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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -284,6 +284,17 @@
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/integrating_vio.html#testing-it-out">Testing it Out!</a></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/navigation2_dynamic_point_following.html">Dynamic Object Following</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/navigation2_dynamic_point_following.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/navigation2_dynamic_point_following.html#tutorial-steps">Tutorial Steps</a><ul>
@@ -596,6 +607,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-planner-server.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>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-coverage-server.html">Coverage Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-coverage-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-coverage-server.html#example">Example</a></li>
@@ -955,6 +972,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#opennav-docking-project"><code class="docutils literal notranslate"><span class="pre">opennav_docking</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -284,6 +284,17 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#testing-it-out">Testing it Out!</a></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/navigation2_dynamic_point_following.html">Dynamic Object Following</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#tutorial-steps">Tutorial Steps</a><ul>
@@ -596,6 +607,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-planner-server.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>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html">Coverage Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#example">Example</a></li>
@@ -955,6 +972,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-docking-project"><code class="docutils literal notranslate"><span class="pre">opennav_docking</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -284,6 +284,17 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#testing-it-out">Testing it Out!</a></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/navigation2_dynamic_point_following.html">Dynamic Object Following</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#tutorial-steps">Tutorial Steps</a><ul>
@@ -596,6 +607,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-planner-server.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>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html">Coverage Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#example">Example</a></li>
@@ -955,6 +972,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-docking-project"><code class="docutils literal notranslate"><span class="pre">opennav_docking</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -284,6 +284,17 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#testing-it-out">Testing it Out!</a></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/navigation2_dynamic_point_following.html">Dynamic Object Following</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#tutorial-steps">Tutorial Steps</a><ul>
@@ -596,6 +607,12 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-planner-server.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>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html">Coverage Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-coverage-server.html#example">Example</a></li>
@@ -955,6 +972,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-docking-project"><code class="docutils literal notranslate"><span class="pre">opennav_docking</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>