This is a ROS 2 port of the leo_docking repo. Original repo: https://github.com/LeoRover/leo_docking
Run ros2 launch leo_docking dock_rover.launch.py to launch the state machine.
Run ros2 action send_goal /leo_rover/dock leo_docking_msgs.action.PerformDocking '{board_id: "INSERT YOUR BOARD ID HERE"}' to start docking.
For information on adding boards check the ros_aruco_opencv repo: https://github.com/fictionlab/ros_aruco_opencv