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I have a DIY robot that docks itself on the charger. I use AMCL and Navigation stack to put the robot in front of charger and then switch to a camera that can see the charger and drives straight towards it with steering adjustments based location of charger in the camera.
You could also do it using laser feedback to control steering by having a feature at the height of the laser that stands out from the wall behind the charger.Your node then finds the feature closest to the laser and adjust steering to keep that feature straight ahead and move forward.
Additionally you could use mechanical features that force robot and dock into alignment as robot approaches. I haven't needed that but it may help with something like a laser that has lower spacial resolution than a camera.
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