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Fix robot not stopping after reaching dock position #5568

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Merged
SteveMacenski merged 1 commit into from
Sep 30, 2025
Merged

Fix robot not stopping after reaching dock position #5568

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1 change: 1 addition & 0 deletions nav2_docking/opennav_docking/src/docking_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -321,6 +321,7 @@ void DockingServer::dockRobot()
// We are docked, wait for charging to begin
RCLCPP_INFO(
get_logger(), "Made contact with dock, waiting for charge to start (if applicable).");
publishZeroVelocity();
if (waitForCharge(dock)) {
if (dock->plugin->isCharger()) {
RCLCPP_INFO(get_logger(), "Robot is charging!");
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