Docking action succeeds but not centered on dock

[slowrunner]

The bug
Docking action succeeds but Create3 model is not in valid "Charging Position" on dock

To Reproduce

1. (Unbuntu 22.04, ROS 2 Humble or Galactic, update/upgrade, clone create3_sim main, rosdep, build, source setups, run classic gazebo)

ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py

2. Undock, Move, Dock:

• pub undock

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

• pub move to -1,0 w: 1

ros2 action send_goal /navigate_to_position irobot_create_msgs/action/NavigateToPosition "{achieve_goal_heading:true,goal_pose:{pose:{position:{x: -1,y: 0,z: 0.0}, orientation:{x: 0.0,y: 0.0, z: 0.0, w: 1.0}}}}"

• pub dock goal:

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

(Or /DockServo for Galactic - same issue Galactic or Humble)

3. Echo dock_status, odom
   

Expected behavior: Return to dock in "Charging Position"

Additional context

$ uname -a
Linux FU22 6.2.0-37-generic #38~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Nov  2 18:01:13 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

$ more /etc/os-release 
PRETTY_NAME="Ubuntu 22.04.3 LTS"
NAME="Ubuntu"
VERSION_ID="22.04"
VERSION="22.04.3 LTS (Jammy Jellyfish)"

(20.04 used for Galactic test)

$ dpkg -l | grep gazebo11
ii  libgazebo11:amd64                                  11.10.2+dfsg-1                          amd64        Open Source Robotics Simulator - shared library

$ more package.xml 
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematype
ns="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>irobot_create_gazebo_sim</name>
  <version>2.0.0</version>

Update: I see that this was first reported two years ago, not closed as working as designed and not fixed. Is this actually working as designed? Does the simulation odometry error approximate what is seen with the physical Create3?

[slowrunner]

Suggest adding a reset of odometry when dock status docked changes from false to true. This will allow the “drift” but correct the odometry based on known “localization”.