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Package Summary

The straf_recovery package


  1. Overview

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The straf_recovery::StrafRecovery is a simple recovery behavior that attempts to move away from the nearest obstacle in the navigation stack's costmaps. It is designed only for omnidirectional robots. 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.

Subscribed Topics

move_base_simple/goal (geometry_msgs/PoseStamped)

Published Topics

~/obstacle_direction (geometry_msgs/PoseStamped) ~/cycles (std_msgs/Int32)


timeout (double, default: 10) minimum_translate_distance (double, default: 0.5) maximum_translate_distance (double, default: 5) straf_vel (double, default: 0.1) xy_goal_tolerance (double, default: whatever base_local_planner has) frequency (double, default: whatever base_local_planner has)

2020-01-18 13:13