diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
index 4766225d4..3273523e0 100644
--- a/2021summerOfCode/Summer_2021_Student_Program.html
+++ b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
index 5fce0ede2..9bd04fd32 100644
--- a/2021summerOfCode/projects/assisted_teleop.html
+++ b/2021summerOfCode/projects/assisted_teleop.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
index 6eac7fdb0..a8cb8cad0 100644
--- a/2021summerOfCode/projects/create_configuration_assistant.html
+++ b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
index 176050ed7..7540e57b2 100644
--- a/2021summerOfCode/projects/create_plugins.html
+++ b/2021summerOfCode/projects/create_plugins.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
index c0809545f..b2c7db5fb 100644
--- a/2021summerOfCode/projects/dynamic.html
+++ b/2021summerOfCode/projects/dynamic.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
index b510dd555..e57f93136 100644
--- a/2021summerOfCode/projects/grid_maps.html
+++ b/2021summerOfCode/projects/grid_maps.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
index 43b99ac88..e14411872 100644
--- a/2021summerOfCode/projects/localization.html
+++ b/2021summerOfCode/projects/localization.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
index 6430c8cf5..21688461b 100644
--- a/2021summerOfCode/projects/multithreading.html
+++ b/2021summerOfCode/projects/multithreading.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
index fb48d8b98..62ead106b 100644
--- a/2021summerOfCode/projects/navigation_rebranding.html
+++ b/2021summerOfCode/projects/navigation_rebranding.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
index 64ddb7f3e..1545349d7 100644
--- a/2021summerOfCode/projects/safety_node.html
+++ b/2021summerOfCode/projects/safety_node.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
index 7bd0142df..c1340ad7d 100644
--- a/2021summerOfCode/projects/semantics.html
+++ b/2021summerOfCode/projects/semantics.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
index 7b9bd779a..8c0ad39e2 100644
--- a/2021summerOfCode/projects/spinners.html
+++ b/2021summerOfCode/projects/spinners.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
index 02cad454e..8fe59c4ba 100644
--- a/2021summerOfCode/projects/testing.html
+++ b/2021summerOfCode/projects/testing.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
index 223d39947..30a3ad20a 100644
--- a/2021summerOfCode/projects/twist_n_config.html
+++ b/2021summerOfCode/projects/twist_n_config.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/_sources/configuration/index.rst.txt b/_sources/configuration/index.rst.txt
index dbc781d73..5ad03c692 100644
--- a/_sources/configuration/index.rst.txt
+++ b/_sources/configuration/index.rst.txt
@@ -34,4 +34,4 @@ the best navigation performance.
    packages/configuring-velocity-smoother.rst
    packages/configuring-collision-monitor.rst
    packages/configuring-waypoint-follower.rst
-   .. packages/configuring-docking-server.rst
+   packages/configuring-docking-server.rst
diff --git a/_sources/tutorials/index.rst.txt b/_sources/tutorials/index.rst.txt
index ea497e47d..cc402312f 100644
--- a/_sources/tutorials/index.rst.txt
+++ b/_sources/tutorials/index.rst.txt
@@ -17,6 +17,7 @@ Navigation2 Tutorials
    docs/navigation2_dynamic_point_following.rst
    docs/navigation2_with_keepout_filter.rst
    docs/navigation2_with_speed_filter.rst
+   docs/using_docking.rst
    docs/using_shim_controller.rst
    docs/adding_smoother.rst
    docs/using_collision_monitor.rst
@@ -26,4 +27,3 @@ Navigation2 Tutorials
    docs/get_backtrace.rst
    docs/get_profile.rst
    docs/docker_dev.rst
-   .. docs/using_docking.rst
diff --git a/about/index.html b/about/index.html
index 4e1cf0a61..bd243da90 100644
--- a/about/index.html
+++ b/about/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/about/related_projects.html b/about/related_projects.html
index 40cda718c..99d5cdc66 100644
--- a/about/related_projects.html
+++ b/about/related_projects.html
@@ -319,6 +319,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -773,6 +784,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/about/robots.html b/about/robots.html
index 30dce8f3a..de9aff9cf 100644
--- a/about/robots.html
+++ b/about/robots.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/index.html b/behavior_trees/index.html
index 79a3990dd..1942285ba 100644
--- a/behavior_trees/index.html
+++ b/behavior_trees/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
index de8f41233..284edef72 100644
--- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
+++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
index 3f5dcaf59..50b8132c5 100644
--- a/behavior_trees/overview/nav2_specific_nodes.html
+++ b/behavior_trees/overview/nav2_specific_nodes.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
index 2e0768297..3e556dcb7 100644
--- a/behavior_trees/trees/follow_point.html
+++ b/behavior_trees/trees/follow_point.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
index 222c080f1..5a7cb3e8e 100644
--- a/behavior_trees/trees/nav_through_poses_recovery.html
+++ b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
index 58a05c7a3..17a1bf754 100644
--- a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
+++ b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
index 79140ccc0..485277566 100644
--- a/behavior_trees/trees/nav_to_pose_recovery.html
+++ b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
index 30e489d70..7e18be5a4 100644
--- a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
+++ b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html
index e4c978108..4f95cc178 100644
--- a/behavior_trees/trees/odometry_calibration.html
+++ b/behavior_trees/trees/odometry_calibration.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/commander_api/index.html b/commander_api/index.html
index 6db31c198..2d86b4fbb 100644
--- a/commander_api/index.html
+++ b/commander_api/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/concepts/index.html b/concepts/index.html
index dc0dfb86a..c42d9b69c 100644
--- a/concepts/index.html
+++ b/concepts/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/index.html b/configuration/index.html
index f18601e9c..62d4e73a1 100644
--- a/configuration/index.html
+++ b/configuration/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
@@ -1086,6 +1103,7 @@
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-velocity-smoother.html">Velocity Smoother</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-collision-monitor.html">Collision Monitor</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-waypoint-follower.html">Waypoint Follower</a></li>
+<li class="toctree-l1"><a class="reference internal" href="packages/configuring-docking-server.html">Docking Server</a></li>
 </ul>
 </div>
 </div>
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index d370f7d2b..62239f2f7 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html
index b7a71b635..b8d1b8ef2 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.html
+++ b/configuration/packages/bt-plugins/actions/BackUp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
index 5e53fee45..0a46bf8ec 100644
--- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html
index 71a3982a4..0d0a90a8e 100644
--- a/configuration/packages/bt-plugins/actions/CancelBackUp.html
+++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html
index 11a75da76..89ab20b92 100644
--- a/configuration/packages/bt-plugins/actions/CancelControl.html
+++ b/configuration/packages/bt-plugins/actions/CancelControl.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelCoverage.html b/configuration/packages/bt-plugins/actions/CancelCoverage.html
index d4c49f864..d96d7ef91 100644
--- a/configuration/packages/bt-plugins/actions/CancelCoverage.html
+++ b/configuration/packages/bt-plugins/actions/CancelCoverage.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
index 89e97f797..9576fdd58 100644
--- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html
index 31a6b6f52..439854a04 100644
--- a/configuration/packages/bt-plugins/actions/CancelSpin.html
+++ b/configuration/packages/bt-plugins/actions/CancelSpin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html
index 3fcd7bd5a..bf1c9079c 100644
--- a/configuration/packages/bt-plugins/actions/CancelWait.html
+++ b/configuration/packages/bt-plugins/actions/CancelWait.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
index 2aa2ded04..0cb4464ea 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
index 0a9f8dd19..eb73a1853 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
index eb9dad56c..d6e88ef16 100644
--- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
+++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
index edc25a167..a0c9aed14 100644
--- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
+++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index d26f5348d..e147a9236 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index fd0e6af86..40f1facb4 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html
index aa127de36..ff8a2a856 100644
--- a/configuration/packages/bt-plugins/actions/ControllerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
index 213cb6af0..b08ba5678 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html
index 2dc503489..67b2f0af1 100644
--- a/configuration/packages/bt-plugins/actions/FollowPath.html
+++ b/configuration/packages/bt-plugins/actions/FollowPath.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
index cadc39fec..efd811996 100644
--- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index febcf3ce9..268242a7c 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html
index 4e2a758c3..2bed0401b 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.html
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html
index f821db0f0..7d9d439de 100644
--- a/configuration/packages/bt-plugins/actions/PlannerSelector.html
+++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
index cfb00d175..866f4493d 100644
--- a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
index 37975fb81..54bb9a836 100644
--- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
+++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
index 2bccb43b2..23cebf0e0 100644
--- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
+++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html
index e11a59686..43bca5bd8 100644
--- a/configuration/packages/bt-plugins/actions/Smooth.html
+++ b/configuration/packages/bt-plugins/actions/Smooth.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html
index 1ee8d8901..c4e42b093 100644
--- a/configuration/packages/bt-plugins/actions/SmootherSelector.html
+++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html
index 987623307..f611f5468 100644
--- a/configuration/packages/bt-plugins/actions/Spin.html
+++ b/configuration/packages/bt-plugins/actions/Spin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html
index a250acf10..f3edb9889 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePath.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePath.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
index dd6391064..6b4c96964 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html
index 3519a67bf..d3f9d58ec 100644
--- a/configuration/packages/bt-plugins/actions/Wait.html
+++ b/configuration/packages/bt-plugins/actions/Wait.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
index 5bce55a23..7dfec017b 100644
--- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
+++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
index 018a071d6..8d3945da7 100644
--- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
+++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
index e60abc6c7..5c4155049 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html
index 97a8ba292..e7fbd9e2e 100644
--- a/configuration/packages/bt-plugins/conditions/GoalReached.html
+++ b/configuration/packages/bt-plugins/conditions/GoalReached.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
index 8d1c5df33..104220a5a 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
index e6200ac1e..391e131d7 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
index 0fa3c5c7d..240a0efba 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
index f9e63cc28..222b212ed 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html
index 2766499e7..dcfa4bd66 100644
--- a/configuration/packages/bt-plugins/conditions/IsPathValid.html
+++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html
index 6c6121de5..4d595e14b 100644
--- a/configuration/packages/bt-plugins/conditions/IsStuck.html
+++ b/configuration/packages/bt-plugins/conditions/IsStuck.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
index 782940485..b2da3dcea 100644
--- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
+++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html
index 8ba3f5d0e..72a59def5 100644
--- a/configuration/packages/bt-plugins/conditions/TimeExpired.html
+++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
index 991257f88..f11d58b47 100644
--- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html
+++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
index 76a6c55fa..dd8ee3405 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
index f088a2558..1cec13263 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
index 0557df9e4..60f6bae50 100644
--- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html
index 53f64a33f..963c0e00a 100644
--- a/configuration/packages/bt-plugins/controls/PipelineSequence.html
+++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html
index 2d15ca39b..d42ecc0f4 100644
--- a/configuration/packages/bt-plugins/controls/RecoveryNode.html
+++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html
index ae49e59cc..1f912ccf6 100644
--- a/configuration/packages/bt-plugins/controls/RoundRobin.html
+++ b/configuration/packages/bt-plugins/controls/RoundRobin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html
index b5a83d45b..9d2f4a945 100644
--- a/configuration/packages/bt-plugins/decorators/DistanceController.html
+++ b/configuration/packages/bt-plugins/decorators/DistanceController.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
index 972c1b6c6..225f9cadf 100644
--- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html
+++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
index 36f2cf3ce..1c0f6c7d8 100644
--- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
+++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html
index 15c0f0832..2908ea146 100644
--- a/configuration/packages/bt-plugins/decorators/RateController.html
+++ b/configuration/packages/bt-plugins/decorators/RateController.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
index 16e86ab1e..6fa5207c6 100644
--- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html
+++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
index bf684ba9d..72dca6739 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.html
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
index 221f8e7ea..2db9ebcb0 100644
--- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
index 18f1207df..1c8daf358 100644
--- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html
index 8ac5b64da..057b5d2ef 100644
--- a/configuration/packages/configuring-amcl.html
+++ b/configuration/packages/configuring-amcl.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index 9cdce9a65..3bf9ebd48 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index fdf2f8bee..0690f0283 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html
index 21208fa1d..375f01a75 100644
--- a/configuration/packages/configuring-bt-xml.html
+++ b/configuration/packages/configuring-bt-xml.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html
index ffdf27caa..80b8eebca 100644
--- a/configuration/packages/configuring-collision-monitor.html
+++ b/configuration/packages/configuring-collision-monitor.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html
index 0d41a3af9..c32b499de 100644
--- a/configuration/packages/configuring-constrained-smoother.html
+++ b/configuration/packages/configuring-constrained-smoother.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html
index de859ce11..1790e9f9b 100644
--- a/configuration/packages/configuring-controller-server.html
+++ b/configuration/packages/configuring-controller-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html
index 1f6463ec6..6837d7b02 100644
--- a/configuration/packages/configuring-costmaps.html
+++ b/configuration/packages/configuring-costmaps.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html
index 40f5332d8..0374acf0f 100644
--- a/configuration/packages/configuring-coverage-server.html
+++ b/configuration/packages/configuring-coverage-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-docking-server.html b/configuration/packages/configuring-docking-server.html
index e31bbd0c5..933351c7e 100644
--- a/configuration/packages/configuring-docking-server.html
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@@ -22,6 +22,8 @@
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+    <link rel="next" title="Tuning Guide" href="../../tuning/index.html" />
+    <link rel="prev" title="InputAtWaypoint" href="nav2_waypoint_follower-plugins/input_at_waypoint.html" />
 
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@@ -51,7 +53,7 @@
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-              <ul>
+              <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../../getting_started/index.html">Getting Started</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#installation">Installation</a></li>
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@@ -318,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -486,7 +499,7 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../index.html">Configuration Guide</a><ul>
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@@ -772,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
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       <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Configuration Guide</a></li>
       <li class="breadcrumb-item active">Docking Server</li>
       <li class="wy-breadcrumbs-aside">
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diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html
index 39ae8a9e2..e23efee84 100644
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+++ b/configuration/packages/configuring-dwb-controller.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html
index aec136969..754ddd856 100644
--- a/configuration/packages/configuring-graceful-motion-controller.html
+++ b/configuration/packages/configuring-graceful-motion-controller.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html
index 855628ec4..a8fdf126e 100644
--- a/configuration/packages/configuring-lifecycle.html
+++ b/configuration/packages/configuring-lifecycle.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html
index 1ae5c2ece..2086d87b1 100644
--- a/configuration/packages/configuring-map-server.html
+++ b/configuration/packages/configuring-map-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html
index e2f043ebd..6e95d8ccc 100644
--- a/configuration/packages/configuring-mppic.html
+++ b/configuration/packages/configuring-mppic.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html
index 6b0f9e3ba..2ac6fde8c 100644
--- a/configuration/packages/configuring-navfn.html
+++ b/configuration/packages/configuring-navfn.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html
index 36bca28fd..7c9081154 100644
--- a/configuration/packages/configuring-planner-server.html
+++ b/configuration/packages/configuring-planner-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html
index 08290785e..a0126d598 100644
--- a/configuration/packages/configuring-regulated-pp.html
+++ b/configuration/packages/configuring-regulated-pp.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html
index f7bff0951..11e327768 100644
--- a/configuration/packages/configuring-rotation-shim-controller.html
+++ b/configuration/packages/configuring-rotation-shim-controller.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html
index ed7ea2318..bc7bcdd37 100644
--- a/configuration/packages/configuring-savitzky-golay-smoother.html
+++ b/configuration/packages/configuring-savitzky-golay-smoother.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html
index 8a65d3f77..76cd0fe2b 100644
--- a/configuration/packages/configuring-simple-smoother.html
+++ b/configuration/packages/configuring-simple-smoother.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html
index b3612127a..63564b709 100644
--- a/configuration/packages/configuring-smac-planner.html
+++ b/configuration/packages/configuring-smac-planner.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html
index 1c9bc3fb0..d0171eaa0 100644
--- a/configuration/packages/configuring-smoother-server.html
+++ b/configuration/packages/configuring-smoother-server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html
index 5a57d9a3e..547c357ea 100644
--- a/configuration/packages/configuring-thetastar.html
+++ b/configuration/packages/configuring-thetastar.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html
index c3eb1fdf9..411e3a246 100644
--- a/configuration/packages/configuring-velocity-smoother.html
+++ b/configuration/packages/configuring-velocity-smoother.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html
index 937fb96ea..b009f5d59 100644
--- a/configuration/packages/configuring-waypoint-follower.html
+++ b/configuration/packages/configuring-waypoint-follower.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html
index f064b616b..c6dde93d5 100644
--- a/configuration/packages/costmap-plugins/binary_filter.html
+++ b/configuration/packages/costmap-plugins/binary_filter.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html
index eb32fa128..ec1ffb51a 100644
--- a/configuration/packages/costmap-plugins/denoise.html
+++ b/configuration/packages/costmap-plugins/denoise.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html
index 2955df1b1..80c90649f 100644
--- a/configuration/packages/costmap-plugins/inflation.html
+++ b/configuration/packages/costmap-plugins/inflation.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html
index 2494e2658..6b2c95998 100644
--- a/configuration/packages/costmap-plugins/keepout_filter.html
+++ b/configuration/packages/costmap-plugins/keepout_filter.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html
index cc06b01c6..e02a9bc2f 100644
--- a/configuration/packages/costmap-plugins/obstacle.html
+++ b/configuration/packages/costmap-plugins/obstacle.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html
index 9668c8ad0..bbab878e7 100644
--- a/configuration/packages/costmap-plugins/range.html
+++ b/configuration/packages/costmap-plugins/range.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html
index e6e329b6d..115ed9324 100644
--- a/configuration/packages/costmap-plugins/speed_filter.html
+++ b/configuration/packages/costmap-plugins/speed_filter.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html
index 538ebe4f7..c204fbc17 100644
--- a/configuration/packages/costmap-plugins/static.html
+++ b/configuration/packages/costmap-plugins/static.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html
index bde819e4f..15dbe0c6d 100644
--- a/configuration/packages/costmap-plugins/voxel.html
+++ b/configuration/packages/costmap-plugins/voxel.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html
index 927f6bea6..8d2fb64b4 100644
--- a/configuration/packages/dwb-params/controller.html
+++ b/configuration/packages/dwb-params/controller.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html
index b2889a8b6..d5c472ab6 100644
--- a/configuration/packages/dwb-params/iterator.html
+++ b/configuration/packages/dwb-params/iterator.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html
index 95a5d68d8..730b321b6 100644
--- a/configuration/packages/dwb-params/kinematic.html
+++ b/configuration/packages/dwb-params/kinematic.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html
index 3b7e3481f..12f2050f6 100644
--- a/configuration/packages/dwb-params/visualization.html
+++ b/configuration/packages/dwb-params/visualization.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html
index cb807f957..71c55cffa 100644
--- a/configuration/packages/dwb-plugins/limited_accel_generator.html
+++ b/configuration/packages/dwb-plugins/limited_accel_generator.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html
index 946e46123..0761eb009 100644
--- a/configuration/packages/dwb-plugins/standard_traj_generator.html
+++ b/configuration/packages/dwb-plugins/standard_traj_generator.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
index bcfbf4585..f94d6608c 100644
--- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
index 5d1b0f60f..f34fa11d6 100644
--- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
index 514b7ac10..43d346825 100644
--- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
index 63d6c55b3..b541be2c8 100644
--- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
index 805bc5d79..ac65d7eed 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
@@ -22,7 +22,7 @@
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
-    <link rel="next" title="Tuning Guide" href="../../../tuning/index.html" />
+    <link rel="next" title="Docking Server" href="../configuring-docking-server.html" />
     <link rel="prev" title="PhotoAtWaypoint" href="photo_at_waypoint.html" />
 
 <link rel="stylesheet" href="../../../_static/tcs_theme.css" type="text/css" />
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
index c7c067a0d..99e742fda 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
index bdf3602ff..1fed9f72f 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html
index d798c3810..a9495f2c5 100644
--- a/configuration/packages/smac/configuring-smac-2d.html
+++ b/configuration/packages/smac/configuring-smac-2d.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html
index f7c01ab2a..eda6380c3 100644
--- a/configuration/packages/smac/configuring-smac-hybrid.html
+++ b/configuration/packages/smac/configuring-smac-hybrid.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html
index 0d2974e32..72aef9006 100644
--- a/configuration/packages/smac/configuring-smac-lattice.html
+++ b/configuration/packages/smac/configuring-smac-lattice.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html
index c1a216365..18f153d41 100644
--- a/configuration/packages/trajectory_critics/base_obstacle.html
+++ b/configuration/packages/trajectory_critics/base_obstacle.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html
index ae45a0441..c76e634fb 100644
--- a/configuration/packages/trajectory_critics/goal_align.html
+++ b/configuration/packages/trajectory_critics/goal_align.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html
index 412570f33..f9e07ffed 100644
--- a/configuration/packages/trajectory_critics/goal_dist.html
+++ b/configuration/packages/trajectory_critics/goal_dist.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html
index bd2fbd06a..5a0d75d14 100644
--- a/configuration/packages/trajectory_critics/obstacle_footprint.html
+++ b/configuration/packages/trajectory_critics/obstacle_footprint.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html
index 28f5c8e69..53054f8d6 100644
--- a/configuration/packages/trajectory_critics/oscillation.html
+++ b/configuration/packages/trajectory_critics/oscillation.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html
index c43351707..cc42816be 100644
--- a/configuration/packages/trajectory_critics/path_align.html
+++ b/configuration/packages/trajectory_critics/path_align.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/path_dist.html b/configuration/packages/trajectory_critics/path_dist.html
index a270f3dd6..4404f778c 100644
--- a/configuration/packages/trajectory_critics/path_dist.html
+++ b/configuration/packages/trajectory_critics/path_dist.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/prefer_forward.html b/configuration/packages/trajectory_critics/prefer_forward.html
index 6cac409a2..ae454e647 100644
--- a/configuration/packages/trajectory_critics/prefer_forward.html
+++ b/configuration/packages/trajectory_critics/prefer_forward.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html
index bf087a365..2e022aee4 100644
--- a/configuration/packages/trajectory_critics/rotate_to_goal.html
+++ b/configuration/packages/trajectory_critics/rotate_to_goal.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html
index 507c65425..ae18acdeb 100644
--- a/configuration/packages/trajectory_critics/twirling.html
+++ b/configuration/packages/trajectory_critics/twirling.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/build_docs/build_troubleshooting_guide.html b/development_guides/build_docs/build_troubleshooting_guide.html
index 52c46a880..43b5bbea3 100644
--- a/development_guides/build_docs/build_troubleshooting_guide.html
+++ b/development_guides/build_docs/build_troubleshooting_guide.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/build_docs/index.html b/development_guides/build_docs/index.html
index 30156a116..cc872fbca 100644
--- a/development_guides/build_docs/index.html
+++ b/development_guides/build_docs/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/devcontainer_docs/devcontainer_guide.html b/development_guides/devcontainer_docs/devcontainer_guide.html
index 9aeb5c4b2..dd5eac78a 100644
--- a/development_guides/devcontainer_docs/devcontainer_guide.html
+++ b/development_guides/devcontainer_docs/devcontainer_guide.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/devcontainer_docs/index.html b/development_guides/devcontainer_docs/index.html
index a68561840..c370139b0 100644
--- a/development_guides/devcontainer_docs/index.html
+++ b/development_guides/devcontainer_docs/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/index.html b/development_guides/index.html
index 65785ff4a..1f3ca1232 100644
--- a/development_guides/index.html
+++ b/development_guides/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html
index eba9477f0..9f0bcc53b 100644
--- a/development_guides/involvement_docs/index.html
+++ b/development_guides/involvement_docs/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/genindex.html b/genindex.html
index 97223fb92..b728cdeff 100644
--- a/genindex.html
+++ b/genindex.html
@@ -318,6 +318,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +783,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="tuning/index.html">Tuning Guide</a><ul>
diff --git a/getting_started/index.html b/getting_started/index.html
index c7641de80..fb06a37aa 100644
--- a/getting_started/index.html
+++ b/getting_started/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/index.html b/index.html
index 3c43b49c2..070f1a9a6 100644
--- a/index.html
+++ b/index.html
@@ -319,6 +319,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -773,6 +784,12 @@
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Dashing.html b/migration/Dashing.html
index 42af69d84..11ba5ed15 100644
--- a/migration/Dashing.html
+++ b/migration/Dashing.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Eloquent.html b/migration/Eloquent.html
index 23a95d3d4..6081fcf09 100644
--- a/migration/Eloquent.html
+++ b/migration/Eloquent.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Foxy.html b/migration/Foxy.html
index 876172fb9..1bbbb2ebd 100644
--- a/migration/Foxy.html
+++ b/migration/Foxy.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Galactic.html b/migration/Galactic.html
index 5f391152a..dbb7453da 100644
--- a/migration/Galactic.html
+++ b/migration/Galactic.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Humble.html b/migration/Humble.html
index 654ebbb70..151b03698 100644
--- a/migration/Humble.html
+++ b/migration/Humble.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/Iron.html b/migration/Iron.html
index 02da80f54..9e81b5cbd 100644
--- a/migration/Iron.html
+++ b/migration/Iron.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/migration/index.html b/migration/index.html
index 6a8b05e41..af976b4bc 100644
--- a/migration/index.html
+++ b/migration/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html
index 63fb730a8..249897c56 100644
--- a/plugin_tutorials/docs/writing_new_behavior_plugin.html
+++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html
index 1a2eb8812..c3cfbeb8f 100644
--- a/plugin_tutorials/docs/writing_new_bt_plugin.html
+++ b/plugin_tutorials/docs/writing_new_bt_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
index cf45bbef9..6b152e945 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
+++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
index 12d4e90b0..aa428d269 100644
--- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
index 8d2376308..ac326374a 100644
--- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html
index 7d17a436c..670c0b1c0 100644
--- a/plugin_tutorials/docs/writing_new_navigator_plugin.html
+++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html
index a6da78ad9..a0db27891 100644
--- a/plugin_tutorials/index.html
+++ b/plugin_tutorials/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/plugins/index.html b/plugins/index.html
index 4681e980e..46be0fd42 100644
--- a/plugins/index.html
+++ b/plugins/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
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 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
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@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
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 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
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@@ -321,6 +321,17 @@
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+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
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 <li class="toctree-l2"><a class="reference internal" href="tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
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 <li class="toctree-l1"><a class="reference internal" href="tuning/index.html">Tuning Guide</a><ul>
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3,14,18,19,27,100,101,148,149,153,156,158,159,165,170,172,176,177,183,185,190,191,196,198],These:[17,18,27,101,150,155,156,157,158,159,160,161,164,165,166,168,172,174,175,176,177,178,179,180,181,183,185,186,187,190,191,193,197],Use:[27,89,92,96,175,184,187,188,191,193,196],Used:[31,32,33,34,35,36,37,52,85,86,113,116,119,179,190],Useful:[72,92,179],Uses:170,Using:[14,85,86,101,105,151,159,161,170,175,176,179,183,185,186,199],Will:[19,54,86,170],With:[14,17,27,136,177,183,190,194],Yes:[163,164,165,166,167,168],__cxa_throw:185,__gi_abort:185,__gi_rais:185,__n:185,__node:[185,186],_config:175,_costmap:[158,194],_differenti:187,_feedbackcallback:196,_from_numb:163,_joint:178,_link:178,_m_range_check:185,_nav:179,_to_numb:163,_twilio:163,abi:[101,150,183],abil:[6,7,27,86,101,160,161,195],abl:[0,5,9,14,18,19,105,159,160,163,164,166,167,168,170,173,175,176,177,179,183,185,186,187,190,196,197],abort:[94,158,164,185],about:[4,7,9,11,21,22,23,24,27,85,113,116,119,148,149,150,151,153,155,158,160,161,163,164,165,167,168,175,176,177,178,179,183,184,185,186,187,189,190,193,196,197],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,96,101,110,118,137,149,156,158,163,166,167,168,172,175,176,177,178,179,180,183,184,185,186,190,191,192,193,194,196,197,198],abrupt:27,abs:166,absolut:[48,49,100,119,157,161,166,175,178,183,185,187,190,191,193],absurdli:101,academ:6,acc_lim_i:[97,124],acc_lim_theta:[97,124],acc_lim_x:[97,124],accel:175,acceler:[88,101,104,105,111,124,159,175,179,198],accelwithcovariancestamp:175,accept:[6,26,63,87,110,136,137,153,161,168,172,173,187,188,196],acceptpendinggo:168,access:[0,27,86,93,111,150,151,158,159,164,176,178,185,197],accommod:150,accompani:92,accomplish:[8,163,170,175,178,183,185,196],accord:[27,100,175,176,190,191,193],accordingli:[9,86,161,190,191,193],account:[27,85,86,158,159,163,172,179,184,196],account_sid:163,accross:161,accumul:101,accur:[6,27,85,86,158,175,179,187,190],accuraci:[25,86,156,187,190],achiev:[11,92,101,104,108,111,112,158,159,160,161,178,179,187,190],acircl:182,ackerman:172,ackermann:[108,155,158,170,172,179],ackermannconstraint:101,acknowledg:89,acquir:27,across:[17,27,101,107,115,136,137,150,160,161,168,171,176,177,179,183,190,197],act:[9,14,27,135,157,158,174,176,178,191,195,198],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,96,101,103,109,112,154,155,156,160,163,164,168,170,172,173,175,176,177,178,179,180,181,183,188,189,190,191,193,195,197],action_a:19,action_b:19,action_c:19,action_nam:164,action_server_result_timeout:[88,89,93,95,103,109,112,161],action_typ:[85,86,161,195],actionnod:19,actionnodebas:164,actiont:168,activ:[12,26,27,60,73,74,75,86,88,89,93,95,99,103,109,112,148,153,154,157,158,159,160,163,166,167,168,175,176,179,180,190,196],actual:[18,54,86,92,101,105,136,159,168,173,177,178,179,182,183,187,189,190,195,198],actuat:150,adapt:[6,27,87,104,158,170,176,177,178],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,101,111,116,117,121,136,150,153,157,158,159,160,163,168,173,175,176,177,178,179,180,181,185,186,187,190,191,192,194,195,197],add_act:[191,193],add_compile_opt:[185,186],added:[10,13,21,23,24,89,101,150,153,156,157,158,159,160,163,165,166,167,168,172,173,176,177,178,179,180,186,190,194,195,196,198],addin:190,adding:[1,9,41,87,136,137,150,159,160,161,175,176,178,180,184,187,190,191,193,195],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,136,149,150,158,159,160,164,168,172,175,176,178,179,185,186,187,190,195],addition:[0,11,27,86,150,151,156,157,158,161,168,190,195],address:[31,32,33,34,35,36,37,41,42,43,46,156,157,158,159,160,161,163],adequ:179,adher:177,adjac:[110,114,184],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,101,103,109,111,112,136,155,160,161,173,178,187,193,195,196],admiss:[136,137,159],admittedli:11,adopt:161,advanc:[0,27,136,171,179,183],advantag:[12,27,160,198],advic:[172,179],advis:[21,23,24,27,175],affect:[85,91,158,159,161,178],aforement:101,after:[2,10,20,21,23,24,26,27,86,87,89,96,101,104,105,106,111,120,122,129,131,134,135,136,137,153,154,158,159,161,165,166,167,168,173,175,176,178,179,180,182,183,184,185,186,188,190,191,193,194,195,196,197,198],afterward:175,again:[18,19,20,22,77,148,150,154,156,171,175,178,183],against:[60,73,74,75,137,160,161,179,183,195],agent:[86,179],aggreg:180,aggregation_typ:[139,140,143,144],aggress:[86,136],ago:183,agre:153,agreement:153,ahead:[88,101,104,126,127,139,143,183],aid:[2,22],aim:[1,7,9,10,13,111,174,178,179,186],air:190,aisl:[27,135,159,172,179],aislewai:[136,159],aitor:170,alarm:[85,161],alberto:170,aleksei:170,alexei:[14,155,170],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,96,101,104,106,107,108,135,153,155,156,158,159,160,161,165,166,170,173,176,178,179,181,184,186,187],alias:27,align:[98,122,139,143,144,161,190],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,99,101,104,106,108,110,111,114,118,136,141,149,150,151,153,155,156,157,158,159,161,163,166,167,168,170,172,175,176,177,178,179,180,181,182,183,185,186,187,190,191,193,194,197,198],allevi:179,alloc:[27,180,185,194],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,98,101,102,104,110,119,135,136,137,138,141,146,150,151,153,155,157,158,159,163,165,166,167,172,175,176,177,178,179,180,182,183,184,185,187,188,190,191,193,195,196],allow_backward:98,allow_primitive_interpol:[136,161],allow_revers:104,allow_reverse_expans:137,allow_unknown:[102,110,135,136,137,158,167],almost:[157,159],alon:187,along:[14,26,27,58,68,84,98,101,104,105,113,116,119,136,137,141,157,158,159,160,170,172,176,178,180,181,185,187,190,191,193,196],alongsid:[161,168,179],alot:[101,187],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[178,191],alreadi:[4,7,101,157,158,159,163,173,175,178,179,183,185,187,190,196],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,96,99,100,101,103,104,105,106,108,109,111,112,115,136,137,149,150,151,153,154,155,156,157,158,159,160,161,163,164,165,166,167,168,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,190,191,192,193,194,195,196,198],alter:150,altern:[3,22,27,58,150,151,158,161,173,175,185],although:151,altitud:190,altogeth:[183,187],alwai:[9,16,20,72,85,86,89,99,111,137,148,158,159,161,178,179,190,191,195,196,198],always_on:[175,176,190],always_reload_bt_xml:[89,161],always_reset_initial_pos:87,always_send_full_costmap:[94,161,176],alwayson:176,ambigu:104,amcl:[6,7,26,27,28,52,65,154,157,170,176,177,179,187,190],amcl_pos:156,amclnod:159,amend:153,ament:[163,165,166,167,168,182],ament_cmak:[163,166,167,168,178],ament_cppcheck:153,ament_cpplint:153,ament_index_cpp:168,ament_index_python:[191,193],ament_uncrustifi:153,america:190,among:[27,110,172,179,184],amongst:178,amount:[94,118,128,130,132,134,135,136,137,146,157,158,160,191],amp:190,ampl:[21,23,24],amr:187,analog:[8,86,158,160,161,164,185,196,198],analysi:[7,27,153,155,186],analyt:[136,137,158,159,161],analytic_expansion_max_cost:[136,137,161],analytic_expansion_max_cost_overrid:[136,137,161],analytic_expansion_max_length:[136,137,159,161],analytic_expansion_ratio:[136,137],analyz:[5,6,7,10,26,27,164,186],andrei:170,angl:[26,27,56,85,86,95,96,110,128,135,136,158,170,179,190],angle_quantization_bin:136,angular:[58,86,95,96,98,101,104,105,123,124,127,136,139,142,143,145,160,161,166,175,179,195,198],angular_dist_threshold:[105,198],angular_distance_weight:58,angular_granular:[97,127],angular_limit:[86,160],angular_vel:166,angular_veloc:175,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,51,53,55,60,62,76,85,86,93,99,101,104,107,108,110,116,117,120,121,136,137,148,150,151,153,155,157,158,159,160,161,163,164,165,166,167,168,170,172,176,177,178,179,180,181,183,184,185,186,187,188,190,191,193,195,196,197,198],anim:[4,184],annoi:183,annot:[27,95,158,165,166,167,191,193,196],announc:153,anoth:[0,1,4,6,10,20,21,23,26,27,60,85,88,89,93,103,108,109,112,135,136,150,153,158,159,161,164,170,172,173,175,176,178,181,183,185,188,190,191,192,193,194,196],anshumaan:170,answer:[0,153,158],anybot:5,anyhow:159,anyon:11,anyth:[20,27,85,158,164,165,168,179,183,191,197],anywai:179,anywher:[151,159],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,153],apart:[22,198],apex:151,api:[17,27,54,155,156,158,163,165,168,176,181,183,190],appear:[86,153,154,158,159,160,176,178,182,183,184,189,190,195,197],append:[150,153,175,176],appli:[0,7,11,27,86,98,101,104,107,110,111,116,135,136,137,145,151,158,164,177,178,179,184,185,186,192,193,196],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,58,85,86,88,89,92,93,96,101,103,109,112,148,150,155,156,159,160,161,163,165,168,170,172,179,180,183,184,185,186,187,188,190,193,194,196,197,198],appreci:[27,153],approach:[22,27,81,86,96,97,101,102,104,108,110,135,136,137,155,158,160,170,172,175,179,181,195,198],approach_velocity_scaling_dist:104,appropri:[2,18,93,101,103,111,119,153,159,160,168,172,175,177,178,179,185,187,195,197],approri:[161,195],approv:[3,153],approxim:[86,105,111,135,136,154,160,172,173,179,182,198],apriltag:[96,196],apt:[149,150,154,175,176,178,182,183,186,190,192,194],arbitrari:[27,86,108,151,170,172,174,179,196],arbitrarili:155,arc:[85,86,98,176],architectur:[11,158,187],area:[3,7,27,38,39,86,94,113,116,118,119,135,136,137,153,158,159,160,161,163,165,170,176,178,179,182,183,186,191,193],area_memori:187,areerrorcodespres:[90,160],arg:[149,182,183,185,186,195],argc:185,argument:[26,149,159,160,161,164,166,175,178,181,183,185,186,190,191,193,195],argv:185,arm:163,aroun:160,around:[9,14,18,22,27,38,58,81,85,86,92,94,98,101,104,115,153,158,170,176,177,178,179,182,183,190,192,198],arrai:[92,101,136,137],arriv:[112,133,158,170],arrow:[178,189,190],art:108,articl:[155,180],articul:183,artifact:[106,108,150,183,184],artifici:101,arug:183,arxiv:155,as_str:168,asid:[175,176],ask:[0,3,27,153,165,185,197],asla:14,aspect:[19,150,151,181,182],assembl:197,assess:179,asset:[183,185],assign:[27,54,58,92],assist:[0,26,29,153,170,179],assisted_teleop:[31,88],assisted_teleop_error_cod:29,assisted_teleop_serv:29,ass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6,197,198],cancel:[20,22,26,31,32,33,34,35,36,37,104,110,135,136,137,154,164,166,168,170,188],cancel_check:161,cancel_deceler:[104,161],cancelassistedteleop:[90,159],cancelbackup:90,cancelcontrol:[22,90,159],cancelcoverag:90,canceldriveonhead:90,cancelingcontrolandwait:22,cancelnav:159,cancelspin:90,canceltask:26,cancelwait:90,candid:[1,7,95,101,153,172],cannot:[27,72,101,104,111,136,137,142,158,160,168,179,180,183,190,194,196,197],canon:27,capabl:[4,7,10,15,26,150,151,155,158,161,171,176,187,188,190,198],captur:[27,159,172,186,187],car:[108,155,158,170,173,179],cardin:190,care:[101,136],career:11,carefulli:[172,187,196],carl:[14,170],carlo:[6,27,87,176],carri:[27,157,158,159,167,188],carrot:[20,104,161],cart:4,carter:196,cartesian:[27,41,95,101,161,170,190],cartograph:156,carv:183,cast:7,caster:178,caster_joint:178,caster_xoff:178,catchi:8,categori:172,cater:159,cati:188,caus:[22,30,45,85,86,87,101,136,137,154,159,179,184,187,191,193],caution:[151,184],ccach:[149,150],ccw:25,ceas:86,cell:[26,27,110,114,115,117,118,120,121,136,159,161,165,172,173,176,178,184,191,193],center:[18,27,38,39,95,101,116,135,136,137,159,163,173,177,178,182,189,190],central:[27,190],cere:92,cerescostawaresmooth:[109,181],certain:[19,101,157,159,165,172,174,176,188],certainli:[161,187],certif:[86,152],certifi:[9,86,153],chain:[190,193,195],challeng:27,chanc:[1,7,9,19,159],chang:[6,11,12,13,14,17,18,21,23,24,26,27,62,64,76,86,88,89,92,93,94,95,96,98,101,103,107,109,111,112,129,131,135,136,137,139,143,150,153,154,157,165,166,168,171,173,175,176,179,183,185,187,188,189,190,191,193,194,195,197],change_penalti:[136,137],changemap:26,channel:[136,153],chao:153,chapter:[27,191,193],charact:106,characterist:[4,12,107,175],charg:[27,66,96,160,161,170,172,196],charger:27,charging_threshold:96,charuco:182,chassi:[177,178],chat:153,chatter:183,check:[0,7,9,11,14,18,19,22,26,27,53,54,60,62,63,64,66,67,68,70,72,73,74,75,81,84,85,86,88,89,90,92,93,94,101,104,105,109,110,112,115,116,128,129,130,131,135,136,137,142,148,149,150,151,153,155,157,158,159,161,163,164,165,166,167,168,170,172,173,175,176,177,179,182,183,184,185,189,190,191,193,195,196,198],check_for_collis:[26,54],checker:[17,46,93,105,122,156,163,198],checkerboard:182,checkifnewpathneed:24,checklist:174,checkout:[104,149,187],chessboard:182,child:[18,19,22,72,76,77,79,82,83,84,159,161,170,175,176,177,178,190],child_frame_id:175,children:[18,19,22,76,77,78,81,170,186],chip:179,choic:[10,26,27,179,180,187,192],choos:[110,150,151,154,168,173,177,179,183,184,185,190,193],chosen:[26,27,150,160,193],christoph:170,chronicl:150,chug:185,cilqr:3,circl:[19,27,85,86,179,182,195],circular:[27,94,101,108,115,155,161,172,173,178,179],cite:[104,155],citizen:194,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:153,class_list_macro:[163,165,166,167,168],classic:[179,183],classification2d:176,classification3d:176,clavero:155,clean:[27,95,101,150,157,159,161,163,166,167,168,179,183],cleaner:178,cleaningup:180,cleanli:[27,99,168,179,183,186],cleanup:[163,166,167,168,180],clear:[18,19,21,22,23,24,26,27,38,39,40,94,117,118,120,121,153,158,159,160,161,167,170,176,179,182,187,194,196],clear_after_read:194,clear_around_:158,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,164],clear_entirely_local_costmap:[18,21,22,23,24,40,90,164],clear_except_:158,clear_except_local_costmap:39,clear_on_max_read:[118,176],clear_threshold:118,clearallcostmap:26,cleararoundrobot:159,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,158,164],clearer:176,clearexceptregion:159,clearglobalcostmap:[18,21,22,23,24,26,90,164],clearing_endpoint:158,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,164],clever:185,cli:[27,100,150,151,157,158,183,186,192],click:[16,151,154,165,166,167,168,173,176,182,189,190,197],clicked_point:[188,196],clicked_point_to_pos:188,client:[19,27,95,156,158,159,163,164,168,181,196],client_nod:159,client_node_:159,clinet_node_:159,clip:[176,191],clock:[191,193],clock_:[166,168],clockwis:195,clone:[149,182,183,188,190,191,192,193,194],cloned_tb3_simulation_launch:161,close:[22,27,53,81,85,86,94,101,104,111,137,140,146,150,158,159,161,166,173,179,183,190,195,196],closed_loop:111,closer:[57,101,136,160,161],closest:[58,98,104,122],closur:187,cloud:[7,27,150,151,154,157,183],cluster:179,cmake:[163,165,166,167,168,182,186],cmake_build_typ:186,cmakelist:[163,165,166,167,168,175,176,178,185,186],cmd:[175,176,183],cmd_vel:[13,85,86,161,166,175,186,195],cmd_vel_in_top:[86,195],cmd_vel_nav:[186,195],cmd_vel_out_top:[86,195],cmd_vel_raw:86,cmd_vel_smooth:[86,195],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,111,112,135,150,151,153,156,157,159,163,164,165,166,167,168,170,173,175,176,178,181,183,184,185,190,194,196,198],codebas:[86,93,111,153,161],codecov:12,codespac:[150,151],codifi:150,coeffici:[96,119,182,191,193],coffe:[151,197],colcon:[149,150,165,173,175,176,178,183,185,186,191,193],collabor:[4,14,153],collect:[26,174,176,179,186,187],collid:[4,9,173],collis:[1,7,9,27,28,29,54,88,92,94,101,104,105,109,115,116,118,146,155,156,158,159,163,170,171,172,173,175,176,178,179,198,199],collision_cost:101,collision_detector:85,collision_detector_st:[85,161],collision_margin_dist:101,collision_monitor:[86,195],collision_monitor_nod:195,collision_monitor_param:195,collision_monitor_st:86,collisionmonitor:160,color:[8,92,133,176,178,179,184,191,193,194],color_dark:191,color_light:191,column:[121,176],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199],combin:[27,94,136,139,140,143,144,158,192],combination_method:[94,117,121,161,194],combo:[161,183],come:[8,13,14,27,95,101,104,131,136,153,159,160,163,166,167,168,175,177,178],command:[1,9,22,29,44,47,50,51,55,80,86,104,105,111,149,150,151,155,157,163,165,166,167,168,170,172,175,176,177,178,185,187,188,189,192,193,198],commandlin:[100,183,185,186],commens:96,comment:[150,153,159,165,167,185,194],commerci:[27,153,190],commit:[150,153,171,182],common:[18,26,27,86,96,101,150,151,155,158,159,168,175,183,187,190,195,196],commonli:[19,44,47,50,51,55,168,176,187,190],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,150,153,155,163,168,177,179,180,182,183],compani:[153,155,179,183],companion:197,compar:[27,60,73,74,75,86,89,92,108,160,161,196],comparison:155,compat:175,compens:190,compet:153,compil:[150,151,163,166,167,168,181,183,185,186],complement:[5,157,190],complementari:180,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,96,98,101,104,105,129,131,136,137,146,150,153,154,155,156,157,158,159,160,161,163,164,168,170,171,172,173,175,176,178,180,181,182,183,186,187,189,190,192,194,196,197,198],complex:[27,89,101,136,155,160,176,177,178,185,197],complexyolo:4,compli:[2,172,175,190],complianc:111,compliant:177,complic:155,complimentari:168,compon:[6,41,76,77,78,79,80,81,82,83,84,101,110,111,145,158,159,161,174,178,180,187,191,193],component_contain:180,component_container_isol:159,componentcontain:185,compos:[11,159,165,179,180,183,185,186,191,196],composable_node_descript:[180,191],composablenod:[180,191,195,196],composablenodecontain:180,composit:[171,185,186,191,193],composition_demo:180,comprehens:[150,183],compris:[13,155,178],comput:[7,17,18,19,20,21,27,41,42,43,95,101,103,104,108,110,135,136,137,139,143,155,159,160,161,163,164,166,167,170,172,173,175,176,177,179,181,183,186,187,189,196],computation:[27,101,121,159],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,89,181],compute_path_error_code_id:180,compute_path_through_pos:[160,180],compute_path_to_pos:[160,180],compute_path_to_pose_error_cod:74,computeandpublishveloc:158,computeandsmoothpath:181,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,164,168,181,188],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,90],computevelocitycommand:[93,166],concaten:158,concept:[7,18,19,155,158,172,176,177,180,191,193,196,197],conceptu:177,concern:[151,153,159],conclud:183,conclus:22,concret:177,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,107,150,159,160,164,170,175,178,187,190,191,197,198],conditionnod:164,conduct:155,conf:[86,93,111,161,164],confer:155,config:[150,151,173,175,176,178,183,185,190,192,196],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,99,100,101,108,113,116,119,149,150,151,155,156,157,159,160,161,163,164,166,167,168,170,174,178,179,180,181,183,184,185,187,188,189,190,192,194,197],configured_param:[180,191,193,195],confin:[101,136,150,161,173],confirm:[173,176,182,190],conflict:157,conform:155,confort:161,confus:19,conjunct:[26,101],connect:[14,19,27,95,99,102,110,114,135,150,151,157,158,159,170,172,175,176,177,178,184,190,197],connector:[41,187],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,101,131,136,137,146,153,157,158,160,161,163,164,166,167,168,170,172,179,180,183,187,190,191,195,196],consider:[4,101,179,183],consider_footprint:101,consist:[8,17,101,151,153,158,159,170,175,176,177,179,180,190,196,197],consol:195,constant:[19,95,98,104,161,166,178,179],constantli:[157,159],constrain:[28,107,158,170,179],constrainedsmooth:[92,159],constraint:[21,105,111,137,158,159,168,170,172,179,198],constraintcrit:101,construct:[27,153,159],constructor:[26,27,159,161,164],constsharedptr:168,consult:14,consum:[9,159],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,153,155,179,180,196],contain:[9,11,17,21,23,24,27,46,49,91,101,108,111,117,121,136,137,152,156,157,158,159,160,161,163,165,166,167,168,170,175,176,178,179,180,181,182,185,187,191,193,195,196,198],container:[150,183],container_nam:191,container_name_ful:191,containeris:150,content:[151,173,174,176,178],context:[11,13,18,19,21,22,23,24,90,149,164,170,183,197],contextu:[17,18,21,23,24,155,160,196],continu:[1,12,18,19,20,21,22,23,24,27,95,101,112,134,136,137,151,153,154,155,156,157,158,159,160,161,168,175,178,179,183,187,190,192,195],contractor:14,contrast:[159,190],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,136,153,161,176,179,180],contributor:[14,153],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,96,104,108,111,119,121,123,124,125,126,127,128,129,130,131,137,138,139,140,141,142,143,144,145,146,147,155,156,157,163,164,165,168,169,171,173,174,175,178,180,181,183,185,186,187,188,189,192,193,194,195,196,197,199],controlcancel:22,controller_frequ:[93,96,97,98,101,104,105,196,198],controller_id:[18,20,21,22,23,24,26,44,46,90,158,161,164,188],controller_pati:158,controller_plugin:[93,97,98,104,105,157,166,172,198],controller_plugin_id:[122,123,124,125,126,127,138,139,140,141,142,145,146,147],controller_selector:[20,21,22,23,24,44],controller_serv:[22,93,97,98,99,101,104,105,157,158,159,161,166,172,180,186,193,198],controllerselector:[20,21,22,23,24,90,158],controllerserv:159,controlnod:[161,164],conveni:[151,161,187,193],convent:[21,23,24,27,176,177,180,190],converg:[87,92,96,98,101,190],convers:[26,100,153,191,193],convert:[0,27,95,101,112,119,136,137,155,156,158,167,177,190,191,193,196],convert_typ:[191,193],convert_v3_to_v4:161,convex:101,cooper:2,coordin:[5,26,27,41,87,94,95,112,159,175,177,178,187,188,190],coordinates_in_cartesian_fram:95,cope:190,copi:[159,173,175,176,178,181,183,185,191,193,194],copyright:153,core:[7,17,27,160,180,181,183],corner:[104,154,158,182,191,197],corpor:14,correct:[27,85,86,148,150,153,159,175,176,178,183,189,191,193,195],correctli:[19,27,154,158,159,173,175,176,177,190,191,193,195],correl:150,correspond:[27,41,81,85,86,89,101,102,110,113,114,115,116,117,118,119,120,121,135,136,137,158,159,163,164,165,176,177,184,190,193],correspont:191,corridor:[101,172,179],cost:[9,18,26,27,85,86,88,92,94,104,108,110,115,116,125,135,136,137,150,155,158,159,165,170,176,179,184],cost_check_point:92,cost_cloud:158,cost_penalti:[136,137],cost_pow:101,cost_scaling_factor:[94,101,110,115,165,176],cost_travel_multipli:135,cost_weight:101,costamp2d:191,costcrit:[101,161],costli:27,costmap2d:[148,161,169,170,184,191,193],costmap2dro:[159,166],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,86,88,91,92,93,98,103,104,109,110,113,114,115,116,117,118,119,120,121,135,136,137,138,141,155,156,159,165,166,167,172,173,179,184,190,199],costmap_2d:[5,161,165,176],costmap_2d_cloud:158,costmap_2d_ro:120,costmap_:[165,167],costmap_filter_info:[100,113,116,119,191,193],costmap_filter_info_serv:[100,191,193],costmap_filters_demo_dir:[191,193],costmap_raw:[88,106,107,109,163,181],costmap_ro:[159,166,167],costmap_ros_:166,costmap_top:[106,107,109,163,181],costmapfilt:158,costmapfilterinfo:[113,116,119,191,193],costmapfilterinfoserv:191,costmapinfotyp:160,costmapsubscrib:161,could:[1,2,3,6,7,9,10,20,27,85,86,93,110,150,151,157,158,159,160,164,165,166,170,177,179,181,183,185,188,190,191,193,194,195],couldn:185,count:[101,159,175,182,191],counter:[29,108,159,164,168,175,195],counterpart:179,coupl:[26,183,187,198],cours:[5,11,150,178,187],cov_path:41,covari:[87,190],cover:[2,27,86,118,153,158,161,172,179,180,183,185,190,191,193,195],coverag:[3,4,6,12,17,27,28,34,41,155,161,168,170,171,179,180],coverage_path:41,coverage_serv:95,coveragenavig:[41,89,170],cpp:[18,27,155,156,157,158,159,164,165,170,185,197],cpu:[4,7,86,150,159,179,180,187],crash:[27,99,157,159,179,180,183,197],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,78,81,86,94,95,99,101,107,108,136,149,151,153,155,156,157,158,159,160,161,165,170,172,173,175,176,177,178,179,180,183,184,187,189,190,191,193,194,195,196,197,198],create_cli:168,create_subscript:168,createplan:[161,167],creation:[9,157,179],creativ:[6,8],creator:170,criteria:[27,129,131,146,153,159,170],criterion:92,critic:[1,7,9,27,122,136,137,138,139,140,141,142,143,144,145,146,147,156,172,179,180,185],critical_cost:101,critical_weight:101,cross:[148,150,155,172,173],crowd:[21,23,24,172],crtl:[150,151],crux:18,ctrl:150,cube:[173,176],cubic:92,cuda:7,cull:[21,53,170],current:[3,9,11,12,14,18,19,24,26,27,45,53,58,62,79,82,84,85,86,89,95,96,101,103,104,105,111,112,113,116,118,119,137,149,153,155,157,158,159,160,161,163,164,166,167,168,170,175,176,177,178,179,180,183,188,190,195,196,197,198],current_path:168,current_pos:168,curv:[95,96,98,110,165,179],curvat:104,curvatur:[92,95,96,98,101,104,136,137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4,84,154,175,176,178],destroi:[150,183],destroynod:26,detach:183,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,89,101,108,113,116,119,150,153,157,158,159,160,161,163,165,166,167,168,172,173,174,175,177,179,183,185,190,193,194,197],detect:[4,27,54,58,85,86,91,92,96,104,150,161,173,175,176,179,182,188,196],detection2d:176,detection3d:176,detector:[27,91,96,188,196],detectron2:4,determin:[0,69,98,112,122,133,161,168,172,178,184,185,186,195,196],determinist:[11,27,99,106,180],dev:[149,152,161,183,190],devcontain:[150,151],devcontainerid:150,devel:[192,194],develop:[3,4,5,8,11,14,21,23,24,27,86,108,110,148,150,151,159,161,171,178,179,180,185,196,198,199],developercertif:153,dever:150,deviat:[87,101,111,161,179],devic:[150,179,190],diademata:154,diagnost:175,diagnostic_msg:175,diagnosticarrai:175,diagon:114,diagram:[155,177,188],diamet:175,dictat:198,dictionari:161,did:[19,20,161,163,166,167,176,178,185,186,196],didn:179,diego:14,diff:[92,108,170,179,183,190],diff_driv:175,diff_drive_control:175,diffdriv:101,differ:[10,17,18,19,21,22,23,24,27,62,85,86,90,95,96,98,104,105,108,110,113,116,119,136,150,151,153,155,157,159,160,161,165,168,172,174,175,176,177,178,179,180,181,183,185,187,188,190,191,193,195,196,197,198],differenti:[8,87,98,101,105,108,110,155,158,159,161,170,172,173,175,176,178,179,187,190,198],differentialmotionmodel:87,difficult:[27,105,159,179,198],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],dig:183,digit:[106,133,170],dijkstra:[3,102,159,170,172],dilig:151,dime:179,dimens:[158,178,182,187],dimension:190,dir:183,direct:[4,58,86,92,101,104,108,111,123,136,137,142,149,150,158,161,171,172,177,182,189,190,195],direction_end_angl:[86,195],direction_start_angl:[86,195],directli:[27,95,101,134,150,151,153,158,161,164,165,178,185,190,191,193],directori:[133,149,150,151,158,159,161,163,165,166,167,168,170,173,175,176,178,179,183,191,193,196],disabl:[85,86,87,88,89,93,100,103,109,111,112,135,136,137,159,160,179,182,187,196],disable_calib_cb_fast_check:182,disablecharg:196,disagre:87,disappear:86,discard:[88,89,93,103,109,112,114,159,161,184],discontinu:[95,106,108,137],discours:[0,153],discov:[149,164],discover:[163,165,166,167,168],discoveri:[99,150],discret:[27,114,150,153,172,175],discretize_by_tim:127,discuss:[3,6,19,27,89,153,157,158,159,166,167,172,173,174,175,176,177,178,180,183,190,196,198],dislpai:176,dispatch:27,displac:[30,45],displai:[2,85,103,136,137,158,173,175,176,178,179,183,184,190,193,197],disproportion:101,disscuss:158,dist:[26,136,137,182],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,56,57,58,61,63,79,87,88,92,95,96,98,101,104,105,122,127,136,137,142,156,157,158,161,166,170,172,175,176,177,179,188,196,198],distance_backward:58,distance_forward:58,distance_remain:[158,168],distancecontrol:[17,18,90,92,157],distancetravel:90,distancetraveledcondit:157,distant:58,distinct:[27,177],distinguish:41,distort:[106,182,184],distortionk1:176,distortionk2:176,distortionk3:176,distortiont1:176,distortiont2:176,distribut:[101,148,150,151,153,154,161,162,171,183,191],distro:[148,149,154,175,176,178,182,183,189,190,192,194],distroa:148,distrob:148,disturb:190,dive:178,diverg:[136,137,179,187],divid:[157,158,190],do_beamskip:87,do_refin:[106,107,109,136,137,160,181],doc:[8,15,149,154,157,161,179,183,190],dock:[17,18,27,88,161,172],dock_approach_timeout:[96,196],dock_backward:[96,196],dock_databas:[96,196],dock_id:196,dock_plugin:[96,196],dock_pos:196,dock_prestaging_toler:[96,196],dock_typ:196,docker:[150,151,199],dockerfil:[149,150,183],dockerhub:183,docking_cli:196,docking_serv:[96,196],docking_threshold:[96,196],docking_tim:196,dockrobot:196,document:[8,10,15,18,22,27,149,150,153,154,157,175,176,177,178,183,184,185,186,187,191,192,193],doe:[4,9,19,21,22,23,24,85,86,91,96,101,116,118,136,137,149,150,158,159,160,161,163,166,167,168,173,175,179,180,181,183,190,191,193,196,197],doesn:[76,135,158,159,163,179,183,187,191],dog:187,doing:[26,112,116,153,168,185,190],doisi:170,domin:[117,121,161],don:[136,137,141,154,158,177,179,181,185,187,188,189,190,191,192,196],done:[13,18,19,27,86,150,156,157,158,165,166,167,168,171,172,176,185,186,187,196,197],dont:178,door:17,dot:[161,190],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,96,98,99,100,101,102,103,104,105,107,109,110,111,112,113,115,116,117,118,119,120,121,122,124,125,126,127,128,129,130,131,132,135,136,137,138,139,140,141,142,143,144,145,146,147,158,166,167],doubt:101,down:[26,27,96,98,99,101,104,110,119,121,154,155,157,159,160,161,179,180,183,185,190,193,195],download:[5,150,182,183],downsampl:[92,101,135,136,137,159,161],downsample_costmap:[135,136],downsample_factor:[135,136],downsample_obstacle_heurist:[136,161],downsampling_factor:[135,136],downstream:158,doxygen:152,dozen:[27,196],drag:[154,197],dramat:[136,137,157],draw:[190,191,193],drawn:191,drift:[27,175],drivabl:[105,172,179,198],drive:[1,25,26,35,45,92,101,104,108,136,137,155,158,166,170,172,173,175,176,178,179,190,191,196],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,179],driveonhead:[25,26,90,160,161],driver:[1,13,16,148,150,175,176,182,187],drivetrain:170,drivewhl_l:178,drivewhl_l_joint:175,drivewhl_r:178,drivewhl_r_joint:175,drop:[9,98,157,161,187,197],dropdown:2,dual:[151,190],dual_ekf_navsat:190,dub:159,dubin:[95,136,137,158,159,170,172],dubiou:159,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,101,111,114,136,137,153,157,158,159,160,161,168,173,175,176,179,183,184,187,196,197,198],dumb:27,dummi:165,dummy_dock:196,dump:172,duplic:[27,168],durabl:[86,161,178],durat:[54,71,84,88,89,93,99,101,142,153,159,164,166,180,188,196],dure:[6,22,85,86,92,99,101,136,137,150,157,158,159,160,161,164,165,173,178,179,186,189,192,196,197],dwa:[3,170,172],dwb:[1,3,9,21,23,24,27,28,123,124,125,126,127,138,139,140,141,142,143,144,145,146,147,156,157,170,172,179,198],dwb_core:[93,97,157,158,172,198],dwb_critic:[97,122],dwb_local_plann:157,dwb_plugin:[97,122],dwblocalplann:[93,97,157,161,172,198],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,97,101,136,137,155,156,157,158,163,164,165,166,167,168,171,172,176,178,179,193,194,195,197,199],dynamicfollowpath:157,e1d7e035a824:183,e727072615d0:183,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,101,103,109,111,134,151,153,155,156,158,159,160,161,163,164,165,166,167,172,175,176,177,178,179,180,181,183,184,185,190,191,193,195,196,197],earli:[5,11,16],earlier:[87,136,137,151,154,159,163,177],earth:190,earth_wgs84:190,eas:183,easi:[10,11,14,18,27,41,150,151,153,155,161,174,176,183,187,192,196],easier:[153,172,176,177,178,179,183,185,198],easili:[13,18,27,89,150,157,158,159,161,179,186,195,196],east:190,echo:[183,190],ecosystem:[0,27,108,159,179],edg:[4,95,101,161,177,191],edit:[8,158,170,175,176,181,196],editor:[183,191,193,197],educ:14,effect:[2,4,86,92,118,135,150,157,159,175,179,191],effici:[22,27,108,176,179,180],effort:[8,14,27,95,96,111,153,155,158,172,176,179,194,196],efk:175,eight:[184,190],eitan:170,either:[1,18,19,26,27,86,87,96,100,101,118,120,150,151,160,161,170,172,175,176,179,183,186,193,196,197],ekf:[175,187,190],ekf_filter_nod:175,ekf_filter_node_map:190,ekf_filter_node_odom:190,ekf_localization_nod:175,ekf_nod:175,elaps:[158,196],elast:[3,156,172,198],electr:190,electromagnet:190,element:[8,156,163,175,178],elev:[17,27,86,93,111,151,153,161,190],elif:[26,159],elimin:178,ellipsoid:190,elong:92,eloqu:[27,162],els:[26,85,94,158,159,161,165,166,168,175,183,195],elsewher:186,email:[0,14,27,153],emb:177,embed:[6,27,159,179,180],emerg:[6,9,86,91],emit:176,emphas:190,emploi:86,empti:[42,43,89,101,117,120,121,132,157,158,159,161,166,168,183,184],emul:150,emulate_tti:[191,193],enabl:[10,13,22,53,85,86,87,94,96,98,101,104,112,113,114,115,116,117,118,119,120,121,132,133,134,136,137,150,151,158,159,160,163,166,167,168,170,175,176,178,179,180,183,187,192,194,195,196,197],enable_stamped_cmd_vel:[86,88,93,111,161,195],enabled_:165,enact:[9,81,155,198],encod:[27,113,119,175,177,187,190,191,193],encompass:179,encount:[16,172,176,185,186],encourag:[0,14,22,101,153,178,180,185],end:[6,11,20,27,85,86,96,101,102,104,105,106,135,137,159,161,163,165,166,167,168,170,178,179,180,183,184,185,190,195],endpoint:[136,137],energi:[101,176],enforc:[92,111,116,158,182],enforce_path_invers:[101,161],engag:153,engin:[6,149,151,156,186,187],enhanc:153,enjoi:161,enough:[18,160,173,179,182,183,190,196],enrich:151,ensur:[4,9,11,13,20,21,23,24,27,86,93,99,101,104,111,150,151,153,156,158,159,160,161,172,173,177,178,179,180,183,186,194],enter:[18,21,23,24,27,101,163,166,167,168,191,196],entir:[12,19,21,23,24,86,149,150,153,170,172,179,187,195],entiti:175,entri:[14,175,181,185,186,195,196],entryfil:179,entrypoint:[149,183],enu:190,enumer:[29,30,41,42,43,45,46,54,56,197],env:[150,183],environ:[4,5,9,10,12,27,96,98,108,148,149,150,151,153,154,155,172,173,175,176,177,179,183,187,189,190,191,195,196],environemnt:176,environment:[94,121,155,183],envok:[29,30,45,56],envrion:194,ephemer:150,eppstein:170,eqal:92,equal:[27,85,86,87,88,89,93,98,100,103,109,111,112,113,161,165,182,184,191,193],equat:110,equip:[176,187,190,197],eros:184,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,98,101,114,148,149,157,158,159,170,173,176,181,183,184,187,189,190,194,196],error_cod:[21,23,60,73,74,75,180,181,196],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,48,49,54,56,181],error_code_id_nam:[160,180],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,136,137,151,156,159,177,181,183,187,189,190,192,194,198],essenc:177,essenti:[6,136,137,159,176,179,196],establish:[180,196],estim:[15,86,87,106,111,154,156,158,165,166,167,168,175,176,177,189,190],estimated_time_remain:[158,168],etc:[4,10,13,17,26,27,85,86,89,93,94,95,111,113,150,151,153,158,160,161,163,168,172,174,175,177,179,183,187,190,192,197],eth:5,euclidean:[158,179],europ:190,evalu:[101,122,125,137,172,187],evalul:7,even:[19,20,21,23,100,101,104,111,115,136,151,155,157,158,159,161,170,172,173,174,175,179,183,185,187,191,196],evenli:87,event:[1,13,153,159,183,196],eventu:[160,176,178],ever:[101,158],everi:[17,19,21,23,24,58,83,92,94,98,101,104,117,121,136,153,158,159,161,164,165],everyon:[151,153],everyth:[154,159,165,175,183,190],everywher:[101,156],exact:[101,106,135,136,137,150,160,172,173,179,188,191],exactli:[135,154,179,193],exampl:[1,7,15,16,17,18,19,22,27,108,149,150,151,157,158,159,161,163,164,165,166,167,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,191,193,194,195,196,197,198],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,103,109,112,119,158],exceed:[18,94,160],excel:[1,7,9,190,198],except:[26,27,39,85,93,136,137,153,158,160,167,170,175,185,187,193,196],exception:[168,175,186],excess:11,exchang:[101,136],exclud:160,exclus:22,exe:185,exec:[150,183],exec_depend:[175,178,180],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,105,111,112,150,151,153,157,158,159,161,164,165,168,170,172,173,175,176,177,178,180,183,184,185,186,191,193,196,197],executeprocess:[175,176],executor:[11,26,27,112,158,160],exemplari:17,exhaus:183,exhaust:171,exhibit:22,exist:[4,8,11,12,27,41,85,86,96,100,101,114,135,148,150,153,157,158,159,161,166,168,179,183,186,187,188,190,196,197],exit:[21,23,27,96,99,157,159,183,185,186,196],expand:[102,136,137,138,150,159,172,178,183],expans:[8,102,110,136,137,158,159,160,161,170],expect:[5,11,26,87,101,103,117,121,153,155,157,158,161,168,175,180,181,183,190,196],expected_planner_frequ:[103,110],expected_update_r:[117,121,194],expend:179,expens:[27,101,121,159,160,175],experi:[1,2,3,4,5,6,7,9,10,12,25,149,150,151,155,159,178,185,187,189],experienc:174,expert:[4,14],expir:[22,70,170,194],explain:[11,18,19,22,151,153,173,185,186,192,198],explan:[18,91,108,196],explanatori:183,explicitli:[4,26,151,191],explor:[136,176,177],exponenti:[87,96,98,101,115,170,176,179],expos:[19,27,109,158,160,183,190],exposur:7,express:[27,119,161,166,190,191,193],extend:[165,175,190],extens:[22,27,101,150,151,160,161,187],extent:[98,104],extern:[4,21,23,24,26,85,93,96,99,132,149,150,156,157,160,161,180,183,187,199],external_detection_:196,external_detection_rotation_pitch:[96,196],external_detection_rotation_rol:[96,196],external_detection_rotation_yaw:[96,196],external_detection_timeout:[96,196],external_detection_translation_i:[96,196],external_detection_translation_x:[96,196],extra:[92,136,137,159,191],extract:[159,168,170],extrem:[2,18,85,98,101,116,158,176],face:190,facilit:[151,159,161],factor:[81,92,98,101,115,135,136,146,176,179],factori:164,fail:[18,19,21,23,24,26,27,93,96,99,112,135,136,137,156,158,159,160,163,168,170,183,185],failed_to_make_progress:[73,160],failed_to_smooth_path:[75,160],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,101,155,156,158,159,164,170,180,185,188],failure_toler:93,fair:8,fairli:185,faith:153,fake:27,fall:[86,101,196],fallback:[21,23,24,86,195,196],fallbackcomputepathtopos:24,fallbackrecoveri:24,fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,96,98,99,101,102,104,105,110,111,112,113,115,117,118,119,120,121,122,125,127,135,136,137,138,141,154,158,159,160,161,163,165,167,168,175,176,179,184,185,187,189,190,191,194,195,196,197],familiar:[18,27,178,183],fanci:[150,183],far:[85,86,95,101,136,137,154,159,161,176,179,188,196,198],farm:194,fashion:19,fast:[85,86,87,98,106,107,136,137,159,184,187],faster:[98,159,161,179,183],fault:[12,26,27],favor:159,favorit:[183,196],favourit:[191,193],fe0cbdee2808:183,fear:183,feasibl:[27,101,105,107,108,116,136,155,158,159,161,170,172,179,198],featur:[1,4,6,8,9,14,27,87,93,95,104,107,111,136,150,153,154,158,159,170,171,178,179,183,190,191,196],feaur:191,feed:[180,196],feedback:[14,26,27,89,98,111,153,159,168,196],feedback_msg:168,feel:[6,148,151,178,179],ferguson:[14,155],fetch:[166,167],fetullah:170,few:[4,11,14,19,26,81,92,95,149,150,161,172,176,179,183,185,196],field:[4,26,41,63,85,86,87,93,95,119,135,157,158,159,160,161,163,165,167,168,175,176,178,180,182,183,185,187,190,191,193,194,196],field_filepath:41,fields2cov:[41,95,161],figur:[190,197],file:[1,2,17,27,41,86,88,89,96,99,100,110,133,137,148,150,151,153,154,155,157,158,159,164,165,170,173,177,178,179,180,181,182,183,187,188,189,190,191,192,193,194,195,196,197],file_field:41,file_field_id:41,filenam:[175,176,190],filepath:[41,96,137,168,179,196],filesystem:[151,183,185],fill:[4,153,157,164,182,191,193,197],filter:[6,13,29,87,93,96,106,175,179,183,187,190,194,195,196,199],filter_coef:[96,196],filter_dur:84,filter_info_top:[100,113,116,119,191,193],filter_mask:100,filter_mask_data:193,filter_mask_serv:[191,193],filter_space_valu:100,final_bt_statu:168,final_rot:98,find:[14,27,58,88,89,93,95,98,101,103,104,109,111,112,136,137,150,151,153,154,157,158,160,161,166,168,172,178,179,181,183,184,185,186,188,189,196],find_if:166,find_packag:185,findchessboardcorn:182,finder:[158,176],findpackageshar:178,fine:[101,154,179,193],finish:[157,161,186,190],finit:[27,101,136,187,197],first:[19,27,41,76,77,85,86,101,115,120,149,150,153,155,159,160,161,166,170,171,173,175,176,177,178,179,180,181,184,185,187,188,189,190,191,192,193,194,195,196,197],first_map_onli:87,first_map_only_:87,firstli:22,fit:[101,179,190,195],fix:[96,104,118,153,157,160,171,173,175,176,177,178,182,187,190,196],fixed_fram:[96,196],flag:[9,150,175,178,182,183,185,186],flagship:14,flat:187,flavor:183,fleet:[27,183],flex_dock1:196,flex_dock2:196,flexibl:[14,89,101,163],flip:[113,158,160,172,178],flip_threshold:113,float32:[161,196],flood:18,flow:[1,18,19,21,23,24,77,78,153,164,197],fluidli:101,fly:[158,161,185,197],fn_tol:92,focal:182,focallength:176,focu:[12,18,26,178,195,197],focus:[110,183,184,187],focuscamera:178,folder:[19,150,151,176,182,190],folk:[153,159,185],folllow:175,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,98,100,103,104,111,119,132,133,134,136,137,149,151,153,154,155,156,157,158,159,160,163,165,166,167,168,170,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,189,191,192,193,194,195,196,198,199],follow_gps_waypoint:[27,161,190],follow_path_error_cod:[20,21,22,23,24,46,73,89],follow_path_error_code_id:180,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,97,98,101,104,105,157,160,161,164,166,168,172,188,198],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,90],followwaypoint:[26,160],fonction:159,fondli:14,fool:179,footprint:[2,85,86,88,94,101,109,116,117,120,121,136,137,141,159,160,161,165,172,174,178,195],footprint_clearing_en:[94,117,120,121],footprint_pad:94,footprint_top:[86,106,107,109,163,181],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,101,161,187],forcefulli:150,forese:157,forget:189,forgot:153,fork:[27,97,183],forklift:22,form:[5,41,86,110,161,165,176,177,183],formal:[27,155,184],format:[10,41,85,86,92,101,133,137,150,158,175,176,178,183,190,191,193,197],former:[14,85,86],formerli:[93,160,170],formul:161,formula:193,fortun:175,forward:[0,9,18,27,58,92,96,100,104,105,122,127,137,142,145,146,150,154,161,164,177,179,183,190,195,198],forward_point_dist:[97,139,143],forward_prune_dist:[122,160],forward_sampling_dist:[105,198],found:[3,8,19,22,26,27,72,86,91,101,105,108,122,135,136,137,150,151,155,156,158,159,160,161,163,164,165,166,167,168,170,171,172,173,175,176,178,180,186,189,190,191,192,193,194],foundat:168,four:[18,27],foxi:[11,27,162,167],fraction:159,fragment:184,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,96,100,109,112,113,116,117,119,121,125,148,156,166,167,173,175,176,177,178,182,187,190,195,196],frame_id:[26,63,100,117,121,161,166,167,175,191,192,193],frame_nam:176,framework:[0,2,8,14,27,96,108,135,155,160,161,175,179,180,196],francisco:[155,170,187],free:[10,27,94,100,101,118,135,148,151,156,170,175,176,178,179,184,187,189,190,191],free_spac:184,free_thresh:[191,193],free_thresh_default:100,freeli:178,freespac:[21,23,24,179],frequenc:[18,19,85,88,93,94,96,101,103,111,136,137,161,175,187,190],frequent:[137,179,190],fresh:150,friction:2,friendli:[101,178,183],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,96,98,100,101,104,105,106,110,111,112,117,119,120,121,135,136,137,139,142,143,147,148,149,150,151,152,153,154,155,156,157,158,159,163,164,165,166,167,168,170,171,172,173,175,176,177,178,179,180,181,182,184,187,188,189,190,191,192,193,194,195,196,197,198],from_imag:149,from_msg:159,from_numb:163,from_second:166,front:[85,86,136,139,143,166,178,179,195],front_cast:178,frustrat:159,fsm:27,fuel:183,full:[5,7,12,19,27,87,94,101,116,122,136,148,153,157,158,159,171,172,173,174,175,177,178,179,183,184,187,188,190,191,193,195,196,197,198],fulli:[27,87,115,136,137,153,154,158,159,172,179,181,187,190,194,196],fun:[0,16,183],fundament:[168,185],further:[11,19,22,101,107,136,137,150,153,159,161,177,185,187],furthest:[101,136],fuse:[27,155,171,175,190],fusion:[15,27,175,177,187,190],futur:[1,4,8,11,21,27,85,86,87,113,116,119,157,159,161,188],gain:[8,101,104],galact:[87,89,93,162,163,165,167,176,194,197],game:[27,187],gamma:101,gap:178,gate:187,gather:[14,27],gaussian:[87,101,175,176,190],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,148,154,161,163,164,165,166,167,168,173,174,178,179,183,184,189,191,193,194],gazebo_gps_world:190,gazebo_model_path:154,gazebo_ro:[159,175],gazebo_ros_camera:176,gazebo_ros_pkg:175,gazebo_ros_ray_sensor:176,gazeborosimusensor:175,gdb:[150,185],gdb_test_nod:185,gdb_test_pkg:185,gdbtester:185,gear:158,gen:101,gener:[0,3,5,10,18,22,27,41,81,86,92,95,96,98,102,108,110,111,122,135,136,137,150,151,152,155,156,158,159,160,161,170,172,173,175,176,177,179,180,183,184,185,186,187,192,195,196],general_goal_check:158,generate_headland:41,generate_launch_descript:[175,176,178,191,193],generate_path:41,generate_rout:41,generos:179,gentl:179,genuin:168,geodesi:190,geograph:[175,190],geometr:[178,179],geometri:[4,5,9,86,175,176,178],geometry_msg:[41,42,43,48,53,58,62,64,80,84,86,88,93,111,157,161,166,167,168,175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,29,30,41,42,43,45,46,48,49,56,59,77,87,88,89,93,94,95,96,98,99,100,101,102,103,104,108,109,110,111,112,117,118,120,121,135,136,137,151,153,156,158,159,160,161,163,166,167,168,170,172,173,175,176,179,180,181,192,194,196,197],implementaion:170,impli:[98,133],implicit:26,implicitli:[159,161],imposs:161,impract:190,improv:[1,7,9,11,12,25,27,92,106,108,136,137,150,154,156,157,158,160,161,171,186,187],imu0:[175,187,190],imu0_config:[175,190],imu:[27,175,176,177,187,190],imu_joint:175,imu_link:175,imu_plugin:175,imu_sensor:175,inact:[27,101,163,166,167,168,178,180],incentiv:[101,161],includ:[4,6,7,10,13,14,18,26,27,77,89,90,108,113,127,149,150,151,152,153,155,156,157,158,163,164,165,166,167,168,170,172,175,176,177,178,179,183,185,186,188,191,192,193,194,195,196,198],include_last_point:127,inclus:[150,161,176,179,185],incom:[86,91,113,116,119,157,191,193],incompat:150,incomplet:171,inconsist:158,incorpor:[87,150,158],incorrect:[158,170],incorrectli:158,increas:[12,27,92,96,98,101,110,115,136,159,160,177,179,180,182,183],increasingli:[27,187],incred:17,increment:[29,85,86,88,136,159],increment_recovery_count:164,inde:190,indefinit:[18,19,26,153,188],independ:[14,27,88,119,155,158,160,164,176,187,195,196],index:[26,133,149,163,165,166,167,168,170,197],indic:[54,85,86,87,101,113,116,119,132,153,155,157,158,164,165,176,193,196],individu:[11,27,85,86,91,108,153,156,159,160,179,183,192,196],indoor:[113,187],induc:[160,170,199],industri:[14,27,86,104,158,170,172,191],ineri:187,inerti:[176,178,187],inertia:[175,176,178],inf_is_valid:[94,117,121,194],infeas:[107,170],infer:178,inferior:[85,86,87,88,89,93,100,103,109,111,112,161],infin:58,infinit:[20,93,117,121,136,137,187,196],inflat:[27,87,94,116,118,136,138,161,170,176,184,191,194],inflate_around_unknown:[94,115],inflate_con:118,inflate_unknown:[94,115],inflation_lay:[94,113,114,116,119,165,173,176,184,190,191,193],inflation_layer_nam:101,inflation_radiu:[94,101,115,176],inflationlay:[94,176,179],influenc:101,info:[10,14,92,97,113,116,119,151,155,158,165,175,182,183],inform:[1,2,4,10,19,20,27,85,86,91,94,98,100,101,104,105,108,111,113,116,117,119,121,122,135,136,137,149,153,156,157,159,160,161,163,164,165,166,167,168,170,175,176,177,178,179,180,181,183,184,185,186,187,189,190,191,192,193,194,195,196,197],infrar:176,infux:159,ing:19,ingest:190,inher:[150,151],inherit:[158,164,165,166,167,168],init:[26,159,183],init_pos:26,initalorientationasrefer:175,initi:[8,26,65,72,87,89,98,101,107,148,150,151,154,155,157,159,160,163,165,166,167,168,170,178,179,188,190,191,195,196],initial_cov_:87,initial_orientation_as_refer:175,initial_perception_timeout:[96,196],initial_pos:[26,65,87,159],initial_pose_:87,initial_pose_receiv:65,initial_rot:98,initial_rotation_min_angl:98,initial_transform_timeout:[94,161],initializegoalpos:168,initialposereceiv:[19,90],inject:185,injuri:9,inlin:[165,167,194,196],inner:[11,195],inout_port:197,inproceed:155,input:[6,19,26,27,86,89,92,101,106,107,117,118,121,132,155,158,160,161,163,164,165,166,167,170,175,178,181,183,185,188,190,195,197],input_at_waypoint:132,input_go:[20,21,53,80,188],input_path:[20,57,58,188],input_port:197,input_sensor_typ:[118,176],input_top:132,inputatwaypoint:[112,158,170],inputport:164,inquiri:14,inscrib:[115,159,179],inscribed_inflated_obstacl:184,insert:[164,176,185],insid:[27,86,91,92,93,96,97,108,111,112,150,151,159,160,161,165,175,176,180,183,185,186,191,194,195,196],insight:[11,159,171,179],inspect:[26,150],instabl:[159,161],instal:[148,150,151,152,163,165,166,167,168,173,175,176,177,178,181,182,183,184,185,186,187,189,190,191,192,193,195,196,198],instanc:[27,86,96,133,154,161,164,172,175,180,183,190,191,193,196],instantan:[93,160],instanti:[172,178,180],instead:[13,18,21,23,24,80,85,87,88,89,96,101,102,103,107,110,122,135,136,137,149,150,156,157,158,159,160,161,163,165,166,167,168,172,175,176,177,179,180,181,183,185,187,188,189,190,191,195,196],instruct:[27,112,154,163,165,166,167,168,175,176,183,185,186,192],instrument:101,int16:180,integ:191,integr:[0,1,7,12,17,28,58,86,95,98,104,151,158,159,161,174,175,176,177,180,185,187,197],intel:[4,14,101,159],intel_realsense_r200_depth:[85,86,94,194],intellig:[155,179],intellisens:150,intend:[89,154,157,161,196],intent:[22,101,179],intention:[14,92,191],interact:[27,89,90,101,155,158,159,178,180,181,183,185,196,199],interactive_waypoint_follow:190,intercorrel:184,interest:[7,10,11,14,17,26,27,150,153,168,177,179,181,185,186,188,189,192,196,197],interfac:[3,5,13,19,27,86,89,109,150,151,155,156,157,160,163,164,165,168,170,176,181,183,189,190,194],interfer:[94,191],interins:187,interior:182,intermediari:[21,137,155,158],intern:[18,21,23,24,105,155,160,161,165,168,175,180,187,190,198],interoper:176,interpol:[104,111,136,161,191],interpolate_curvature_after_go:104,interpolation_resolut:167,interpolation_resolution_:167,interpret:[94,100,177,184],interprocess:150,intersect:[98,104],interti:178,interv:[85,86],interven:1,intervent:155,intial:96,intial_pos:19,intoroduc:161,intrest:185,intr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,170,174,179,180,181,182,183,185,186,188,189,190,191,192,193,194,195,196,198],set_angl:95,set_camera_info:182,set_initial_pos:87,set_pos:175,setcost:26,setcostmap:26,setinitialpos:[26,159],setplan:166,setspeedlimit:166,setup:[2,27,96,148,149,150,151,154,161,165,173,176,177,178,179,180,183,185,187,191,192,193,195,196],sever:[52,86,90,91,101,108,150,153,158,183,190,196],shadow:189,shape:[27,85,86,94,108,155,160,172,173,174,178,179,191,193,195],share:[11,27,86,88,89,109,135,150,154,159,163,165,166,167,168,175,176,178,179,183,189,196,198],shared_ptr:[159,163,166,168],sharedptr:[159,168],sharp:[98,101,161,179],sharper:[98,104],sheep:[136,137,159],shelf:26,shell:[150,183],shelv:26,shepp:[92,136,158,170,172],shift:[150,151],shim:[28,170,171,179,199],ship:[16,26],shm:183,shoot:27,shop:187,short_circuit_trajectory_evalu:[97,122],shortcut:[98,104,136,137,159,163,165,166,167,168],shorten:160,shorten_transformed_plan:[122,160],shorter:[22,57,58,136,137,170,178,188],shortest:[27,172],should:[1,2,3,6,9,11,17,18,22,27,41,73,74,75,77,84,85,86,88,89,92,93,94,98,100,101,103,104,109,111,112,114,117,119,121,136,137,151,153,154,156,157,158,159,160,161,163,164,165,166,167,168,173,175,176,177,178,179,180,181,183,184,185,186,187,188,189,190,191,192,193,195,196,197,198],shouldn:[101,183],shovel:27,show:[2,26,119,137,151,154,159,163,164,165,166,167,168,172,173,175,176,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],showcas:190,shown:[13,18,26,101,153,154,158,164,168,172,173,175,176,180,181,188,190,193,195,196,197],shrijit:155,shut:[26,27,180],shutdown:[27,159,180],shutter:187,shuttingdown:180,sid:163,side:[25,38,39,94,101,133,150,176,178,180,184,186,197],sidebar:[153,182,186],siemen:197,sig:185,sight:[106,172,190],sigma_hit:87,sign:[0,111,153],signal:[9,106,166,170,186,190],signatur:[164,168],signific:[8,9,101,179,190],significantli:[7,9,17,22,23,24,81,101,105,136,159,161,170,179,190,198],silent:158,sim_tim:[97,126,127],simiar:177,similar:[7,9,10,19,21,23,26,27,85,98,100,101,108,149,151,158,159,164,172,175,176,178,179,181,183,185,187,190,194,197,198],similarli:[21,23,85,91,104,161,175,183],simpl:[3,27,28,96,106,114,136,137,151,153,156,163,164,165,167,170,172,173,177,178,179,181,185,188,190,192,196,197,198],simple_smooth:[54,107,109,181],simplechargingdock:196,simplegoalcheck:[46,93,97,98,104,105,122,158,170,198],simpleprogresscheck:[93,97,98,104,105,160,170,198],simpler:[136,177,178,196],simplesmooth:[55,107,109,181],simplest:164,simpli:[17,101,136,150,153,158,159,161,163,164,175,178,179,183,185,191,193,194,197],simplic:191,simplifi:[6,154,157,164,166,168,185],simul:[1,2,3,4,5,6,7,9,10,11,12,13,86,89,101,105,126,127,148,154,161,163,165,166,167,168,173,174,178,179,183,185,186,189,190,191,192,193,194],simulate_ahead_tim:[88,105,163,198],simulation_time_step:[86,88],simultan:[150,165,176,191,193],sinc:[6,27,41,92,95,101,104,105,107,116,136,137,158,159,161,165,168,172,173,174,175,176,177,178,179,180,181,183,185,187,190,191,193,195,196,197,198],singh:[104,155,170],singl:[11,19,21,23,24,26,27,93,100,101,112,136,137,153,156,157,158,159,164,165,167,170,175,176,177,178,179,180,181,185,186,187,190,194],singletrigg:[90,158],singular:179,sister:158,sit:9,situat:[1,10,18,21,23,24,27,86,104,154,155,158,159,170,173,176,179,181,183,185,186,187],size:[26,27,38,39,95,120,136,137,159,165,171,172,173,175,176,178,179,182,183,184,187,190,191,193,194],skew:182,skid:[158,172,187],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,185],skillset:7,skinni:179,skip:[87,95,101,161,163,175,183],skirt:159,slack:[0,14,27,153],slam:[6,15,94,120,155,156,157,176,177,179,185,187,189,199],slam_toolbox:[15,149,185,192],slash:161,slate:183,sleep:[86,134,164],slide:178,slider:[178,191],slight:106,slightli:[101,106,111,135,136],slop:182,slow:[86,87,96,98,101,104,119,146,158,160,161,179,185,193,195],slowdown:[86,195],slowdown_radiu:[96,98],slowdown_ratio:[86,195],slower:[85,86,184],slowing_factor:[97,146],slowli:[101,196],smac:[28,92,101,104,105,116,155,158,171,172,173,198],smac_plann:104,smacplann:170,smacplanner2d:[108,135,158,161,170],smacplannerhybrid:[108,136,159,161,170],smacplannerlattic:[108,137,170],small:[101,111,136,157,160,168,170,171,173,175,178,179,184,187,189,190,198],smaller:[13,18,27,98,104,114,136,137,159,187,191,193],smart:[27,113],smash:183,smooth:[20,26,27,54,84,92,96,98,101,105,106,107,109,111,135,136,137,155,158,159,160,161,170,175,179,181,190,195,198],smooth_path:[136,137],smoothed_path:[26,54,181],smoothed_path_in_collis:[75,160],smoother:[28,54,55,75,135,136,137,155,168,171,172,180,195,199],smoother_error_cod:[75,89,181],smoother_id:[26,54,181],smoother_plugin:[92,106,107,109,181],smoother_selector:55,smoother_serv:[92,106,107,109,180,181],smootherselector:90,smoothing_complet:54,smoothing_dur:54,smoothing_duration_us:54,smoothing_frequ:111,smoothing_path_error_cod:54,smoothli:[101,179],smoothpath:[26,90,92,159,181],sms:163,snake:95,snippet:[18,163,166,167,168,173,175,176,178,180,185],snuff:161,soc:4,soccer:[27,190],socket:151,soft:[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168,176,177,186,190,196],stori:10,str:196,strace:150,strafe_theta:145,strafe_x:145,straight:[136,137,167,178,179,181,183],straightforward:176,strange_tesla:183,strategi:[153,190],stream:159,streamlin:[149,151],stretch:[151,183],strict:183,strictli:[6,137,160],stride:8,string:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,96,99,100,101,103,105,109,111,112,113,116,117,118,119,120,121,122,132,133,136,137,139,140,143,144,157,160,161,163,164,165,166,167,168,175,180,194,196],strive:[14,153],stroke:[2,174],strongli:27,structur:[6,8,18,27,155,160,161,168,172,177,178,180,190,193,194,197],stuck:[1,18,21,23,24,27,29,30,45,56,69,159,170,179],student:[7,153],studio:151,stutter:179,stvl:199,stvl_layer:[94,194],style:[21,23,24,179,194],sub:[0,21,23,24,86,159,161,195],subcommand:150,subfield:187,subject:[27,101,175],submit:[13,153,170],suboptim:[101,179,187],subpoli:86,subproject:13,subscrib:[27,44,47,50,51,55,66,67,80,86,87,93,118,120,158,161,175,176,183,188,190],subscribe_to_upd:[94,120],subscript:[80,85,86,158,161,168,170,175,180],subsect:[150,176],subsequ:[19,27,87,150,170],subset:186,subsiqu:[136,137,187],substanti:[1,101,136,153,156,179],substitut:[89,178,188,191,193],subsystem:98,subtleti:168,subtli:159,subtre:[17,19,21,22,23,24,27,38,39,40,90,164,170],subtreeplu:161,succe:[18,19,76,77,170],succeed:[26,83,159,163,167],success:[14,18,19,22,27,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,101,158,159,160,161,163,164,170,178,184,190,196,198],successfulli:[1,18,27,159,163,168,175,177,178,180,183,188,196],successor:[101,155,160],sucessfulli:177,sudo:[149,154,175,176,178,182,183,186,190,192,194],suffici:[4,18,27,101,137,146,168,184,186,187],suffix:186,suggest:[19,92,101,172,177,178,183],suit:[0,150],suitabl:[92,105,159,170,172,177,179,198],sum:[87,138,139,140,141,143,144,172,178],sum_scor:[138,141],summar:[172,177,179],summer:[5,11],superior:160,suppli:[11,27,79,82,84,89],support:[2,6,13,14,26,27,44,47,50,51,55,85,104,108,148,150,151,155,156,157,160,170,172,176,178,179,183,184,191,193,194,196,197],suppos:177,sure:[1,2,7,12,26,89,101,117,121,148,150,153,158,161,165,168,170,173,175,176,179,182,184,185,187,189,190,191,192,193,194,195,196],surfac:[27,155,190,196],surface_model:190,surpris:198,surround:172,survei:155,susbcrib:133,sustain:27,swap:[159,160],swath:[41,95],sweep:[98,178,179],symbol:185,symlink:[149,165,183,191,193],symmetr:161,symmetri:159,sync:197,sync_slam_toolbox_nod:185,synchron:[27,187],syntax:[150,161,178,185],sysdep:185,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,86,87,93,99,101,111,149,150,151,153,154,155,156,159,161,168,172,176,177,178,179,180,181,182,183,185,186,187,189,195,196],systemat:180,systemd:183,systemdefaultsqo:168,sysv:185,tab:[148,173,176],tabl:[159,165,166,168,174,179,180],tackl:[173,174],tag:[149,150,159,164,175,176,178,183,196],tailor:172,take:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,63,64,65,81,84,85,86,87,88,89,93,95,99,101,103,105,106,107,109,112,120,133,135,136,150,153,154,156,158,159,160,161,163,164,166,167,168,170,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,193,196,198],taken:[4,63,77,85,86,92,101,119,133,158,165,168,191,193],talk:[1,150,155,175,177,183,185,192,194],talker:[148,183],tangent:[4,182,190],tangenti:182,tar:182,target:[6,96,101,104,119,150,151,157,158,161,172,178,185,188,189,193,197],target_contain:191,task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,53,80,86,89,91,95,96,101,105,112,153,155,156,158,160,161,163,164,168,172,173,174,176,179,181,187,188,190,197,198,199],taskexecutor:26,taskresult:[26,159],tb3:161,tb3_gp:190,tb3_simulation_gazebo_launch:183,tb3_simulation_launch:[154,163,165,166,167,168,179,184,185,188,191,192,193,195],tbb:7,tcp:151,team:[14,151,188],tear:111,teardown:[27,172],teb:[3,101,156,160,170,172,179,198],teb_local_plann:157,teblocalplann:157,technic:[8,21,23,24,153,163,165,166,167,168,191],techniqu:[3,4,6,27,86,96,106,107,108,158,176,179,187,190],technolog:[8,14,155,187,190],tediou:178,teleop:[0,26,29,88,170,183,190],teleop_twist_keyboard:190,teleoper:190,telepres:1,tell:[27,153,161,163,164,165,175,183,185,190],temperatur:101,templat:[108,149,153,158,164,168,174,178,183,185],tempor:[170,179,194],temporari:[21,22,23,24,88,89,93,103,109,112,187,193],tend:198,term:[95,101,153,161,168,176,177,187,191],termin:[92,107,135,136,137,148,154,157,163,173,175,176,182,183,185,186,188,189,190,192],terminal_checking_interv:[110,135,136,137,161],terminatependinggo:168,test:[0,3,4,6,88,101,137,150,153,161,171,175,182,183,188,192,194,196,197],tester:196,text:[163,165,194],tf1:178,tf2:[27,157,174,175,177,178,179],tf2_echo:[175,177],tf2_msg:175,tf2_ro:[166,173,175,177],tf2_tool:176,tf_:[166,167],tf_broadcast:87,tf_static:159,tfmessag:175,than:[19,21,23,24,27,57,58,63,67,81,86,87,88,89,93,94,95,98,99,101,103,104,105,109,111,112,113,114,136,137,150,157,158,159,160,161,166,168,170,177,179,183,184,185,186,187,188,190,191,192,195,196,198],thank:[14,96,161,196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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ProgressCheckerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","Docking Server","DWB Controller","Graceful Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Docker for Development: Zero to Hero","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Using Docking Server","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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3,14,18,19,27,100,101,148,149,153,156,158,159,165,170,172,176,177,183,185,190,191,196,198],These:[17,18,27,101,150,155,156,157,158,159,160,161,164,165,166,168,172,174,175,176,177,178,179,180,181,183,185,186,187,190,191,193,197],Use:[27,89,92,96,175,184,187,188,191,193,196],Used:[31,32,33,34,35,36,37,52,85,86,113,116,119,179,190],Useful:[72,92,179],Uses:170,Using:[14,85,86,101,105,151,159,161,170,175,176,179,183,185,186,199],Will:[19,54,86,170],With:[14,17,27,136,177,183,190,194],Yes:[163,164,165,166,167,168],__cxa_throw:185,__gi_abort:185,__gi_rais:185,__n:185,__node:[185,186],_config:175,_costmap:[158,194],_differenti:187,_feedbackcallback:196,_from_numb:163,_joint:178,_link:178,_m_range_check:185,_nav:179,_to_numb:163,_twilio:163,abi:[101,150,183],abil:[6,7,27,86,101,160,161,195],abl:[0,5,9,14,18,19,105,159,160,163,164,166,167,168,170,173,175,176,177,179,183,185,186,187,190,196,197],abort:[94,158,164,185],about:[4,7,9,11,21,22,23,24,27,85,113,116,119,148,149,150,151,153,155,158,160,161,163,164,165,167,168,175,176,177,178,179,183,184,185,186,187,189,190,193,196,197],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,96,101,110,118,137,149,156,158,163,166,167,168,172,175,176,177,178,179,180,183,184,185,186,190,191,192,193,194,196,197,198],abrupt:27,abs:166,absolut:[48,49,100,119,157,161,166,175,178,183,185,187,190,191,193],absurdli:101,academ:6,acc_lim_i:[97,124],acc_lim_theta:[97,124],acc_lim_x:[97,124],accel:175,acceler:[88,101,104,105,111,124,159,175,179,198],accelwithcovariancestamp:175,accept:[6,26,63,87,110,136,137,153,161,168,172,173,187,188,196],acceptpendinggo:168,access:[0,27,86,93,111,150,151,158,159,164,176,178,185,197],accommod:150,accompani:92,accomplish:[8,163,170,175,178,183,185,196],accord:[27,100,175,176,190,191,193],accordingli:[9,86,161,190,191,193],account:[27,85,86,158,159,163,172,179,184,196],account_sid:163,accross:161,accumul:101,accur:[6,27,85,86,158,175,179,187,190],accuraci:[25,86,156,187,190],achiev:[11,92,101,104,108,111,112,158,159,160,161,178,179,187,190],acircl:182,ackerman:172,ackermann:[108,155,158,170,172,179],ackermannconstraint:101,acknowledg:89,acquir:27,across:[17,27,101,107,115,136,137,150,160,161,168,171,176,177,179,183,190,197],act:[9,14,27,135,157,158,174,176,178,191,195,198],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,96,101,103,109,112,154,155,156,160,163,164,168,170,172,173,175,176,177,178,179,180,181,183,188,189,190,191,193,195,197],action_a:19,action_b:19,action_c:19,action_nam:164,action_server_result_timeout:[88,89,93,95,103,109,112,161],action_typ:[85,86,161,195],actionnod:19,actionnodebas:164,actiont:168,activ:[12,26,27,60,73,74,75,86,88,89,93,95,99,103,109,112,148,153,154,157,158,159,160,163,166,167,168,175,176,179,180,190,196],actual:[18,54,86,92,101,105,136,159,168,173,177,178,179,182,183,187,189,190,195,198],actuat:150,adapt:[6,27,87,104,158,170,176,177,178],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,101,111,116,117,121,136,150,153,157,158,159,160,163,168,173,175,176,177,178,179,180,181,185,186,187,190,191,192,194,195,197],add_act:[191,193],add_compile_opt:[185,186],added:[10,13,21,23,24,89,101,150,153,156,157,158,159,160,163,165,166,167,168,172,173,176,177,178,179,180,186,190,194,195,196,198],addin:190,adding:[1,9,41,87,136,137,150,159,160,161,175,176,178,180,184,187,190,191,193,195],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,136,149,150,158,159,160,164,168,172,175,176,178,179,185,186,187,190,195],addition:[0,11,27,86,150,151,156,157,158,161,168,190,195],address:[31,32,33,34,35,36,37,41,42,43,46,156,157,158,159,160,161,163],adequ:179,adher:177,adjac:[110,114,184],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,101,103,109,111,112,136,155,160,161,173,178,187,193,195,196],admiss:[136,137,159],admittedli:11,adopt:161,advanc:[0,27,136,171,179,183],advantag:[12,27,160,198],advic:[172,179],advis:[21,23,24,27,175],affect:[85,91,158,159,161,178],aforement:101,after:[2,10,20,21,23,24,26,27,86,87,89,96,101,104,105,106,111,120,122,129,131,134,135,136,137,153,154,158,159,161,165,166,167,168,173,175,176,178,179,180,182,183,184,185,186,188,190,191,193,194,195,196,197,198],afterward:175,again:[18,19,20,22,77,148,150,154,156,171,175,178,183],against:[60,73,74,75,137,160,161,179,183,195],agent:[86,179],aggreg:180,aggregation_typ:[139,140,143,144],aggress:[86,136],ago:183,agre:153,agreement:153,ahead:[88,101,104,126,127,139,143,183],aid:[2,22],aim:[1,7,9,10,13,111,174,178,179,186],air:190,aisl:[27,135,159,172,179],aislewai:[136,159],aitor:170,alarm:[85,161],alberto:170,aleksei:170,alexei:[14,155,170],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,96,101,104,106,107,108,135,153,155,156,158,159,160,161,165,166,170,173,176,178,179,181,184,186,187],alias:27,align:[98,122,139,143,144,161,190],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,99,101,104,106,108,110,111,114,118,136,141,149,150,151,153,155,156,157,158,159,161,163,166,167,168,170,172,175,176,177,178,179,180,181,182,183,185,186,187,190,191,193,194,197,198],allevi:179,alloc:[27,180,185,194],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,98,101,102,104,110,119,135,136,137,138,141,146,150,151,153,155,157,158,159,163,165,166,167,172,175,176,177,178,179,180,182,183,184,185,187,188,190,191,193,195,196],allow_backward:98,allow_primitive_interpol:[136,161],allow_revers:104,allow_reverse_expans:137,allow_unknown:[102,110,135,136,137,158,167],almost:[157,159],alon:187,along:[14,26,27,58,68,84,98,101,104,105,113,116,119,136,137,141,157,158,159,160,170,172,176,178,180,181,185,187,190,191,193,196],alongsid:[161,168,179],alot:[101,187],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[178,191],alreadi:[4,7,101,157,158,159,163,173,175,178,179,183,185,187,190,196],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,96,99,100,101,103,104,105,106,108,109,111,112,115,136,137,149,150,151,153,154,155,156,157,158,159,160,161,163,164,165,166,167,168,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,190,191,192,193,194,195,196,198],alter:150,altern:[3,22,27,58,150,151,158,161,173,175,185],although:151,altitud:190,altogeth:[183,187],alwai:[9,16,20,72,85,86,89,99,111,137,148,158,159,161,178,179,190,191,195,196,198],always_on:[175,176,190],always_reload_bt_xml:[89,161],always_reset_initial_pos:87,always_send_full_costmap:[94,161,176],alwayson:176,ambigu:104,amcl:[6,7,26,27,28,52,65,154,157,170,176,177,179,187,190],amcl_pos:156,amclnod:159,amend:153,ament:[163,165,166,167,168,182],ament_cmak:[163,166,167,168,178],ament_cppcheck:153,ament_cpplint:153,ament_index_cpp:168,ament_index_python:[191,193],ament_uncrustifi:153,america:190,among:[27,110,172,179,184],amongst:178,amount:[94,118,128,130,132,134,135,136,137,146,157,158,160,191],amp:190,ampl:[21,23,24],amr:187,analog:[8,86,158,160,161,164,185,196,198],analysi:[7,27,153,155,186],analyt:[136,137,158,159,161],analytic_expansion_max_cost:[136,137,161],analytic_expansion_max_cost_overrid:[136,137,161],analytic_expansion_max_length:[136,137,159,161],analytic_expansion_ratio:[136,137],analyz:[5,6,7,10,26,27,164,186],andrei:170,angl:[26,27,56,85,86,95,96,110,128,135,136,158,170,179,190],angle_quantization_bin:136,angular:[58,86,95,96,98,101,104,105,123,124,127,136,139,142,143,145,160,161,166,175,179,195,198],angular_dist_threshold:[105,198],angular_distance_weight:58,angular_granular:[97,127],angular_limit:[86,160],angular_vel:166,angular_veloc:175,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,51,53,55,60,62,76,85,86,93,99,101,104,107,108,110,116,117,120,121,136,137,148,150,151,153,155,157,158,159,160,161,163,164,165,166,167,168,170,172,176,177,178,179,180,181,183,184,185,186,187,188,190,191,193,195,196,197,198],anim:[4,184],annoi:183,annot:[27,95,158,165,166,167,191,193,196],announc:153,anoth:[0,1,4,6,10,20,21,23,26,27,60,85,88,89,93,103,108,109,112,135,136,150,153,158,159,161,164,170,172,173,175,176,178,181,183,185,188,190,191,192,193,194,196],anshumaan:170,answer:[0,153,158],anybot:5,anyhow:159,anyon:11,anyth:[20,27,85,158,164,165,168,179,183,191,197],anywai:179,anywher:[151,159],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,153],apart:[22,198],apex:151,api:[17,27,54,155,156,158,163,165,168,176,181,183,190],appear:[86,153,154,158,159,160,176,178,182,183,184,189,190,195,197],append:[150,153,175,176],appli:[0,7,11,27,86,98,101,104,107,110,111,116,135,136,137,145,151,158,164,177,178,179,184,185,186,192,193,196],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,58,85,86,88,89,92,93,96,101,103,109,112,148,150,155,156,159,160,161,163,165,168,170,172,179,180,183,184,185,186,187,188,190,193,194,196,197,198],appreci:[27,153],approach:[22,27,81,86,96,97,101,102,104,108,110,135,136,137,155,158,160,170,172,175,179,181,195,198],approach_velocity_scaling_dist:104,appropri:[2,18,93,101,103,111,119,153,159,160,168,172,175,177,178,179,185,187,195,197],approri:[161,195],approv:[3,153],approxim:[86,105,111,135,136,154,160,172,173,179,182,198],apriltag:[96,196],apt:[149,150,154,175,176,178,182,183,186,190,192,194],arbitrari:[27,86,108,151,170,172,174,179,196],arbitrarili:155,arc:[85,86,98,176],architectur:[11,158,187],area:[3,7,27,38,39,86,94,113,116,118,119,135,136,137,153,158,159,160,161,163,165,170,176,178,179,182,183,186,191,193],area_memori:187,areerrorcodespres:[90,160],arg:[149,182,183,185,186,195],argc:185,argument:[26,149,159,160,161,164,166,175,178,181,183,185,186,190,191,193,195],argv:185,arm:163,aroun:160,around:[9,14,18,22,27,38,58,81,85,86,92,94,98,101,104,115,153,158,170,176,177,178,179,182,183,190,192,198],arrai:[92,101,136,137],arriv:[112,133,158,170],arrow:[178,189,190],art:108,articl:[155,180],articul:183,artifact:[106,108,150,183,184],artifici:101,arug:183,arxiv:155,as_str:168,asid:[175,176],ask:[0,3,27,153,165,185,197],asla:14,aspect:[19,150,151,181,182],assembl:197,assess:179,asset:[183,185],assign:[27,54,58,92],assist:[0,26,29,153,170,179],assisted_teleop:[31,88],assisted_teleop_error_cod:29,assisted_teleop_serv:29,ass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6,197,198],cancel:[20,22,26,31,32,33,34,35,36,37,104,110,135,136,137,154,164,166,168,170,188],cancel_check:161,cancel_deceler:[104,161],cancelassistedteleop:[90,159],cancelbackup:90,cancelcontrol:[22,90,159],cancelcoverag:90,canceldriveonhead:90,cancelingcontrolandwait:22,cancelnav:159,cancelspin:90,canceltask:26,cancelwait:90,candid:[1,7,95,101,153,172],cannot:[27,72,101,104,111,136,137,142,158,160,168,179,180,183,190,194,196,197],canon:27,capabl:[4,7,10,15,26,150,151,155,158,161,171,176,187,188,190,198],captur:[27,159,172,186,187],car:[108,155,158,170,173,179],cardin:190,care:[101,136],career:11,carefulli:[172,187,196],carl:[14,170],carlo:[6,27,87,176],carri:[27,157,158,159,167,188],carrot:[20,104,161],cart:4,carter:196,cartesian:[27,41,95,101,161,170,190],cartograph:156,carv:183,cast:7,caster:178,caster_joint:178,caster_xoff:178,catchi:8,categori:172,cater:159,cati:188,caus:[22,30,45,85,86,87,101,136,137,154,159,179,184,187,191,193],caution:[151,184],ccach:[149,150],ccw:25,ceas:86,cell:[26,27,110,114,115,117,118,120,121,136,159,161,165,172,173,176,178,184,191,193],center:[18,27,38,39,95,101,116,135,136,137,159,163,173,177,178,182,189,190],central:[27,190],cere:92,cerescostawaresmooth:[109,181],certain:[19,101,157,159,165,172,174,176,188],certainli:[161,187],certif:[86,152],certifi:[9,86,153],chain:[190,193,195],challeng:27,chanc:[1,7,9,19,159],chang:[6,11,12,13,14,17,18,21,23,24,26,27,62,64,76,86,88,89,92,93,94,95,96,98,101,103,107,109,111,112,129,131,135,136,137,139,143,150,153,154,157,165,166,168,171,173,175,176,179,183,185,187,188,189,190,191,193,194,195,197],change_penalti:[136,137],changemap:26,channel:[136,153],chao:153,chapter:[27,191,193],charact:106,characterist:[4,12,107,175],charg:[27,66,96,160,161,170,172,196],charger:27,charging_threshold:96,charuco:182,chassi:[177,178],chat:153,chatter:183,check:[0,7,9,11,14,18,19,22,26,27,53,54,60,62,63,64,66,67,68,70,72,73,74,75,81,84,85,86,88,89,90,92,93,94,101,104,105,109,110,112,115,116,128,129,130,131,135,136,137,142,148,149,150,151,153,155,157,158,159,161,163,164,165,166,167,168,170,172,173,175,176,177,179,182,183,184,185,189,190,191,193,195,196,198],check_for_collis:[26,54],checker:[17,46,93,105,122,156,163,198],checkerboard:182,checkifnewpathneed:24,checklist:174,checkout:[104,149,187],chessboard:182,child:[18,19,22,72,76,77,79,82,83,84,159,161,170,175,176,177,178,190],child_frame_id:175,children:[18,19,22,76,77,78,81,170,186],chip:179,choic:[10,26,27,179,180,187,192],choos:[110,150,151,154,168,173,177,179,183,184,185,190,193],chosen:[26,27,150,160,193],christoph:170,chronicl:150,chug:185,cilqr:3,circl:[19,27,85,86,179,182,195],circular:[27,94,101,108,115,155,161,172,173,178,179],cite:[104,155],citizen:194,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:153,class_list_macro:[163,165,166,167,168],classic:[179,183],classification2d:176,classification3d:176,clavero:155,clean:[27,95,101,150,157,159,161,163,166,167,168,179,183],cleaner:178,cleaningup:180,cleanli:[27,99,168,179,183,186],cleanup:[163,166,167,168,180],clear:[18,19,21,22,23,24,26,27,38,39,40,94,117,118,120,121,153,158,159,160,161,167,170,176,179,182,187,194,196],clear_after_read:194,clear_around_:158,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,164],clear_entirely_local_costmap:[18,21,22,23,24,40,90,164],clear_except_:158,clear_except_local_costmap:39,clear_on_max_read:[118,176],clear_threshold:118,clearallcostmap:26,cleararoundrobot:159,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,158,164],clearer:176,clearexceptregion:159,clearglobalcostmap:[18,21,22,23,24,26,90,164],clearing_endpoint:158,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,164],clever:185,cli:[27,100,150,151,157,158,183,186,192],click:[16,151,154,165,166,167,168,173,176,182,189,190,197],clicked_point:[188,196],clicked_point_to_pos:188,client:[19,27,95,156,158,159,163,164,168,181,196],client_nod:159,client_node_:159,clinet_node_:159,clip:[176,191],clock:[191,193],clock_:[166,168],clockwis:195,clone:[149,182,183,188,190,191,192,193,194],cloned_tb3_simulation_launch:161,close:[22,27,53,81,85,86,94,101,104,111,137,140,146,150,158,159,161,166,173,179,183,190,195,196],closed_loop:111,closer:[57,101,136,160,161],closest:[58,98,104,122],closur:187,cloud:[7,27,150,151,154,157,183],cluster:179,cmake:[163,165,166,167,168,182,186],cmake_build_typ:186,cmakelist:[163,165,166,167,168,175,176,178,185,186],cmd:[175,176,183],cmd_vel:[13,85,86,161,166,175,186,195],cmd_vel_in_top:[86,195],cmd_vel_nav:[186,195],cmd_vel_out_top:[86,195],cmd_vel_raw:86,cmd_vel_smooth:[86,195],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,111,112,135,150,151,153,156,157,159,163,164,165,166,167,168,170,173,175,176,178,181,183,184,185,190,194,196,198],codebas:[86,93,111,153,161],codecov:12,codespac:[150,151],codifi:150,coeffici:[96,119,182,191,193],coffe:[151,197],colcon:[149,150,165,173,175,176,178,183,185,186,191,193],collabor:[4,14,153],collect:[26,174,176,179,186,187],collid:[4,9,173],collis:[1,7,9,27,28,29,54,88,92,94,101,104,105,109,115,116,118,146,155,156,158,159,163,170,171,172,173,175,176,178,179,198,199],collision_cost:101,collision_detector:85,collision_detector_st:[85,161],collision_margin_dist:101,collision_monitor:[86,195],collision_monitor_nod:195,collision_monitor_param:195,collision_monitor_st:86,collisionmonitor:160,color:[8,92,133,176,178,179,184,191,193,194],color_dark:191,color_light:191,column:[121,176],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199],combin:[27,94,136,139,140,143,144,158,192],combination_method:[94,117,121,161,194],combo:[161,183],come:[8,13,14,27,95,101,104,131,136,153,159,160,163,166,167,168,175,177,178],command:[1,9,22,29,44,47,50,51,55,80,86,104,105,111,149,150,151,155,157,163,165,166,167,168,170,172,175,176,177,178,185,187,188,189,192,193,198],commandlin:[100,183,185,186],commens:96,comment:[150,153,159,165,167,185,194],commerci:[27,153,190],commit:[150,153,171,182],common:[18,26,27,86,96,101,150,151,155,158,159,168,175,183,187,190,195,196],commonli:[19,44,47,50,51,55,168,176,187,190],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,150,153,155,163,168,177,179,180,182,183],compani:[153,155,179,183],companion:197,compar:[27,60,73,74,75,86,89,92,108,160,161,196],comparison:155,compat:175,compens:190,compet:153,compil:[150,151,163,166,167,168,181,183,185,186],complement:[5,157,190],complementari:180,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,96,98,101,104,105,129,131,136,137,146,150,153,154,155,156,157,158,159,160,161,163,164,168,170,171,172,173,175,176,178,180,181,182,183,186,187,189,190,192,194,196,197,198],complex:[27,89,101,136,155,160,176,177,178,185,197],complexyolo:4,compli:[2,172,175,190],complianc:111,compliant:177,complic:155,complimentari:168,compon:[6,41,76,77,78,79,80,81,82,83,84,101,110,111,145,158,159,161,174,178,180,187,191,193],component_contain:180,component_container_isol:159,componentcontain:185,compos:[11,159,165,179,180,183,185,186,191,196],composable_node_descript:[180,191],composablenod:[180,191,195,196],composablenodecontain:180,composit:[171,185,186,191,193],composition_demo:180,comprehens:[150,183],compris:[13,155,178],comput:[7,17,18,19,20,21,27,41,42,43,95,101,103,104,108,110,135,136,137,139,143,155,159,160,161,163,164,166,167,170,172,173,175,176,177,179,181,183,186,187,189,196],computation:[27,101,121,159],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,89,181],compute_path_error_code_id:180,compute_path_through_pos:[160,180],compute_path_to_pos:[160,180],compute_path_to_pose_error_cod:74,computeandpublishveloc:158,computeandsmoothpath:181,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,164,168,181,188],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,90],computevelocitycommand:[93,166],concaten:158,concept:[7,18,19,155,158,172,176,177,180,191,193,196,197],conceptu:177,concern:[151,153,159],conclud:183,conclus:22,concret:177,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,107,150,159,160,164,170,175,178,187,190,191,197,198],conditionnod:164,conduct:155,conf:[86,93,111,161,164],confer:155,config:[150,151,173,175,176,178,183,185,190,192,196],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,99,100,101,108,113,116,119,149,150,151,155,156,157,159,160,161,163,164,166,167,168,170,174,178,179,180,181,183,184,185,187,188,189,190,192,194,197],configured_param:[180,191,193,195],confin:[101,136,150,161,173],confirm:[173,176,182,190],conflict:157,conform:155,confort:161,confus:19,conjunct:[26,101],connect:[14,19,27,95,99,102,110,114,135,150,151,157,158,159,170,172,175,176,177,178,184,190,197],connector:[41,187],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,101,131,136,137,146,153,157,158,160,161,163,164,166,167,168,170,172,179,180,183,187,190,191,195,196],consider:[4,101,179,183],consider_footprint:101,consist:[8,17,101,151,153,158,159,170,175,176,177,179,180,190,196,197],consol:195,constant:[19,95,98,104,161,166,178,179],constantli:[157,159],constrain:[28,107,158,170,179],constrainedsmooth:[92,159],constraint:[21,105,111,137,158,159,168,170,172,179,198],constraintcrit:101,construct:[27,153,159],constructor:[26,27,159,161,164],constsharedptr:168,consult:14,consum:[9,159],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,153,155,179,180,196],contain:[9,11,17,21,23,24,27,46,49,91,101,108,111,117,121,136,137,152,156,157,158,159,160,161,163,165,166,167,168,170,175,176,178,179,180,181,182,185,187,191,193,195,196,198],container:[150,183],container_nam:191,container_name_ful:191,containeris:150,content:[151,173,174,176,178],context:[11,13,18,19,21,22,23,24,90,149,164,170,183,197],contextu:[17,18,21,23,24,155,160,196],continu:[1,12,18,19,20,21,22,23,24,27,95,101,112,134,136,137,151,153,154,155,156,157,158,159,160,161,168,175,178,179,183,187,190,192,195],contractor:14,contrast:[159,190],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,136,153,161,176,179,180],contributor:[14,153],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,96,104,108,111,119,121,123,124,125,126,127,128,129,130,131,137,138,139,140,141,142,143,144,145,146,147,155,156,157,163,164,165,168,169,171,173,174,175,178,180,181,183,185,186,187,188,189,192,193,194,195,196,197,199],controlcancel:22,controller_frequ:[93,96,97,98,101,104,105,196,198],controller_id:[18,20,21,22,23,24,26,44,46,90,158,161,164,188],controller_pati:158,controller_plugin:[93,97,98,104,105,157,166,172,198],controller_plugin_id:[122,123,124,125,126,127,138,139,140,141,142,145,146,147],controller_selector:[20,21,22,23,24,44],controller_serv:[22,93,97,98,99,101,104,105,157,158,159,161,166,172,180,186,193,198],controllerselector:[20,21,22,23,24,90,158],controllerserv:159,controlnod:[161,164],conveni:[151,161,187,193],convent:[21,23,24,27,176,177,180,190],converg:[87,92,96,98,101,190],convers:[26,100,153,191,193],convert:[0,27,95,101,112,119,136,137,155,156,158,167,177,190,191,193,196],convert_typ:[191,193],convert_v3_to_v4:161,convex:101,cooper:2,coordin:[5,26,27,41,87,94,95,112,159,175,177,178,187,188,190],coordinates_in_cartesian_fram:95,cope:190,copi:[159,173,175,176,178,181,183,185,191,193,194],copyright:153,core:[7,17,27,160,180,181,183],corner:[104,154,158,182,191,197],corpor:14,correct:[27,85,86,148,150,153,159,175,176,178,183,189,191,193,195],correctli:[19,27,154,158,159,173,175,176,177,190,191,193,195],correl:150,correspond:[27,41,81,85,86,89,101,102,110,113,114,115,116,117,118,119,120,121,135,136,137,158,159,163,164,165,176,177,184,190,193],correspont:191,corridor:[101,172,179],cost:[9,18,26,27,85,86,88,92,94,104,108,110,115,116,125,135,136,137,150,155,158,159,165,170,176,179,184],cost_check_point:92,cost_cloud:158,cost_penalti:[136,137],cost_pow:101,cost_scaling_factor:[94,101,110,115,165,176],cost_travel_multipli:135,cost_weight:101,costamp2d:191,costcrit:[101,161],costli:27,costmap2d:[148,161,169,170,184,191,193],costmap2dro:[159,166],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,86,88,91,92,93,98,103,104,109,110,113,114,115,116,117,118,119,120,121,135,136,137,138,141,155,156,159,165,166,167,172,173,179,184,190,199],costmap_2d:[5,161,165,176],costmap_2d_cloud:158,costmap_2d_ro:120,costmap_:[165,167],costmap_filter_info:[100,113,116,119,191,193],costmap_filter_info_serv:[100,191,193],costmap_filters_demo_dir:[191,193],costmap_raw:[88,106,107,109,163,181],costmap_ro:[159,166,167],costmap_ros_:166,costmap_top:[106,107,109,163,181],costmapfilt:158,costmapfilterinfo:[113,116,119,191,193],costmapfilterinfoserv:191,costmapinfotyp:160,costmapsubscrib:161,could:[1,2,3,6,7,9,10,20,27,85,86,93,110,150,151,157,158,159,160,164,165,166,170,177,179,181,183,185,188,190,191,193,194,195],couldn:185,count:[101,159,175,182,191],counter:[29,108,159,164,168,175,195],counterpart:179,coupl:[26,183,187,198],cours:[5,11,150,178,187],cov_path:41,covari:[87,190],cover:[2,27,86,118,153,158,161,172,179,180,183,185,190,191,193,195],coverag:[3,4,6,12,17,27,28,34,41,155,161,168,170,171,179,180],coverage_path:41,coverage_serv:95,coveragenavig:[41,89,170],cpp:[18,27,155,156,157,158,159,164,165,170,185,197],cpu:[4,7,86,150,159,179,180,187],crash:[27,99,157,159,179,180,183,197],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,78,81,86,94,95,99,101,107,108,136,149,151,153,155,156,157,158,159,160,161,165,170,172,173,175,176,177,178,179,180,183,184,187,189,190,191,193,194,195,196,197,198],create_cli:168,create_subscript:168,createplan:[161,167],creation:[9,157,179],creativ:[6,8],creator:170,criteria:[27,129,131,146,153,159,170],criterion:92,critic:[1,7,9,27,122,136,137,138,139,140,141,142,143,144,145,146,147,156,172,179,180,185],critical_cost:101,critical_weight:101,cross:[148,150,155,172,173],crowd:[21,23,24,172],crtl:[150,151],crux:18,ctrl:150,cube:[173,176],cubic:92,cuda:7,cull:[21,53,170],current:[3,9,11,12,14,18,19,24,26,27,45,53,58,62,79,82,84,85,86,89,95,96,101,103,104,105,111,112,113,116,118,119,137,149,153,155,157,158,159,160,161,163,164,166,167,168,170,175,176,177,178,179,180,183,188,190,195,196,197,198],current_path:168,current_pos:168,curv:[95,96,98,110,165,179],curvat:104,curvatur:[92,95,96,98,101,104,136,137,158,161,166,172],curvature_lookahead_dist:[104,160],curvature_lookahead_point:104,curvature_smooth:[109,181],cusp:[92,101,104],cusp_zone_length:92,custom:[10,17,18,19,21,23,24,26,27,57,58,78,80,87,88,89,95,101,108,112,137,149,150,151,155,159,160,163,166,167,168,170,172,174,176,183,190,194,195,196],customiz:[155,160],cut:[136,137],cxprime:176,cyan:[92,178],cycl:[22,85,86,104,136,137,159,163],cycle_frequ:[88,163],cylind:[176,178,190],cylinder_inertia:178,d15e176ed0af:183,d36cae3fb404:183,dai:[11,86,183],daili:183,damag:111,danc:190,danger:[92,155,195],dark:191,darker:193,dash:[154,162],data:[1,4,7,9,10,26,27,85,86,88,89,91,93,101,107,111,117,118,121,135,136,137,150,155,158,160,161,170,175,176,177,179,180,182,183,186,187,190,191,193,194,195,196],data_typ:[94,117,121,176,194],databas:96,dataset:187,date:[85,86,87,113,116,119,153,156],datum:190,david:[14,97,170],dcmake_build_typ:186,dco:152,deactiv:[27,99,163,166,167,168,180],dead:27,deadband:[111,159],deadband_veloc:[101,111],deadlin:[86,88,89,93,103,109,111,112,161],deal:[7,27,175,177,179],dealloc:27,dealt:18,debian_frontend:183,debug:[27,92,101,121,122,125,136,137,150,160,185,186],debug_optim:92,debug_trajectory_detail:[97,122,166],debug_visu:[136,137,161],debugg:[150,185],debuggin:101,decad:[6,14],decai:[87,101,115,170,176,179],decay_acceler:194,decay_model:194,decel_lim_i:[97,124],decel_lim_theta:[97,124],decel_lim_x:[97,124],deceler:[101,104,124,161],decemb:[108,179,194],decent:101,decid:[22,87,161,177,178,180],decis:[173,190],declar:[61,63,150,153,158,161,163,165,166,167,191,193],declare_autostart_cmd:[191,193],declare_container_name_cmd:191,declare_mask_yaml_file_cmd:[191,193],declare_namespace_cmd:[191,193],declare_paramet:168,declare_parameter_if_not_declar:[166,167],declare_params_file_cmd:[191,193],declare_use_composition_cmd:191,declare_use_sim_time_cmd:[191,193],declarelaunchargu:[175,178,191,193],declareparamet:165,decod:193,decor:[18,20,22,159,164,170,188,197],decoratornod:[161,164],decoupl:196,decreas:[101,160,194,195],decrement:165,dedic:[14,104],deduc:185,deeper:[101,136,176],deepli:197,def:[159,178,191,193,196],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,157,164,168,188],default_control:[20,21,22,23,24,44],default_critic_namespac:122,default_custom_ord:95,default_goal_check:47,default_headland_typ:95,default_headland_width:95,default_model_path:[175,178],default_nav_through_poses_bt_xml:[89,168],default_nav_to_pose_bt_xml:[89,161,168],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:[20,21,22,23,24,50],default_progress_check:51,default_route_typ:95,default_rviz_config_path:178,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:113,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[175,178,191,193,196],defaultsto:175,defin:[1,5,9,10,18,26,27,41,44,47,50,51,55,60,61,63,81,85,86,88,89,93,94,100,101,103,109,112,122,123,124,125,126,127,128,129,130,131,132,133,134,138,139,140,141,142,143,144,145,146,147,150,155,156,157,158,159,160,161,164,165,167,168,172,173,175,176,177,178,180,184,185,189,190,191,193,194,197],definit:[27,46,54,89,160,163,165,168,175,176,178,180,196],deg:[95,101],degrad:[136,137,190],degre:[11,25,85,86,136,158,161,190],delai:[85,86,190],delet:[159,175,183],deliv:26,deliveri:1,deloc:52,delsei:[14,170],delta:110,demand:[27,166,167,190],demo:[8,10,22,27,159,161,173,180,183,190,191,193,196],demo_inspect:26,demo_nodes_cpp:183,demo_nodes_pi:183,demo_pick:26,demo_secur:26,demonstr:[4,10,26,86,149,159,161,165,190,194,195,196],deni:168,denois:[94,170],denoise_lay:[114,184],denoiselay:[114,179,184],denot:[176,185],dens:[26,101,137],dense_qr:92,densiti:[87,95,101],depend:[18,27,86,98,101,119,149,150,151,156,158,159,160,161,163,164,166,167,168,172,173,175,178,179,183,184,185,187,189,190,191,195,196],depict:[22,92],deploi:[4,101,155,161,172,183],deploy:[158,180,190],deprec:[6,92,158,159],depth:[27,86,94,117,121,170,172,176,177,178,179,187,194],depth_camera:176,depth_camera_control:176,deriv:[86,151,163,165,175,178,190],descent:[106,159],describ:[18,19,101,153,154,161,165,166,167,168,172,175,178,183,185,186,190,193,194,195,197],descriopt:113,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,96,98,99,100,101,102,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,157,158,161,163,164,165,166,167,168,170,172,175,178,179,183,191,193,196],descriptor:177,design:[5,6,8,26,27,91,96,101,106,108,158,160,165,179,184,191,193,195,197],desir:[85,86,101,104,133,136,137,150,153,158,160,161,166,179,187,188,193,196],desired_linear_vel:[104,166],desired_linear_vel_:166,desk:155,desktop:183,despit:190,destin:[26,27,62,63,64,84,154,175,176,178],destroi:[150,183],destroynod:26,detach:183,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,89,101,108,113,116,119,150,153,157,158,159,160,161,163,165,166,167,168,172,173,174,175,177,179,183,185,190,193,194,197],detect:[4,27,54,58,85,86,91,92,96,104,150,161,173,175,176,179,182,188,196],detection2d:176,detection3d:176,detector:[27,91,96,188,196],detectron2:4,determin:[0,69,98,112,122,133,161,168,172,178,184,185,186,195,196],determinist:[11,27,99,106,180],dev:[149,152,161,183,190],devcontain:[150,151],devcontainerid:150,devel:[192,194],develop:[3,4,5,8,11,14,21,23,24,27,86,108,110,148,150,151,159,161,171,178,179,180,185,196,198,199],developercertif:153,dever:150,deviat:[87,101,111,161,179],devic:[150,179,190],diademata:154,diagnost:175,diagnostic_msg:175,diagnosticarrai:175,diagon:114,diagram:[155,177,188],diamet:175,dictat:198,dictionari:161,did:[19,20,161,163,166,167,176,178,185,186,196],didn:179,diego:14,diff:[92,108,170,179,183,190],diff_driv:175,diff_drive_control:175,diffdriv:101,differ:[10,17,18,19,21,22,23,24,27,62,85,86,90,95,96,98,104,105,108,110,113,116,119,136,150,151,153,155,157,159,160,161,165,168,172,174,175,176,177,178,179,180,181,183,185,187,188,190,191,193,195,196,197,198],differenti:[8,87,98,101,105,108,110,155,158,159,161,170,172,173,175,176,178,179,187,190,198],differentialmotionmodel:87,difficult:[27,105,159,179,198],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],dig:183,digit:[106,133,170],dijkstra:[3,102,159,170,172],dilig:151,dime:179,dimens:[158,178,182,187],dimension:190,dir:183,direct:[4,58,86,92,101,104,108,111,123,136,137,142,149,150,158,161,171,172,177,182,189,190,195],direction_end_angl:[86,195],direction_start_angl:[86,195],directli:[27,95,101,134,150,151,153,158,161,164,165,178,185,190,191,193],directori:[133,149,150,151,158,159,161,163,165,166,167,168,170,173,175,176,178,179,183,191,193,196],disabl:[85,86,87,88,89,93,100,103,109,111,112,135,136,137,159,160,179,182,187,196],disable_calib_cb_fast_check:182,disablecharg:196,disagre:87,disappear:86,discard:[88,89,93,103,109,112,114,159,161,184],discontinu:[95,106,108,137],discours:[0,153],discov:[149,164],discover:[163,165,166,167,168],discoveri:[99,150],discret:[27,114,150,153,172,175],discretize_by_tim:127,discuss:[3,6,19,27,89,153,157,158,159,166,167,172,173,174,175,176,177,178,180,183,190,196,198],dislpai:176,dispatch:27,displac:[30,45],displai:[2,85,103,136,137,158,173,175,176,178,179,183,184,190,193,197],disproportion:101,disscuss:158,dist:[26,136,137,182],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,56,57,58,61,63,79,87,88,92,95,96,98,101,104,105,122,127,136,137,142,156,157,158,161,166,170,172,175,176,177,179,188,196,198],distance_backward:58,distance_forward:58,distance_remain:[158,168],distancecontrol:[17,18,90,92,157],distancetravel:90,distancetraveledcondit:157,distant:58,distinct:[27,177],distinguish:41,distort:[106,182,184],distortionk1:176,distortionk2:176,distortionk3:176,distortiont1:176,distortiont2:176,distribut:[101,148,150,151,153,154,161,162,171,183,191],distro:[148,149,154,175,176,178,182,183,189,190,192,194],distroa:148,distrob:148,disturb:190,dive:178,diverg:[136,137,179,187],divid:[157,158,190],do_beamskip:87,do_refin:[106,107,109,136,137,160,181],doc:[8,15,149,154,157,161,179,183,190],dock:[17,18,27,28,88,161,172,199],dock_approach_timeout:[96,196],dock_backward:[96,196],dock_databas:[96,196],dock_id:196,dock_plugin:[96,196],dock_pos:196,dock_prestaging_toler:[96,196],dock_typ:196,docker:[150,151,199],dockerfil:[149,150,183],dockerhub:183,docking_cli:196,docking_serv:[96,196],docking_threshold:[96,196],docking_tim:196,dockrobot:196,document:[8,10,15,18,22,27,149,150,153,154,157,175,176,177,178,183,184,185,186,187,191,192,193],doe:[4,9,19,21,22,23,24,85,86,91,96,101,116,118,136,137,149,150,158,159,160,161,163,166,167,168,173,175,179,180,181,183,190,191,193,196,197],doesn:[76,135,158,159,163,179,183,187,191],dog:187,doing:[26,112,116,153,168,185,190],doisi:170,domin:[117,121,161],don:[136,137,141,154,158,177,179,181,185,187,188,189,190,191,192,196],done:[13,18,19,27,86,150,156,157,158,165,166,167,168,171,172,176,185,186,187,196,197],dont:178,door:17,dot:[161,190],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,96,98,99,100,101,102,103,104,105,107,109,110,111,112,113,115,116,117,118,119,120,121,122,124,125,126,127,128,129,130,131,132,135,136,137,138,139,140,141,142,143,144,145,146,147,158,166,167],doubt:101,down:[26,27,96,98,99,101,104,110,119,121,154,155,157,159,160,161,179,180,183,185,190,193,195],download:[5,150,182,183],downsampl:[92,101,135,136,137,159,161],downsample_costmap:[135,136],downsample_factor:[135,136],downsample_obstacle_heurist:[136,161],downsampling_factor:[135,136],downstream:158,doxygen:152,dozen:[27,196],drag:[154,197],dramat:[136,137,157],draw:[190,191,193],drawn:191,drift:[27,175],drivabl:[105,172,179,198],drive:[1,25,26,35,45,92,101,104,108,136,137,155,158,166,170,172,173,175,176,178,179,190,191,196],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,179],driveonhead:[25,26,90,160,161],driver:[1,13,16,148,150,175,176,182,187],drivetrain:170,drivewhl_l:178,drivewhl_l_joint:175,drivewhl_r:178,drivewhl_r_joint:175,drop:[9,98,157,161,187,197],dropdown:2,dual:[151,190],dual_ekf_navsat:190,dub:159,dubin:[95,136,137,158,159,170,172],dubiou:159,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,101,111,114,136,137,153,157,158,159,160,161,168,173,175,176,179,183,184,187,196,197,198],dumb:27,dummi:165,dummy_dock:196,dump:172,duplic:[27,168],durabl:[86,161,178],durat:[54,71,84,88,89,93,99,101,142,153,159,164,166,180,188,196],dure:[6,22,85,86,92,99,101,136,137,150,157,158,159,160,161,164,165,173,178,179,186,189,192,196,197],dwa:[3,170,172],dwb:[1,3,9,21,23,24,27,28,123,124,125,126,127,138,139,140,141,142,143,144,145,146,147,156,157,170,172,179,198],dwb_core:[93,97,157,158,172,198],dwb_critic:[97,122],dwb_local_plann:157,dwb_plugin:[97,122],dwblocalplann:[93,97,157,161,172,198],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,97,101,136,137,155,156,157,158,163,164,165,166,167,168,171,172,176,178,179,193,194,195,197,199],dynamicfollowpath:157,e1d7e035a824:183,e727072615d0:183,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,101,103,109,111,134,151,153,155,156,158,159,160,161,163,164,165,166,167,172,175,176,177,178,179,180,181,183,184,185,190,191,193,195,196,197],earli:[5,11,16],earlier:[87,136,137,151,154,159,163,177],earth:190,earth_wgs84:190,eas:183,easi:[10,11,14,18,27,41,150,151,153,155,161,174,176,183,187,192,196],easier:[153,172,176,177,178,179,183,185,198],easili:[13,18,27,89,150,157,158,159,161,179,186,195,196],east:190,echo:[183,190],ecosystem:[0,27,108,159,179],edg:[4,95,101,161,177,191],edit:[8,158,170,175,176,181,196],editor:[183,191,193,197],educ:14,effect:[2,4,86,92,118,135,150,157,159,175,179,191],effici:[22,27,108,176,179,180],effort:[8,14,27,95,96,111,153,155,158,172,176,179,194,196],efk:175,eight:[184,190],eitan:170,either:[1,18,19,26,27,86,87,96,100,101,118,120,150,151,160,161,170,172,175,176,179,183,186,193,196,197],ekf:[175,187,190],ekf_filter_nod:175,ekf_filter_node_map:190,ekf_filter_node_odom:190,ekf_localization_nod:175,ekf_nod:175,elaps:[158,196],elast:[3,156,172,198],electr:190,electromagnet:190,element:[8,156,163,175,178],elev:[17,27,86,93,111,151,153,161,190],elif:[26,159],elimin:178,ellipsoid:190,elong:92,eloqu:[27,162],els:[26,85,94,158,159,161,165,166,168,175,183,195],elsewher:186,email:[0,14,27,153],emb:177,embed:[6,27,159,179,180],emerg:[6,9,86,91],emit:176,emphas:190,emploi:86,empti:[42,43,89,101,117,120,121,132,157,158,159,161,166,168,183,184],emul:150,emulate_tti:[191,193],enabl:[10,13,22,53,85,86,87,94,96,98,101,104,112,113,114,115,116,117,118,119,120,121,132,133,134,136,137,150,151,158,159,160,163,166,167,168,170,175,176,178,179,180,183,187,192,194,195,196,197],enable_stamped_cmd_vel:[86,88,93,111,161,195],enabled_:165,enact:[9,81,155,198],encod:[27,113,119,175,177,187,190,191,193],encompass:179,encount:[16,172,176,185,186],encourag:[0,14,22,101,153,178,180,185],end:[6,11,20,27,85,86,96,101,102,104,105,106,135,137,159,161,163,165,166,167,168,170,178,179,180,183,184,185,190,195],endpoint:[136,137],energi:[101,176],enforc:[92,111,116,158,182],enforce_path_invers:[101,161],engag:153,engin:[6,149,151,156,186,187],enhanc:153,enjoi:161,enough:[18,160,173,179,182,183,190,196],enrich:151,ensur:[4,9,11,13,20,21,23,24,27,86,93,99,101,104,111,150,151,153,156,158,159,160,161,172,173,177,178,179,180,183,186,194],enter:[18,21,23,24,27,101,163,166,167,168,191,196],entir:[12,19,21,23,24,86,149,150,153,170,172,179,187,195],entiti:175,entri:[14,175,181,185,186,195,196],entryfil:179,entrypoint:[149,183],enu:190,enumer:[29,30,41,42,43,45,46,54,56,197],env:[150,183],environ:[4,5,9,10,12,27,96,98,108,148,149,150,151,153,154,155,172,173,175,176,177,179,183,187,189,190,191,195,196],environemnt:176,environment:[94,121,155,183],envok:[29,30,45,56],envrion:194,ephemer:150,eppstein:170,eqal:92,equal:[27,85,86,87,88,89,93,98,100,103,109,111,112,113,161,165,182,184,191,193],equat:110,equip:[176,187,190,197],eros:184,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,98,101,114,148,149,157,158,159,170,173,176,181,183,184,187,189,190,194,196],error_cod:[21,23,60,73,74,75,180,181,196],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,48,49,54,56,181],error_code_id_nam:[160,180],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,136,137,151,156,159,177,181,183,187,189,190,192,194,198],essenc:177,essenti:[6,136,137,159,176,179,196],establish:[180,196],estim:[15,86,87,106,111,154,156,158,165,166,167,168,175,176,177,189,190],estimated_time_remain:[158,168],etc:[4,10,13,17,26,27,85,86,89,93,94,95,111,113,150,151,153,158,160,161,163,168,172,174,175,177,179,183,187,190,192,197],eth:5,euclidean:[158,179],europ:190,evalu:[101,122,125,137,172,187],evalul:7,even:[19,20,21,23,100,101,104,111,115,136,151,155,157,158,159,161,170,172,173,174,175,179,183,185,187,191,196],evenli:87,event:[1,13,153,159,183,196],eventu:[160,176,178],ever:[101,158],everi:[17,19,21,23,24,58,83,92,94,98,101,104,117,121,136,153,158,159,161,164,165],everyon:[151,153],everyth:[154,159,165,175,183,190],everywher:[101,156],exact:[101,106,135,136,137,150,160,172,173,179,188,191],exactli:[135,154,179,193],exampl:[1,7,15,16,17,18,19,22,27,108,149,150,151,157,158,159,161,163,164,165,166,167,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,191,193,194,195,196,197,198],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,103,109,112,119,158],exceed:[18,94,160],excel:[1,7,9,190,198],except:[26,27,39,85,93,136,137,153,158,160,167,170,175,185,187,193,196],exception:[168,175,186],excess:11,exchang:[101,136],exclud:160,exclus:22,exe:185,exec:[150,183],exec_depend:[175,178,180],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,105,111,112,150,151,153,157,158,159,161,164,165,168,170,172,173,175,176,177,178,180,183,184,185,186,191,193,196,197],executeprocess:[175,176],executor:[11,26,27,112,158,160],exemplari:17,exhaus:183,exhaust:171,exhibit:22,exist:[4,8,11,12,27,41,85,86,96,100,101,114,135,148,150,153,157,158,159,161,166,168,179,183,186,187,188,190,196,197],exit:[21,23,27,96,99,157,159,183,185,186,196],expand:[102,136,137,138,150,159,172,178,183],expans:[8,102,110,136,137,158,159,160,161,170],expect:[5,11,26,87,101,103,117,121,153,155,157,158,161,168,175,180,181,183,190,196],expected_planner_frequ:[103,110],expected_update_r:[117,121,194],expend:179,expens:[27,101,121,159,160,175],experi:[1,2,3,4,5,6,7,9,10,12,25,149,150,151,155,159,178,185,187,189],experienc:174,expert:[4,14],expir:[22,70,170,194],explain:[11,18,19,22,151,153,173,185,186,192,198],explan:[18,91,108,196],explanatori:183,explicitli:[4,26,151,191],explor:[136,176,177],exponenti:[87,96,98,101,115,170,176,179],expos:[19,27,109,158,160,183,190],exposur:7,express:[27,119,161,166,190,191,193],extend:[165,175,190],extens:[22,27,101,150,151,160,161,187],extent:[98,104],extern:[4,21,23,24,26,85,93,96,99,132,149,150,156,157,160,161,180,183,187,199],external_detection_:196,external_detection_rotation_pitch:[96,196],external_detection_rotation_rol:[96,196],external_detection_rotation_yaw:[96,196],external_detection_timeout:[96,196],external_detection_translation_i:[96,196],external_detection_translation_x:[96,196],extra:[92,136,137,159,191],extract:[159,168,170],extrem:[2,18,85,98,101,116,158,176],face:190,facilit:[151,159,161],factor:[81,92,98,101,115,135,136,146,176,179],factori:164,fail:[18,19,21,23,24,26,27,93,96,99,112,135,136,137,156,158,159,160,163,168,170,183,185],failed_to_make_progress:[73,160],failed_to_smooth_path:[75,160],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,101,155,156,158,159,164,170,180,185,188],failure_toler:93,fair:8,fairli:185,faith:153,fake:27,fall:[86,101,196],fallback:[21,23,24,86,195,196],fallbackcomputepathtopos:24,fallbackrecoveri:24,fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,96,98,99,101,102,104,105,110,111,112,113,115,117,118,119,120,121,122,125,127,135,136,137,138,141,154,158,159,160,161,163,165,167,168,175,176,179,184,185,187,189,190,191,194,195,196,197],familiar:[18,27,178,183],fanci:[150,183],far:[85,86,95,101,136,137,154,159,161,176,179,188,196,198],farm:194,fashion:19,fast:[85,86,87,98,106,107,136,137,159,184,187],faster:[98,159,161,179,183],fault:[12,26,27],favor:159,favorit:[183,196],favourit:[191,193],fe0cbdee2808:183,fear:183,feasibl:[27,101,105,107,108,116,136,155,158,159,161,170,172,179,198],featur:[1,4,6,8,9,14,27,87,93,95,104,107,111,136,150,153,154,158,159,170,171,178,179,183,190,191,196],feaur:191,feed:[180,196],feedback:[14,26,27,89,98,111,153,159,168,196],feedback_msg:168,feel:[6,148,151,178,179],ferguson:[14,155],fetch:[166,167],fetullah:170,few:[4,11,14,19,26,81,92,95,149,150,161,172,176,179,183,185,196],field:[4,26,41,63,85,86,87,93,95,119,135,157,158,159,160,161,163,165,167,168,175,176,178,180,182,183,185,187,190,191,193,194,196],field_filepath:41,fields2cov:[41,95,161],figur:[190,197],file:[1,2,17,27,41,86,88,89,96,99,100,110,133,137,148,150,151,153,154,155,157,158,159,164,165,170,173,177,178,179,180,181,182,183,187,188,189,190,191,192,193,194,195,196,197],file_field:41,file_field_id:41,filenam:[175,176,190],filepath:[41,96,137,168,179,196],filesystem:[151,183,185],fill:[4,153,157,164,182,191,193,197],filter:[6,13,29,87,93,96,106,175,179,183,187,190,194,195,196,199],filter_coef:[96,196],filter_dur:84,filter_info_top:[100,113,116,119,191,193],filter_mask:100,filter_mask_data:193,filter_mask_serv:[191,193],filter_space_valu:100,final_bt_statu:168,final_rot:98,find:[14,27,58,88,89,93,95,98,101,103,104,109,111,112,136,137,150,151,153,154,157,158,160,161,166,168,172,178,179,181,183,184,185,186,188,189,196],find_if:166,find_packag:185,findchessboardcorn:182,finder:[158,176],findpackageshar:178,fine:[101,154,179,193],finish:[157,161,186,190],finit:[27,101,136,187,197],first:[19,27,41,76,77,85,86,101,115,120,149,150,153,155,159,160,161,166,170,171,173,175,176,177,178,179,180,181,184,185,187,188,189,190,191,192,193,194,195,196,197],first_map_onli:87,first_map_only_:87,firstli:22,fit:[101,179,190,195],fix:[96,104,118,153,157,160,171,173,175,176,177,178,182,187,190,196],fixed_fram:[96,196],flag:[9,150,175,178,182,183,185,186],flagship:14,flat:187,flavor:183,fleet:[27,183],flex_dock1:196,flex_dock2:196,flexibl:[14,89,101,163],flip:[113,158,160,172,178],flip_threshold:113,float32:[161,196],flood:18,flow:[1,18,19,21,23,24,77,78,153,164,197],fluidli:101,fly:[158,161,185,197],fn_tol:92,focal:182,focallength:176,focu:[12,18,26,178,195,197],focus:[110,183,184,187],focuscamera:178,folder:[19,150,151,176,182,190],folk:[153,159,185],folllow:175,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,98,100,103,104,111,119,132,133,134,136,137,149,151,153,154,155,156,157,158,159,160,163,165,166,167,168,170,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,189,191,192,193,194,195,196,198,199],follow_gps_waypoint:[27,161,190],follow_path_error_cod:[20,21,22,23,24,46,73,89],follow_path_error_code_id:180,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,97,98,101,104,105,157,160,161,164,166,168,172,188,198],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,90],followwaypoint:[26,160],fonction:159,fondli:14,fool:179,footprint:[2,85,86,88,94,101,109,116,117,120,121,136,137,141,159,160,161,165,172,174,178,195],footprint_clearing_en:[94,117,120,121],footprint_pad:94,footprint_top:[86,106,107,109,163,181],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,101,161,187],forcefulli:150,forese:157,forget:189,forgot:153,fork:[27,97,183],forklift:22,form:[5,41,86,110,161,165,176,177,183],formal:[27,155,184],format:[10,41,85,86,92,101,133,137,150,158,175,176,178,183,190,191,193,197],former:[14,85,86],formerli:[93,160,170],formul:161,formula:193,fortun:175,forward:[0,9,18,27,58,92,96,100,104,105,122,127,137,142,145,146,150,154,161,164,177,179,183,190,195,198],forward_point_dist:[97,139,143],forward_prune_dist:[122,160],forward_sampling_dist:[105,198],found:[3,8,19,22,26,27,72,86,91,101,105,108,122,135,136,137,150,151,155,156,158,159,160,161,163,164,165,166,167,168,170,171,172,173,175,176,178,180,186,189,190,191,192,193,194],foundat:168,four:[18,27],foxi:[11,27,162,167],fraction:159,fragment:184,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,96,100,109,112,113,116,117,119,121,125,148,156,166,167,173,175,176,177,178,182,187,190,195,196],frame_id:[26,63,100,117,121,161,166,167,175,191,192,193],frame_nam:176,framework:[0,2,8,14,27,96,108,135,155,160,161,175,179,180,196],francisco:[155,170,187],free:[10,27,94,100,101,118,135,148,151,156,170,175,176,178,179,184,187,189,190,191],free_spac:184,free_thresh:[191,193],free_thresh_default:100,freeli:178,freespac:[21,23,24,179],frequenc:[18,19,85,88,93,94,96,101,103,111,136,137,161,175,187,190],frequent:[137,179,190],fresh:150,friction:2,friendli:[101,178,183],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,96,98,100,101,104,105,106,110,111,112,117,119,120,121,135,136,137,139,142,143,147,148,149,150,151,152,153,154,155,156,157,158,159,163,164,165,166,167,168,170,171,172,173,175,176,177,178,179,180,181,182,184,187,188,189,190,191,192,193,194,195,196,197,198],from_imag:149,from_msg:159,from_numb:163,from_second:166,front:[85,86,136,139,143,166,178,179,195],front_cast:178,frustrat:159,fsm:27,fuel:183,full:[5,7,12,19,27,87,94,101,116,122,136,148,153,157,158,159,171,172,173,174,175,177,178,179,183,184,187,188,190,191,193,195,196,197,198],fulli:[27,87,115,136,137,153,154,158,159,172,179,181,187,190,194,196],fun:[0,16,183],fundament:[168,185],further:[11,19,22,101,107,136,137,150,153,159,161,177,185,187],furthest:[101,136],fuse:[27,155,171,175,190],fusion:[15,27,175,177,187,190],futur:[1,4,8,11,21,27,85,86,87,113,116,119,157,159,161,188],gain:[8,101,104],galact:[87,89,93,162,163,165,167,176,194,197],game:[27,187],gamma:101,gap:178,gate:187,gather:[14,27],gaussian:[87,101,175,176,190],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,148,154,161,163,164,165,166,167,168,173,174,178,179,183,184,189,191,193,194],gazebo_gps_world:190,gazebo_model_path:154,gazebo_ro:[159,175],gazebo_ros_camera:176,gazebo_ros_pkg:175,gazebo_ros_ray_sensor:176,gazeborosimusensor:175,gdb:[150,185],gdb_test_nod:185,gdb_test_pkg:185,gdbtester:185,gear:158,gen:101,gener:[0,3,5,10,18,22,27,41,81,86,92,95,96,98,102,108,110,111,122,135,136,137,150,151,152,155,156,158,159,160,161,170,172,173,175,176,177,179,180,183,184,185,186,187,192,195,196],general_goal_check:158,generate_headland:41,generate_launch_descript:[175,176,178,191,193],generate_path:41,generate_rout:41,generos:179,gentl:179,genuin:168,geodesi:190,geograph:[175,190],geometr:[178,179],geometri:[4,5,9,86,175,176,178],geometry_msg:[41,42,43,48,53,58,62,64,80,84,86,88,93,111,157,161,166,167,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167,168,170,174,179,180,181,182,183,185,186,188,189,190,191,192,193,194,195,196,198],set_angl:95,set_camera_info:182,set_initial_pos:87,set_pos:175,setcost:26,setcostmap:26,setinitialpos:[26,159],setplan:166,setspeedlimit:166,setup:[2,27,96,148,149,150,151,154,161,165,173,176,177,178,179,180,183,185,187,191,192,193,195,196],sever:[52,86,90,91,101,108,150,153,158,183,190,196],shadow:189,shape:[27,85,86,94,108,155,160,172,173,174,178,179,191,193,195],share:[11,27,86,88,89,109,135,150,154,159,163,165,166,167,168,175,176,178,179,183,189,196,198],shared_ptr:[159,163,166,168],sharedptr:[159,168],sharp:[98,101,161,179],sharper:[98,104],sheep:[136,137,159],shelf:26,shell:[150,183],shelv:26,shepp:[92,136,158,170,172],shift:[150,151],shim:[28,170,171,179,199],ship:[16,26],shm:183,shoot:27,shop:187,short_circuit_trajectory_evalu:[97,122],shortcut:[98,104,136,137,159,163,165,166,167,168],shorten:160,shorten_transformed_plan:[122,160],shorter:[22,57,58,136,137,170,178,188],shortest:[27,172],should:[1,2,3,6,9,11,17,18,22,27,41,73,74,75,77,84,85,86,88,89,92,93,94,98,100,101,103,104,109,111,112,114,117,119,121,136,137,151,153,154,156,157,158,159,160,161,163,164,165,166,167,168,173,175,176,177,178,179,180,181,183,184,185,186,187,188,189,190,191,192,193,195,196,197,198],shouldn:[101,183],shovel:27,show:[2,26,119,137,151,154,159,163,164,165,166,167,168,172,173,175,176,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],showcas:190,shown:[13,18,26,101,153,154,158,164,168,172,173,175,176,180,181,188,190,193,195,196,197],shrijit:155,shut:[26,27,180],shutdown:[27,159,180],shutter:187,shuttingdown:180,sid:163,side:[25,38,39,94,101,133,150,176,178,180,184,186,197],sidebar:[153,182,186],siemen:197,sig:185,sight:[106,172,190],sigma_hit:87,sign:[0,111,153],signal:[9,106,166,170,186,190],signatur:[164,168],signific:[8,9,101,179,190],significantli:[7,9,17,22,23,24,81,101,105,136,159,161,170,179,190,198],silent:158,sim_tim:[97,126,127],simiar:177,similar:[7,9,10,19,21,23,26,27,85,98,100,101,108,149,151,158,159,164,172,175,176,178,179,181,183,185,187,190,194,197,198],similarli:[21,23,85,91,104,161,175,183],simpl:[3,27,28,96,106,114,136,137,151,153,156,163,164,165,167,170,172,173,177,178,179,181,185,188,190,192,196,197,198],simple_smooth:[54,107,109,181],simplechargingdock:196,simplegoalcheck:[46,93,97,98,104,105,122,158,170,198],simpleprogresscheck:[93,97,98,104,105,160,170,198],simpler:[136,177,178,196],simplesmooth:[55,107,109,181],simplest:164,simpli:[17,101,136,150,153,158,159,161,163,164,175,178,179,183,185,191,193,194,197],simplic:191,simplifi:[6,154,157,164,166,168,185],simul:[1,2,3,4,5,6,7,9,10,11,12,13,86,89,101,105,126,127,148,154,161,163,165,166,167,168,173,174,178,179,183,185,186,189,190,191,192,193,194],simulate_ahead_tim:[88,105,163,198],simulation_time_step:[86,88],simultan:[150,165,176,191,193],sinc:[6,27,41,92,95,101,104,105,107,116,136,137,158,159,161,165,168,172,173,174,175,176,177,178,179,180,181,183,185,187,190,191,193,195,196,197,198],singh:[104,155,170],singl:[11,19,21,23,24,26,27,93,100,101,112,136,137,153,156,157,158,159,164,165,167,170,175,176,177,178,179,180,181,185,186,187,190,194],singletrigg:[90,158],singular:179,sister:158,sit:9,situat:[1,10,18,21,23,24,27,86,104,154,155,158,159,170,173,176,179,181,183,185,186,187],size:[26,27,38,39,95,120,136,137,159,165,171,172,173,175,176,178,179,182,183,184,187,190,191,193,194],skew:182,skid:[158,172,187],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,185],skillset:7,skinni:179,skip:[87,95,101,161,163,175,183],skirt:159,slack:[0,14,27,153],slam:[6,15,94,120,155,156,157,176,177,179,185,187,189,199],slam_toolbox:[15,149,185,192],slash:161,slate:183,sleep:[86,134,164],slide:178,slider:[178,191],slight:106,slightli:[101,106,111,135,136],slop:182,slow:[86,87,96,98,101,104,119,146,158,160,161,179,185,193,195],slowdown:[86,195],slowdown_radiu:[96,98],slowdown_ratio:[86,195],slower:[85,86,184],slowing_factor:[97,146],slowli:[101,196],smac:[28,92,101,104,105,116,155,158,171,172,173,198],smac_plann:104,smacplann:170,smacplanner2d:[108,135,158,161,170],smacplannerhybrid:[108,136,159,161,170],smacplannerlattic:[108,137,170],small:[101,111,136,157,160,168,170,171,173,175,178,179,184,187,189,190,198],smaller:[13,18,27,98,104,114,136,137,159,187,191,193],smart:[27,113],smash:183,smooth:[20,26,27,54,84,92,96,98,101,105,106,107,109,111,135,136,137,155,158,159,160,161,170,175,179,181,190,195,198],smooth_path:[136,137],smoothed_path:[26,54,181],smoothed_path_in_collis:[75,160],smoother:[28,54,55,75,135,136,137,155,168,171,172,180,195,199],smoother_error_cod:[75,89,181],smoother_id:[26,54,181],smoother_plugin:[92,106,107,109,181],smoother_selector:55,smoother_serv:[92,106,107,109,180,181],smootherselector:90,smoothing_complet:54,smoothing_dur:54,smoothing_duration_us:54,smoothing_frequ:111,smoothing_path_error_cod:54,smoothli:[101,179],smoothpath:[26,90,92,159,181],sms:163,snake:95,snippet:[18,163,166,167,168,173,175,176,178,180,185],snuff:161,soc:4,soccer:[27,190],socket:151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65,166,168,176,177,186,190,196],stori:10,str:196,strace:150,strafe_theta:145,strafe_x:145,straight:[136,137,167,178,179,181,183],straightforward:176,strange_tesla:183,strategi:[153,190],stream:159,streamlin:[149,151],stretch:[151,183],strict:183,strictli:[6,137,160],stride:8,string:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,96,99,100,101,103,105,109,111,112,113,116,117,118,119,120,121,122,132,133,136,137,139,140,143,144,157,160,161,163,164,165,166,167,168,175,180,194,196],strive:[14,153],stroke:[2,174],strongli:27,structur:[6,8,18,27,155,160,161,168,172,177,178,180,190,193,194,197],stuck:[1,18,21,23,24,27,29,30,45,56,69,159,170,179],student:[7,153],studio:151,stutter:179,stvl:199,stvl_layer:[94,194],style:[21,23,24,179,194],sub:[0,21,23,24,86,159,161,195],subcommand:150,subfield:187,subject:[27,101,175],submit:[13,153,170],suboptim:[101,179,187],subpoli:86,subproject:13,subscrib:[27,44,47,50,51,55,66,67,80,86,87,93,118,120,158,161,175,176,183,188,190],subscribe_to_upd:[94,120],subscript:[80,85,86,158,161,168,170,175,180],subsect:[150,176],subsequ:[19,27,87,150,170],subset:186,subsiqu:[136,137,187],substanti:[1,101,136,153,156,179],substitut:[89,178,188,191,193],subsystem:98,subtleti:168,subtli:159,subtre:[17,19,21,22,23,24,27,38,39,40,90,164,170],subtreeplu:161,succe:[18,19,76,77,170],succeed:[26,83,159,163,167],success:[14,18,19,22,27,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,101,158,159,160,161,163,164,170,178,184,190,196,198],successfulli:[1,18,27,159,163,168,175,177,178,180,183,188,196],successor:[101,155,160],sucessfulli:177,sudo:[149,154,175,176,178,182,183,186,190,192,194],suffici:[4,18,27,101,137,146,168,184,186,187],suffix:186,suggest:[19,92,101,172,177,178,183],suit:[0,150],suitabl:[92,105,159,170,172,177,179,198],sum:[87,138,139,140,141,143,144,172,178],sum_scor:[138,141],summar:[172,177,179],summer:[5,11],superior:160,suppli:[11,27,79,82,84,89],support:[2,6,13,14,26,27,44,47,50,51,55,85,104,108,148,150,151,155,156,157,160,170,172,176,178,179,183,184,191,193,194,196,197],suppos:177,sure:[1,2,7,12,26,89,101,117,121,148,150,153,158,161,165,168,170,173,175,176,179,182,184,185,187,189,190,191,192,193,194,195,196],surfac:[27,155,190,196],surface_model:190,surpris:198,surround:172,survei:155,susbcrib:133,sustain:27,swap:[159,160],swath:[41,95],sweep:[98,178,179],symbol:185,symlink:[149,165,183,191,193],symmetr:161,symmetri:159,sync:197,sync_slam_toolbox_nod:185,synchron:[27,187],syntax:[150,161,178,185],sysdep:185,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,86,87,93,99,101,111,149,150,151,153,154,155,156,159,161,168,172,176,177,178,179,180,181,182,183,185,186,187,189,195,196],systemat:180,systemd:183,systemdefaultsqo:168,sysv:185,tab:[148,173,176],tabl:[159,165,166,168,174,179,180],tackl:[173,174],tag:[149,150,159,164,175,176,178,183,196],tailor:172,take:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,63,64,65,81,84,85,86,87,88,89,93,95,99,101,103,105,106,107,109,112,120,133,135,136,150,153,154,156,158,159,160,161,163,164,166,167,168,170,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,193,196,198],taken:[4,63,77,85,86,92,101,119,133,158,165,168,191,193],talk:[1,150,155,175,177,183,185,192,194],talker:[148,183],tangent:[4,182,190],tangenti:182,tar:182,target:[6,96,101,104,119,150,151,157,158,161,172,178,185,188,189,193,197],target_contain:191,task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,53,80,86,89,91,95,96,101,105,112,153,155,156,158,160,161,163,164,168,172,173,174,176,179,181,187,188,190,197,198,199],taskexecutor:26,taskresult:[26,159],tb3:161,tb3_gp:190,tb3_simulation_gazebo_launch:183,tb3_simulation_launch:[154,163,165,166,167,168,179,184,185,188,191,192,193,195],tbb:7,tcp:151,team:[14,151,188],tear:111,teardown:[27,172],teb:[3,101,156,160,170,172,179,198],teb_local_plann:157,teblocalplann:157,technic:[8,21,23,24,153,163,165,166,167,168,191],techniqu:[3,4,6,27,86,96,106,107,108,158,176,179,187,190],technolog:[8,14,155,187,190],tediou:178,teleop:[0,26,29,88,170,183,190],teleop_twist_keyboard:190,teleoper:190,telepres:1,tell:[27,153,161,163,164,165,175,183,185,190],temperatur:101,templat:[108,149,153,158,164,168,174,178,183,185],tempor:[170,179,194],temporari:[21,22,23,24,88,89,93,103,109,112,187,193],tend:198,term:[95,101,153,161,168,176,177,187,191],termin:[92,107,135,136,137,148,154,157,163,173,175,176,182,183,185,186,188,189,190,192],terminal_checking_interv:[110,135,136,137,161],terminatependinggo:168,test:[0,3,4,6,88,101,137,150,153,161,171,175,182,183,188,192,194,196,197],tester:196,text:[163,165,194],tf1:178,tf2:[27,157,174,175,177,178,179],tf2_echo:[175,177],tf2_msg:175,tf2_ro:[166,173,175,177],tf2_tool:176,tf_:[166,167],tf_broadcast:87,tf_static:159,tfmessag:175,than:[19,21,23,24,27,57,58,63,67,81,86,87,88,89,93,94,95,98,99,101,103,104,105,109,111,112,113,114,136,137,150,157,158,159,160,161,166,168,170,177,179,183,184,185,186,187,188,190,191,192,195,196,198],thank:[14,96,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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ProgressCheckerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","Docking Server","DWB Controller","Graceful Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Docker for Development: Zero to Hero","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Using Docking Server","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html
index 6c48ba3b8..60ac2cfb9 100644
--- a/setup_guides/algorithm/select_algorithm.html
+++ b/setup_guides/algorithm/select_algorithm.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html
index 9372a7e29..cd82826dc 100644
--- a/setup_guides/footprint/setup_footprint.html
+++ b/setup_guides/footprint/setup_footprint.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/index.html b/setup_guides/index.html
index f202a8da5..62692f081 100644
--- a/setup_guides/index.html
+++ b/setup_guides/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html
index f2300255a..af5b50ba4 100644
--- a/setup_guides/odom/setup_odom.html
+++ b/setup_guides/odom/setup_odom.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html
index bd3563c50..400c0b261 100644
--- a/setup_guides/sensors/setup_sensors.html
+++ b/setup_guides/sensors/setup_sensors.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/transformation/setup_transforms.html b/setup_guides/transformation/setup_transforms.html
index 297c1d2ab..458b5f0c3 100644
--- a/setup_guides/transformation/setup_transforms.html
+++ b/setup_guides/transformation/setup_transforms.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html
index 8c4d1f180..d4ff43eb8 100644
--- a/setup_guides/urdf/setup_urdf.html
+++ b/setup_guides/urdf/setup_urdf.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tuning/index.html b/tuning/index.html
index 2a280896b..a4da04a5e 100644
--- a/tuning/index.html
+++ b/tuning/index.html
@@ -23,7 +23,7 @@
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="Nav2 Behavior Trees" href="../behavior_trees/index.html" />
-    <link rel="prev" title="InputAtWaypoint" href="../configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html" />
+    <link rel="prev" title="Docking Server" href="../configuration/packages/configuring-docking-server.html" />
 
 <link rel="stylesheet" href="../_static/tcs_theme.css" type="text/css" />
 
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Tuning Guide</a><ul>
diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html
index 45d22c35f..ea7bfebdd 100644
--- a/tutorials/docs/adding_a_nav2_task_server.html
+++ b/tutorials/docs/adding_a_nav2_task_server.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/adding_smoother.html b/tutorials/docs/adding_smoother.html
index 2475ffd1b..a33073f66 100644
--- a/tutorials/docs/adding_smoother.html
+++ b/tutorials/docs/adding_smoother.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/camera_calibration.html b/tutorials/docs/camera_calibration.html
index ddf2cbb42..ba564f92c 100644
--- a/tutorials/docs/camera_calibration.html
+++ b/tutorials/docs/camera_calibration.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/docker_dev.html b/tutorials/docs/docker_dev.html
index 295f8dd53..40ca6d58b 100644
--- a/tutorials/docs/docker_dev.html
+++ b/tutorials/docs/docker_dev.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/filtering_of_noise-induced_obstacles.html b/tutorials/docs/filtering_of_noise-induced_obstacles.html
index e07484c85..dc57a0335 100644
--- a/tutorials/docs/filtering_of_noise-induced_obstacles.html
+++ b/tutorials/docs/filtering_of_noise-induced_obstacles.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/get_backtrace.html b/tutorials/docs/get_backtrace.html
index 818547750..91ef88e76 100644
--- a/tutorials/docs/get_backtrace.html
+++ b/tutorials/docs/get_backtrace.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/get_profile.html b/tutorials/docs/get_profile.html
index cc92453ca..572a49345 100644
--- a/tutorials/docs/get_profile.html
+++ b/tutorials/docs/get_profile.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/integrating_vio.html b/tutorials/docs/integrating_vio.html
index 5082c446e..0be4ca4ac 100644
--- a/tutorials/docs/integrating_vio.html
+++ b/tutorials/docs/integrating_vio.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html
index 0ff2ef970..e64511f91 100644
--- a/tutorials/docs/navigation2_dynamic_point_following.html
+++ b/tutorials/docs/navigation2_dynamic_point_following.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.html b/tutorials/docs/navigation2_on_real_turtlebot3.html
index cad3abaf0..842cd874f 100644
--- a/tutorials/docs/navigation2_on_real_turtlebot3.html
+++ b/tutorials/docs/navigation2_on_real_turtlebot3.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html
index d6e1f6491..7f2bb6dc9 100644
--- a/tutorials/docs/navigation2_with_gps.html
+++ b/tutorials/docs/navigation2_with_gps.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html
index b7e455ec5..a94598db7 100644
--- a/tutorials/docs/navigation2_with_keepout_filter.html
+++ b/tutorials/docs/navigation2_with_keepout_filter.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_with_slam.html b/tutorials/docs/navigation2_with_slam.html
index 27aa09c12..b5ab16caf 100644
--- a/tutorials/docs/navigation2_with_slam.html
+++ b/tutorials/docs/navigation2_with_slam.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html
index 6cffb1d4b..7eeded4ee 100644
--- a/tutorials/docs/navigation2_with_speed_filter.html
+++ b/tutorials/docs/navigation2_with_speed_filter.html
@@ -22,7 +22,7 @@
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="Using Rotation Shim Controller" href="using_shim_controller.html" />
+    <link rel="next" title="Using Docking Server" href="using_docking.html" />
     <link rel="prev" title="Navigating with Keepout Zones" href="navigation2_with_keepout_filter.html" />
 
 <link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/navigation2_with_stvl.html b/tutorials/docs/navigation2_with_stvl.html
index 70bead125..f61c7e7d1 100644
--- a/tutorials/docs/navigation2_with_stvl.html
+++ b/tutorials/docs/navigation2_with_stvl.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/using_collision_monitor.html b/tutorials/docs/using_collision_monitor.html
index db4e55798..615c6966b 100644
--- a/tutorials/docs/using_collision_monitor.html
+++ b/tutorials/docs/using_collision_monitor.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/using_docking.html b/tutorials/docs/using_docking.html
index 34b162385..27448da89 100644
--- a/tutorials/docs/using_docking.html
+++ b/tutorials/docs/using_docking.html
@@ -22,6 +22,8 @@
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
+    <link rel="next" title="Using Rotation Shim Controller" href="using_shim_controller.html" />
+    <link rel="prev" title="Navigating with Speed Limits" href="navigation2_with_speed_filter.html" />
 
 <link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
 
@@ -51,7 +53,7 @@
   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <ul>
+              <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../../getting_started/index.html">Getting Started</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#installation">Installation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#running-the-example">Running the Example</a></li>
@@ -210,7 +212,7 @@
 </ul>
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 <li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../index.html">General Tutorials</a><ul>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">General Tutorials</a><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
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 <li class="toctree-l3"><a class="reference internal" href="navigation2_on_real_turtlebot3.html#requirements">Requirements</a></li>
@@ -318,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -772,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
@@ -1044,6 +1063,7 @@
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
       <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">General Tutorials</a></li>
       <li class="breadcrumb-item active">Using Docking Server</li>
       <li class="wy-breadcrumbs-aside">
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diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html
index 80db08f23..44cb3a049 100644
--- a/tutorials/docs/using_groot.html
+++ b/tutorials/docs/using_groot.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/docs/using_shim_controller.html b/tutorials/docs/using_shim_controller.html
index 6ee55a280..039f90d18 100644
--- a/tutorials/docs/using_shim_controller.html
+++ b/tutorials/docs/using_shim_controller.html
@@ -23,7 +23,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="Adding a Smoother to a BT" href="adding_smoother.html" />
-    <link rel="prev" title="Navigating with Speed Limits" href="navigation2_with_speed_filter.html" />
+    <link rel="prev" title="Using Docking Server" href="using_docking.html" />
 
 <link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
 
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2 current"><a class="current reference internal" href="#">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
diff --git a/tutorials/index.html b/tutorials/index.html
index f6e915978..9423e92c5 100644
--- a/tutorials/index.html
+++ b/tutorials/index.html
@@ -320,6 +320,17 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="docs/using_docking.html">Using Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#chargingdock-plugins">ChargingDock Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#dock-database">Dock Database</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#configuring-docking-server">Configuring Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#adding-docking-server-to-launch">Adding Docking Server to Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#docking-action-api">Docking Action API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="docs/using_docking.html#putting-it-all-together">Putting It All Together</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="docs/using_shim_controller.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
@@ -774,6 +785,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#example">Example</a></li>
+</ul>
+</li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../tuning/index.html">Tuning Guide</a><ul>
@@ -1069,6 +1086,7 @@
 <li class="toctree-l1"><a class="reference internal" href="docs/navigation2_dynamic_point_following.html">Dynamic Object Following</a></li>
 <li class="toctree-l1"><a class="reference internal" href="docs/navigation2_with_keepout_filter.html">Navigating with Keepout Zones</a></li>
 <li class="toctree-l1"><a class="reference internal" href="docs/navigation2_with_speed_filter.html">Navigating with Speed Limits</a></li>
+<li class="toctree-l1"><a class="reference internal" href="docs/using_docking.html">Using Docking Server</a></li>
 <li class="toctree-l1"><a class="reference internal" href="docs/using_shim_controller.html">Using Rotation Shim Controller</a></li>
 <li class="toctree-l1"><a class="reference internal" href="docs/adding_smoother.html">Adding a Smoother to a BT</a></li>
 <li class="toctree-l1"><a class="reference internal" href="docs/using_collision_monitor.html">Using Collision Monitor</a></li>