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2021summerOfCode/Summer_2021_Student_Program.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/assisted_teleop.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/create_plugins.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/dynamic.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/grid_maps.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/localization.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/multithreading.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/navigation_rebranding.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/safety_node.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/semantics.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/spinners.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/testing.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

2021summerOfCode/projects/twist_n_config.html

@@ -1029,6 +1029,7 @@
 </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-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

_sources/configuration/packages/configuring-docking-server.rst.txt

@@ -8,7 +8,8 @@ Source code on Github_.
 .. _Github: https://github.com/open-navigation/opennav_docking
 
 The Docking Server in ``opennav_docking`` implements a server for docking and undocking a robot. 
-It uses plugin `dock` implementations for a particular platform to enable the framework to generalize to robots of many different kinematic models, charging methods, sensor modalities, and so on.
+This can be from Charging stations (i.e. docks) or non-charging docking locations such as the end of a conveyor belt or a pallet.
+It uses plugin `dock` implementations for a particular platform to enable the framework to generalize to robots of many different kinematic models, charging methods, sensor modalities, charging-type, and so on.
 It can also handle a database of many different docking locations and dock models to handle a heterogeneous environment.
 This task server is designed be called by an application BT or autonomy application to dock once completed with tasks or battery is low -- not within the navigate-to-pose action itself (though `undock` may be called from inside navigate actions!).
 
@@ -489,7 +490,7 @@ Example
         # Types of docks
         dock_plugins: ['nova_carter_dock']
         nova_carter_dock:
-          plugin: 'opennav_docking::SimpleChargingDock'
+          plugin: 'opennav_docking::SimpleChargingDock'  # Also 'opennav_docking::SimpleNonChargingDock'
           docking_threshold: 0.05
           staging_x_offset: -0.7
           use_external_detection_pose: true

_sources/migration/Jazzy.rst.txt

@@ -8,9 +8,16 @@ Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were add
 New Nav2 Loopback Simulator
 ***************************
 
-The ``nav2_looback_sim`` is a stand-alone simulator to create a "loopback" for non-physical simulation to replace robot hardware, physics simulators (Gazebo, Bullet, Isaac Sim, etc).
+The ``nav2_loopback_sim`` is a stand-alone simulator to create a "loopback" for non-physical simulation to replace robot hardware, physics simulators (Gazebo, Bullet, Isaac Sim, etc).
 It computes the robot's odometry based on the command velocity's output request to create a perfect 'frictionless plane'-style simulation for unit testing, system testing, R&D on higher level systems, testing behaviors without concerning yourself with localization accuracy or system dynamics, and multirobot simulations.
 
+Docking with Static Infrastructure or Dynamic Docking
+*****************************************************
+
+In `PR #4627 <https://github.com/ros-navigation/navigation2/pull/4627>`_ a docking plugin type and logic was added to support non-charging dock types in the nav2 docking server.
+This allows users to specify docking locations to static infrastructure, such as conveyers, or dynamic docking locations, such as a pallet.
+It also includes a new docking plugin to demonstrate the new docking server capabilities ``simple_non_charging_dock``.
+
 New RViz panel for Docking
 **************************
 

_sources/roadmap/roadmap.rst.txt

@@ -24,11 +24,11 @@ Jazzy Roadmap
 |                                |                        |
 |                                |                        |
 +--------------------------------+------------------------+
-| `Fuse Migration`_              |  Medium                |
+| `Fuse Migration`_              |  Medium  (incomplete)  |
 |                                |                        |
 |                                |                        |
 +--------------------------------+------------------------+
-| `Ignition Migration`_          |  Medium (in progress)  |
+| `Ignition Migration`_          |  Medium (DONE)         |
 |                                |                        |
 |                                |                        |
 +--------------------------------+------------------------+
@@ -52,6 +52,9 @@ Jazzy Roadmap
 | Monitor Polygons               |                        |
 |                                |                        |
 +--------------------------------+------------------------+
+| Nav2 auto-docking capability   |  Medium (DONE)         |
+|                                |                        |
++--------------------------------+------------------------+
 
 Iron Roadmap
 ************