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A few years back I wrote a simple state machine that ran on a turtlebot 2 in much the same way: https://github.com/trainman419/nav_demo/blob/master/scripts/random_nav.py

Instead of trying to get move_base to perform the docking and undocking, I used the actionlib client for docking, and did the undocking by publishing a backup command manually for about 0.5 meters: https://github.com/trainman419/nav_demo/blob/master/scripts/random_nav.py#L58-L74

My state machine was also subscribed to the power system state and events, so it could trigger a undock when the battery was fully charged, and trigger a return to dock behavior when the battery was low.