ros2-docs/docs/TurtleBot 4/Turtlebot 4 Action Commands.md

Undock

This command undocks the Turtlebot 4 from the charging station.

ros2 action send_goal /undock irobot_create_msgs/action/Undock {}

Dock

This command docks the Turtlebot 4 from the charging station.

ros2 action send_goal /dock irobot_create_msgs/action/Dock {}