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Only released in EOL distros:   indigo

Overview

The stepback_and_steerturn_recovery::StepbackAndSteerturnRecovery is designed for a robot with a car-like steering mechanism. It adheres to the nav_core::RecoveryBehavior interface found in the nav_core package and can be used as a recovery behavior plugin for the move_base node.

Flow of Recovery

The recovery behavior attempts to clear out space with a flow as follows:

1. A robot stucks, which disable the robot turn in any direction. 2. Step back for space to turn with steering. 3. Scan the navigation stack's costmaps at the point where the robot stepped back. 4. Detect the direction to the nearest obstacle and attempts to turn in the opposite direction.

ROS API

Published Topics

recover_run (invalid message type for MsgLink(msg/type))

• Notification of recovery status. True when recovery is running, False otherwise.

RotateRecovery Parameters

~<name>/only_single_steering (bool, default: false)

• 最初の一回だけ旋回したい場合にtrue.

~<name>/trial_times (int, default: 3)

• リカバリ行動の試行回数[回].

~<name>/obstacle_patience (double, default: 0.3)

• 障害物までの許容距離[m]．

~<name>/obstacle_check_frequency (double, default: 5.0)

• 移動中に，障害物を確認する頻度[回/sec]

~<name>/sim_angle_resolution (double, default: 0.1)

• 障害物探索時の角度の分解能[rad] costmapアクセス数を低減したいときに調整する．

~<name>/simulation_frequency (int, default: 5)

• 障害物探索時のsim更新周期[回/sec] costmapアクセス回数を低減したいときに調整する．

~<name>/linear_vel_back (double, default: -0.3)

• 初回後退時の速度[m/s]

~<name>/step_back_length (double, default: 1.0)

• 移動距離[m]

~<name>/step_back_timeout (double, default: 15.0)

• タイムアウト[sec]

TrajectoryPlannerROS Parameters

C++ API

The C++ rotate_recovery::RotateRecovery class adheres to the nav_core::RecoveryBehavior interface found in the nav_core package. For detailed documentation, please see RotateRecovery documentation.