SteveMacenski
commented
2 days ago See https://github.com/ros-navigation/navigation2/issues/4695 where we discuss this in detail. At the moment, you can do this with 2 server instances. We could have this work using dynamic parameters pretty easily (less than 50 lines of new, mostly boilerplate code), but I think the better option is what I describe in that comment about how to change the plugin API itself to support forward and reversing plugin instances so that you can just set the dock_type as a forward or reversing dock and have a single server do this fine as a piece of dock-instance-specific metadata.
I think its probably worth continuing the discussion over there -- especially if you're interested in contributing that update!
Hi, congratulations, you made a good work of this docking function, currently, my robot working place requires the robot can dock forward and backward( in different places) , I'm wondering is there anyway to change the docking direction in real time? I've tried using CLI : ros2 param set /docking_server dock_backwards false , it was originally true, then I navigate robot on the back of the docking target place, but still, robot went backward, btw, my robot is a ackermann robot, with limited steer angle of +- pi/3, so, is there method to make the robot to dock in forward in one place and backward in other place wihout closing and rewrite the parameter and then relaunch the node ?