Auto Dock when battery is low keep getting called

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Hello there all,

I am trying to implement my own action server robot_action_server with various goals on Turtlebot 2 with python. One of them is to move the robot close to dock station with move_base server and then call the dock_drive_action server.

My class say robotController spins up this robot_action_server and a SimpleActionClient of appropriate type in order to call it if need.

Now, I am trying to make Turtlebot 2 auto dock when laptop battery or its own battery pass a certain threshold. In order to do that, i instantiated an ApproximateTimeSynchronizer for both batteries. I do simple checks for received battery levels and if is not already charging or already on way to charge, i call a function that calls the robot_action_server charge goal. The charge goal, first moves the robot to a close point and the call the dock_drive_action server. All good so far. Move_base and auto_dock work great and finish successfully.

However, when the robot docks, the next ApproximateTimeSynchronizer callback show that turtlebot_battery is still not on charger state and repeats the whole procedure again.