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Signed-off-by: navigation2-ci <[email protected]>

_sources/commander_api/index.rst.txt

@@ -105,6 +105,15 @@ New as of September 2023: the simple navigator constructor will accept a `namesp
 | getRoute(start, goal,                 | Gets a sparse route and dense path from start to goal, where start and     |
 | use_start=False)                      | goal may be of type ``PoseStamped`` or ``int`` for known NodeIDs.          |
 +---------------------------------------+----------------------------------------------------------------------------+
+| dockRobot(dock_pose, dock_type)       | Attempts to dock the robot at a given docking pose and type, without using |
+|                                       | docking database of known docks.                                           |
++---------------------------------------+----------------------------------------------------------------------------+
+| dockRobot(dock_id)                    | Attempts to dock the robot at a given dock ID in the database of known     |
+|                                       | docks.                                                                     |
++---------------------------------------+----------------------------------------------------------------------------+
+| undockRobot(dock_type="")             | Undocks robot. If docking server instance was used to dock, type is not    |
+|                                       | required.                                                                  |
++---------------------------------------+----------------------------------------------------------------------------+
 | getandTrackRoute(start, goal,         | Gets and tracks a sparse route and dense path from start to goal, where    |
 | use_start=False)                      | start & goal may be of type ``PoseStamped`` or ``int`` for known NodeIDs.  |
 +---------------------------------------+----------------------------------------------------------------------------+

_sources/migration/Iron.rst.txt

@@ -70,7 +70,7 @@ If you'd like to see coverage planning in Nav2 directly, please consider contrib
 
 A new metapackage exists in: https://github.com/open-navigation/opennav_docking which contains complete automatic charging dock framework, BT nodes, plugins, and demos. 
 This allows for docking of any type of robot with any type of charging dock in a repeatable and generalized way.
-It will be integrated into Nav2 directly soon.
+It will be integrated into Nav2 directly soon (Update June 2024: within Nav2 stack directly ``nav2_docking``!)
 
 See :ref:`docking_tutorial` for a tutorial on using this new capability! Thanks to NVIDIA for sponsoring this package!
 

commander_api/index.html

@@ -1196,50 +1196,62 @@ <h2>Commander API<a class="headerlink" href="#id1" title="Permalink to this head
 <td><p>Gets a sparse route and dense path from start to goal, where start and
 goal may be of type <code class="docutils literal notranslate"><span class="pre">PoseStamped</span></code> or <code class="docutils literal notranslate"><span class="pre">int</span></code> for known NodeIDs.</p></td>
 </tr>
-<tr class="row-even"><td><p>getandTrackRoute(start, goal,
+<tr class="row-even"><td><p>dockRobot(dock_pose, dock_type)</p></td>
+<td><p>Attempts to dock the robot at a given docking pose and type, without using
+docking database of known docks.</p></td>
+</tr>
+<tr class="row-odd"><td><p>dockRobot(dock_id)</p></td>
+<td><p>Attempts to dock the robot at a given dock ID in the database of known
+docks.</p></td>
+</tr>
+<tr class="row-even"><td><p>undockRobot(dock_type=”“)</p></td>
+<td><p>Undocks robot. If docking server instance was used to dock, type is not
+required.</p></td>
+</tr>
+<tr class="row-odd"><td><p>getandTrackRoute(start, goal,
 use_start=False)</p></td>
 <td><p>Gets and tracks a sparse route and dense path from start to goal, where
 start &amp; goal may be of type <code class="docutils literal notranslate"><span class="pre">PoseStamped</span></code> or <code class="docutils literal notranslate"><span class="pre">int</span></code> for known NodeIDs.</p></td>
 </tr>
-<tr class="row-odd"><td><p>smoothPath(path, smoother_id=’‘,
+<tr class="row-even"><td><p>smoothPath(path, smoother_id=’‘,
 max_duration=2.0,
 check_for_collision=False)</p></td>
 <td><p>Smooths a given path of type <code class="docutils literal notranslate"><span class="pre">nav_msgs/Path</span></code>.</p></td>
 </tr>
-<tr class="row-even"><td><p>changeMap(map_filepath)</p></td>
+<tr class="row-odd"><td><p>changeMap(map_filepath)</p></td>
 <td><p>Requests a change from the current map to <cite>map_filepath</cite>’s yaml.</p></td>
 </tr>
-<tr class="row-odd"><td><p>clearAllCostmaps()</p></td>
+<tr class="row-even"><td><p>clearAllCostmaps()</p></td>
 <td><p>Clears both the global and local costmaps.</p></td>
 </tr>
-<tr class="row-even"><td><p>clearLocalCostmap()</p></td>
+<tr class="row-odd"><td><p>clearLocalCostmap()</p></td>
 <td><p>Clears the local costmap.</p></td>
 </tr>
-<tr class="row-odd"><td><p>clearGlobalCostmap()</p></td>
+<tr class="row-even"><td><p>clearGlobalCostmap()</p></td>
 <td><p>Clears the global costmap.</p></td>
 </tr>
-<tr class="row-even"><td><p>getGlobalCostmap()</p></td>
+<tr class="row-odd"><td><p>getGlobalCostmap()</p></td>
 <td><p>Returns the global costmap, <code class="docutils literal notranslate"><span class="pre">nav2_msgs/Costmap</span></code>.</p></td>
 </tr>
-<tr class="row-odd"><td><p>getLocalCostmap()</p></td>
+<tr class="row-even"><td><p>getLocalCostmap()</p></td>
 <td><p>Returns the local costmap, <code class="docutils literal notranslate"><span class="pre">nav2_msgs/Costmap</span></code>.</p></td>
 </tr>
-<tr class="row-even"><td><p>waitUntilNav2Active(
+<tr class="row-odd"><td><p>waitUntilNav2Active(
 navigator=’bt_navigator’,
 localizer=’amcl’)</p></td>
 <td><p>Blocks until Nav2 is completely online and lifecycle nodes are in the
 active state. To be used in conjunction with autostart or external
 lifecycle bringup. Custom navigator and localizer nodes can be specified</p></td>
 </tr>
-<tr class="row-odd"><td><p>lifecycleStartup()</p></td>
+<tr class="row-even"><td><p>lifecycleStartup()</p></td>
 <td><p>Sends a request to all lifecycle management servers to bring them into
 the active state, to be used if autostart is <code class="docutils literal notranslate"><span class="pre">False</span></code> and you want this
 program to control Nav2’s lifecycle.</p></td>
 </tr>
-<tr class="row-even"><td><p>lifecycleShutdown()</p></td>
+<tr class="row-odd"><td><p>lifecycleShutdown()</p></td>
 <td><p>Sends a request to all lifecycle management servers to shut them down.</p></td>
 </tr>
-<tr class="row-odd"><td><p>destroyNode()</p></td>
+<tr class="row-even"><td><p>destroyNode()</p></td>
 <td><p>Releases the resources used by the object.</p></td>
 </tr>
 </tbody>

migration/Iron.html

@@ -1126,7 +1126,7 @@ <h2><code class="docutils literal notranslate"><span class="pre">opennav_coverag
 <h2><code class="docutils literal notranslate"><span class="pre">opennav_docking</span></code> Project<a class="headerlink" href="#opennav-docking-project" title="Permalink to this headline">¶</a></h2>
 <p>A new metapackage exists in: <a class="reference external" href="https://github.com/open-navigation/opennav_docking">https://github.com/open-navigation/opennav_docking</a> which contains complete automatic charging dock framework, BT nodes, plugins, and demos.
 This allows for docking of any type of robot with any type of charging dock in a repeatable and generalized way.
-It will be integrated into Nav2 directly soon.</p>
+It will be integrated into Nav2 directly soon (Update June 2024: within Nav2 stack directly <code class="docutils literal notranslate"><span class="pre">nav2_docking</span></code>!)</p>
 <p>See <a class="reference internal" href="../tutorials/docs/using_docking.html#docking-tutorial"><span class="std std-ref">Using Docking Server</span></a> for a tutorial on using this new capability! Thanks to NVIDIA for sponsoring this package!</p>
 </div>
 <div class="section" id="introduce-a-new-multi-robot-bringup-launch">