communicating with /move_base for kobuki to reverse a bit when /mobile_base/sensors/core/charger is greater than zero [closed]

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Hi All ...Some prelims: Turtlebot 2, Nvidia TK1, Xbox Kinect, Kobuki Base, ROS Indigo with turtlebot_navigation

Suppose the Turtlebot is at the Kobuki Docking station, when the Turtlebo receives a move_base goal the Turtlebot pivots in place and grinds against the docking station. Basically, the Turtlebot and turtlebot_navigation do not know when at the docking station.

Has anyone figured out a simple way to prevent this? I've tried all sorts of round-about methods, but I believe it comes down to /move_base listening to /mobile_base/sensors/core/charging and reversing a bit (0.1 [m]) when charging. I think I could add something into the /move_base library, but I prefer not to recompile an entire library.

Thoughts, suggestions?? Thanks!