## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(rotate_recovery)>>
<<TOC(4)>>

== Overview ==
The `rotate_recovery::RotateRecovery` is a simple recovery behavior that attempts to clear out space in the navigation stack's [[costmap_2d | costmaps]] by rotating the robot 360 degrees if local obstacles allow. It adheres to the `nav_core::RecoveryBehavior` interface found in the [[nav_core]] package and can be used as a recovery behavior [[pluginlib | plugin]] for the [[move_base]] node.

== RotateRecovery ==
The `rotate_recovery::RotateRecovery` object exposes its functionality as a [[navigation/ROS_Wrappers | C++ ROS Wrapper]]. It operates within a ROS namespace (assumed to be '''name''' from here on) specified on initialization. It adheres to the `nav_core::RecoveryBehavior` interface found in the [[nav_core]] package.

Example creation of a `rotate_recovery::RotateRecovery` object:

{{{
#!cplusplus
#include <tf/transform_listener.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <rotate_recovery/rotate_recovery.h>

...
tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS global_costmap("global_costmap", tf);
costmap_2d::Costmap2DROS local_costmap("local_costmap", tf);

rotate_recovery::RotateRecovery rr;
rr.initialize("my_rotate_recovery", &tf, &global_costmap, &local_costmap);

rr.runBehavior();

}}}

=== API Stability ===
 * The C++ API is stable.
 * The ROS API is stable.

=== ROS Parameters ===
The `rotate_recovery::RotateRecovery` object assumes that the local planner used by the [[move_base]] node is the `base_local_planner::TrajectoryPlannerROS` documented in the [[base_local_planner]] package and reads some of its parameters accordingly. It will work on its own, but this requires the user to specify additional parameters.

==== RotateRecovery Parameters ====
{{{
#!clearsilver CS/NodeAPI
param {
  no_header=True
  0.name = ~<name>/sim_granularity
  0.default = 0.017
  0.type = double
  0.desc = The distance in radians between checks for obstacles when checking if an in-place rotation is safe. Defaults to  1 degree.
  1.name = ~<name>/frequency
  1.default = 20.0
  1.type = double
  1.desc = The frequency in HZ at which to send velocity commands to the mobile base.
}
}}}


==== TrajectoryPlannerROS Parameters ====
These parameters are already set when using the `base_local_planner::TrajectoryPlannerROS` local planner, they only need to be set explicitly for the `rotate_recovery::RotateRecovery` recovery behavior if a different local planne is used with the [[navigation | navigation stack]].

{{{
#!clearsilver CS/NodeAPI
param{
  no_header=True
  1.name = ~TrajectoryPlannerROS/yaw_goal_tolerance
  1.default = 0.05
  1.type = double
  1.desc = The tolerance in radians for the controller in yaw/rotation when achieving its goal
  2.name = ~TrajectoryPlannerROS/acc_lim_th
  2.default = 3.2
  2.type = double
  2.desc = The rotational acceleration limit of the robot in radians/sec^2
  3.name = ~TrajectoryPlannerROS/max_rotational_vel
  3.default = 1.0
  3.type = double
  3.desc = The maximum rotational velocity allowed for the base in radians/sec
  4.name = ~TrajectoryPlannerROS/min_in_place_rotational_vel
  4.default = 0.4
  4.type = double
  4.desc = The minimum rotational velocity allowed for the base while performing in-place rotations in radians/sec
}
}}}

=== 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 [[http://www.ros.org/doc/api/rotate_recovery/html/classrotate__recovery_1_1RotateRecovery.html | RotateRecovery documentation]].

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