometry_msgs::msg::Pose pose;
   geometry_msgs::msg::Twist cmd_out, cmd_init;
-  EXPECT_TRUE(controller->computeVelocityCommand(pose, cmd_out));
+  EXPECT_TRUE(controller->computeVelocityCommand(pose, cmd_out, true));
   EXPECT_NE(cmd_init, cmd_out);
   controller.reset();
 }
 
 TEST(ControllerTests, DynamicParameters) {
   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
-  auto controller = std::make_shared<opennav_docking::Controller>(
-    node, nullptr, "test_fixed_frame", "test_base_frame");
+  auto controller = std::make_unique<opennav_docking::Controller>(
+    node, nullptr, "test_base_frame", "test_base_frame");
 
   auto params = std::make_shared<rclcpp::AsyncParametersClient>(
     node->get_node_base_interface(), node->get_node_topics_interface(),
@@ -108,4 +256,294 @@ TEST(ControllerTests, DynamicParameters) {
   EXPECT_EQ(node->get_parameter("controller.collision_tolerance").as_double(), 11.0);
 }
 
+TEST(ControllerTests, TFException)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  tf->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+
+  auto controller = std::make_unique<opennav_docking::ControllerFixture>(
+    node, tf, "test_fixed_frame", "test_base_frame");
+
+  geometry_msgs::msg::Pose pose;
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(pose, false));
+  controller.reset();
+}
+
+TEST(ControllerTests, CollisionCheckerDockForward) {
+  auto collision_tester = std::make_shared<TestCollisionChecker>("collision_test");
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  tf->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.footprint_topic", rclcpp::ParameterValue("test_footprint"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.costmap_topic", rclcpp::ParameterValue("test_costmap_raw"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.projection_time", rclcpp::ParameterValue(10.0));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.simulation_time_step", rclcpp::ParameterValue(0.1));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.collision_tolerance", rclcpp::ParameterValue(0.3));
+
+  auto controller = std::make_unique<opennav_docking::ControllerFixture>(
+    node, tf, "test_base_frame", "test_base_frame");
+  collision_tester->configure();
+  collision_tester->activate();
+
+  // Set the pose of the dock at 1.75m in front of the robot
+  auto dock_pose = collision_tester->setPose(1.75, 0.0, 0.0);
+
+  // Publish a footprint of 0.5m "radius" at origin
+  auto radius = 0.5;
+  collision_tester->publishFootprint(radius, 0.0, 0.0, "test_base_frame", node->now());
+
+  // Publish an empty costmap
+  // It should not hit anything in an empty costmap
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
+
+  // Set a dock in the costmap of 0.2x1.5m at 2m in front of the robot
+  // It should hit the dock because the robot is 0.5m wide and the dock pose is at 1.75
+  // But it does not hit because the collision tolerance is 0.3m
+  collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
+
+  // Set an object between the robot and the dock
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.2, 1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
+
+  // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
+  controller->setCollisionTolerance(0.0);
+
+  // Set a dock in the costmap of 0.2x1.5m at 2m in front of the robot
+  // Now it should hit the dock
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
+
+  collision_tester->deactivate();
+}
+
+TEST(ControllerTests, CollisionCheckerDockBackward) {
+  auto collision_tester = std::make_shared<TestCollisionChecker>("collision_test");
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  tf->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.footprint_topic", rclcpp::ParameterValue("test_footprint"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.costmap_topic", rclcpp::ParameterValue("test_costmap_raw"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.projection_time", rclcpp::ParameterValue(10.0));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.simulation_time_step", rclcpp::ParameterValue(0.1));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.collision_tolerance", rclcpp::ParameterValue(0.3));
+
+  auto controller = std::make_unique<opennav_docking::ControllerFixture>(
+    node, tf, "test_base_frame", "test_base_frame");
+  collision_tester->configure();
+  collision_tester->activate();
+
+  // Set the pose of the dock at 1.75m behind the robot
+  auto dock_pose = collision_tester->setPose(-1.75, 0.0, 0.0);
+
+  // Publish a footprint of 0.5m "radius" at origin
+  auto radius = 0.5;
+  collision_tester->publishFootprint(radius, 0.0, 0.0, "test_base_frame", node->now());
+
+  // Publish an empty costmap
+  // It should not hit anything in an empty costmap
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
+
+  // Set a dock in the costmap of 0.2x1.5m at 2m behind the robot
+  // It should hit the dock because the robot is 0.5m wide and the dock pose is at -1.75
+  // But it does not hit because the collision tolerance is 0.3m
+  collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
+
+  // Set an object between the robot and the dock
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.2, -1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
+
+  // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
+  controller->setCollisionTolerance(0.0);
+
+  // Set a dock in the costmap of 0.2x1.5m at 2m behind the robot
+  // Now it should hit the dock
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
+
+  collision_tester->deactivate();
+}
+
+TEST(ControllerTests, CollisionCheckerUndockBackward) {
+  auto collision_tester = std::make_shared<TestCollisionChecker>("collision_test");
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  tf->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.footprint_topic", rclcpp::ParameterValue("test_footprint"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.costmap_topic", rclcpp::ParameterValue("test_costmap_raw"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.projection_time", rclcpp::ParameterValue(10.0));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.simulation_time_step", rclcpp::ParameterValue(0.1));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.collision_tolerance", rclcpp::ParameterValue(0.3));
+
+  auto controller = std::make_unique<opennav_docking::ControllerFixture>(
+    node, tf, "test_base_frame", "test_base_frame");
+  collision_tester->configure();
+  collision_tester->activate();
+
+  // Set the staging pose at 1.75m behind the robot
+  auto staging_pose = collision_tester->setPose(-1.75, 0.0, 0.0);
+
+  // Publish a footprint of 0.5m "radius" at origin
+  auto radius = 0.5;
+  collision_tester->publishFootprint(radius, 0.0, 0.0, "test_base_frame", node->now());
+
+  // Publish an empty costmap
+  // It should not hit anything in an empty costmap
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
+
+  // Set a dock in the costmap of 0.2x1.5m in front of the robot. The robot is docked
+  // It should hit the dock because the robot is 0.5m wide and the robot pose is at 1.75
+  // But it does not hit because the collision tolerance is 0.3m
+  collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
+
+  // Set an object beyond the staging pose
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.2, -1.75 - 0.5, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
+
+  // Set an object between the robot and the staging pose
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.2, -1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
+
+  // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
+  controller->setCollisionTolerance(0.0);
+
+  // Set a dock in the costmap of 0.2x1.5m in front of the robot. The robot is docked
+  // Now it should hit the dock
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
+
+  collision_tester->deactivate();
+}
+
+TEST(ControllerTests, CollisionCheckerUndockForward) {
+  auto collision_tester = std::make_shared<TestCollisionChecker>("collision_test");
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  tf->setUsingDedicatedThread(true);  // One-thread broadcasting-listening model
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.footprint_topic", rclcpp::ParameterValue("test_footprint"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.costmap_topic", rclcpp::ParameterValue("test_costmap_raw"));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.projection_time", rclcpp::ParameterValue(10.0));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.simulation_time_step", rclcpp::ParameterValue(0.1));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "controller.collision_tolerance", rclcpp::ParameterValue(0.3));
+
+  auto controller = std::make_unique<opennav_docking::ControllerFixture>(
+    node, tf, "test_base_frame", "test_base_frame");
+  collision_tester->configure();
+  collision_tester->activate();
+
+  // Set the staging pose at 1.75m in the front of the robot
+  auto staging_pose = collision_tester->setPose(1.75, 0.0, 0.0);
+
+  // Publish a footprint of 0.5m "radius"
+  auto radius = 0.5;
+  collision_tester->publishFootprint(radius, 0.0, 0.0, "test_base_frame", node->now());
+
+  // Publish an empty costmap
+  // It should not hit anything in an empty costmap
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
+
+  // Set a dock in the costmap of 0.2x1.5m at 0.5m behind the robot. The robot is docked
+  // It should not hit anything because the robot is docked and the trajectory is backward
+  collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
+
+  // Set an object beyond the staging pose
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.3, 1.75 + 0.5, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
+
+  // Set an object between the robot and the staging pose
+  // It should hit the object
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 0.2, 1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
+
+  // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
+  controller->setCollisionTolerance(0.0);
+
+  // Set a dock in the costmap of 0.2x1.5m at 0.5m behind the robot. The robot is docked
+  // Now it should hit the dock
+  collision_tester->clearCostmap();
+  collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
+  collision_tester->publishCostmap();
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
+
+  collision_tester->deactivate();
+}
+
+
 }  // namespace opennav_docking