Galactic substitute for missing /dock_status topic?

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

Ubuntu 20.04 in VM

Which version of ROS 2 is installed on your computer?

Galactic

Which firmware version is installed on your robot?

G.5.3

Which RMW is your robot running?

CycloneDDS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

home network

Are there multiple Create 3 robots connected to your network?

None

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

Bluetooth (default)

Describe your question.

The Humble firmware has a /dock_status topic that allows determining if the dock is visible, prior to issuing the /Dock goal (DockServo goal in Galactic).

Is there any way in Galactic to know if the dock is visible?

Reason I ask is I see an /ir_opcode topic and do not know its purpose - wondering if it is reading the dock beacon and can tell if the bot is left, right, centered, or not visible?

[slowrunner]

Found it - /dock topic in Galactic.