# DockingStatus.msg — Real-time docking state snapshot (Issue #158)
# Published by: /saltybot/docking_node
# Topic: /saltybot/docking_status

builtin_interfaces/Time stamp

# Current FSM state
# Values: "IDLE" | "DETECTING" | "NAV2_APPROACH" | "VISUAL_SERVO" | "CONTACT" | "CHARGING" | "UNDOCKING"
string state

# Dock detection
bool dock_detected         # ArUco marker or IR beacon visible
float32 distance_m         # distance to dock (m); NaN if unknown
float32 lateral_error_m    # lateral offset to dock centre (m); +ve = dock is right

# Battery / charging
float32 battery_pct        # state of charge [0–100]
bool charging              # charge current detected on dock pins

# Alignment quality (active only during VISUAL_SERVO)
bool aligned               # within ±5 mm lateral and contact distance