feat: add site_file docking simulation, corridor demo, and docking replan test

path_server/rmf_path_server_demo/README.md

@@ -55,6 +55,18 @@ ros2 launch rmf_path_server_demo demo_map.launch.py
 - The canvas will automatically fit to the 20x20 grid map.
 - You can add robots and set goals as in the default mode, and see the map obstacles (a box in the center) drawn on the canvas.
 
+### 4. Docking Corridor Mode (3x8 Corridor with Protruding Docks)
+In this mode, the launch file loads a 3x8 central corridor `OccupancyGrid` (`corridor_grid.yaml`) with 6 small protruding 1x1 dock alcoves (`dock_north_1..3` at `y=2` and `dock_south_1..3` at `y=-2` for `x in {-1, 1, 3}`) alongside a matching RMF site file (`corridor_docks.site.json`). Each spawned `rmf_mock_robot_sim` loads `corridor_docks.site.json` and randomly varies the transition time when entering or leaving a dock.
+
+Run the launch file:
+```bash
+ros2 launch rmf_path_server_demo demo_docking.launch.py
+```
+To also enable the reservation destination server (`rmf_reservation_destination_server`) with `corridor_docks.site.json`:
+```bash
+ros2 launch rmf_path_server_demo demo_docking.launch.py use_destination_server:=true
+```
+
 ## Reservation Config Visualization
 
 When the reservation destination server loads a configuration, it republishes

path_server/rmf_path_server_demo/launch/demo_docking.launch.py

@@ -0,0 +1,124 @@
+# Copyright 2026 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    package_name = 'rmf_path_server_demo'
+    share_dir = get_package_share_directory(package_name)
+
+    default_map_yaml = os.path.join(share_dir, 'maps', 'corridor_grid.yaml')
+    default_site_file = os.path.join(
+        share_dir, 'maps', 'corridor_docks.site.json'
+    )
+
+    map_yaml_file = LaunchConfiguration('map_yaml_file')
+    site_file = LaunchConfiguration('site_file')
+    use_destination_server = LaunchConfiguration('use_destination_server')
+
+    declare_map_yaml = DeclareLaunchArgument(
+        'map_yaml_file',
+        default_value=default_map_yaml,
+        description='OccupancyGrid YAML map for the 3x8 corridor with protruding docks.',
+    )
+    declare_site_file = DeclareLaunchArgument(
+        'site_file',
+        default_value=default_site_file,
+        description='RMF Site file (*.site.json) with dock lanes and locations.',
+    )
+    declare_use_destination_server = DeclareLaunchArgument(
+        'use_destination_server',
+        default_value='false',
+        description='Whether to route goals through rmf_reservation_destination_server.',
+    )
+
+    # 1. Start the RMF path server
+    path_server = Node(
+        package='rmf_path_server',
+        executable='rmf_path_server',
+        name='rmf_path_server',
+        output='both',
+    )
+
+    # 2. Start the web spawner & web dashboard hosting server (REST & SSE Bridge)
+    robot_spawner = Node(
+        package='rmf_path_server_demo',
+        executable='robot_spawner',
+        name='robot_spawner',
+        output='both',
+        parameters=[{
+            'site_file': site_file,
+            'use_destination_server': use_destination_server,
+        }],
+    )
+
+    # 3. Optionally start the reservation destination server
+    reservation_destination_server = Node(
+        package='rmf_reservation_destination_server',
+        executable='rmf_reservation_destination_server',
+        name='rmf_reservation_destination_server',
+        output='both',
+        parameters=[{'config_file': site_file}],
+        condition=IfCondition(use_destination_server),
+    )
+
+    # 4. Start the plan executor
+    plan_executor = Node(
+        package='rmf_plan_executor',
+        executable='rmf_plan_executor',
+        name='rmf_plan_executor',
+        output='both',
+    )
+
+    # 5. Start the map server with the 3x8 corridor + protruding docks map
+    map_server = Node(
+        package='nav2_map_server',
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        parameters=[{'yaml_filename': map_yaml_file}],
+    )
+
+    # 6. Start the lifecycle manager to activate the map server
+    lifecycle_manager = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_map',
+        output='screen',
+        parameters=[{
+            'use_sim_time': False,
+            'autostart': True,
+            'node_names': ['map_server'],
+        }],
+    )
+
+    return LaunchDescription([
+        declare_map_yaml,
+        declare_site_file,
+        declare_use_destination_server,
+        path_server,
+        robot_spawner,
+        reservation_destination_server,
+        plan_executor,
+        map_server,
+        lifecycle_manager,
+    ])