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Did you do all the tutorials from http://learn.turtlebot.com? Also you might want to the the action-server, action-client Tutorial from the ROS wiki. They are a great start and there is actually a file which already does exactly what you want to do. Have a look at the coffe_bot.py script here:

https://github.com/markwsilliman/turtlebot/blob/master/coffee_bot.py#L237

That code sends the action to the Docking server and gives you a result if the docking was successful or not.