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moveback_recovery package from mbf_recovery_behaviors repo

mbf_recovery_behaviors moveback_recovery

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Package Summary

Tags No category tags.
Version 0.1.0
License BSD-3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/uos/mbf_recovery_behaviors.git
VCS Type git
VCS Version master
Last Updated 2020-05-03
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The Move Base Flex (MBF) recovery behavior moves the robot back for specified length. It also checks the costmap for a possible collision behind the robot while moving and stops the robot if necessary.

Additional Links

No additional links.

Maintainers

  • Sebastian Pütz

Authors

  • Sebastian Pütz
  • Finn Stutzenstein
moveback_recovery/README.md

Moveback recovery

A simple recovery behavior that moves the robot back. It implements the move base flex recovery interface.

Parameters

  • control_frequency The cycle frequency executing the break checks, (default: 20 Hz)
  • linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec)
  • step_back_length The distance to move the robot backwards, (default: 1 m)
  • step_back_timeout The timeout before stopping the robot, (default: 15 sec)
  • footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m)
  • look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m)
  • publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false) - control_frequency The cycle frequency executing the break checks, (default: 20 Hz) - linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec) - step_back_length The distance to move the robot backwards, (default: 1 m) - step_back_timeout The timeout before stopping the robot, (default: 15 sec) - footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m) - look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m) - publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false)
CHANGELOG

Changelog for package moveback_recovery

0.1.0 (2020-04-25)

  • initial version 0.1.0 containing the moveback_recovery
  • Contributors: Sebastian Pütz

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
base_local_planner
costmap_2d
mbf_costmap_core
mbf_msgs
pluginlib
roscpp
tf2_geometry_msgs
tf2_ros
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
mbf_recovery_behaviors

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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