Move Base Flex Recovery Behaviors

This repository contains recovery behaviors for Move Base Flex (MBF).

MoveBack Recovery Behavior

The moveback_recovery behavior moves the robot backwards until:

• the configured distance is reached
• the timeout duration is elapsed
• an obstacle in the costmap is blocking the robot
• it is canceled by the executive node by canceling the MBF recovery action

Installation

sudo apt install ros-melodic-moveback-recovery

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)

Plugin Loading

In the following we show a configuration example:

In an arbitrary file my_pkg/config/recovery_behaviors.yaml we configure a couple of recovery behaviors and give them an arbitrary name. The type must be set to moveback_recovery/MoveBackRecovery.

recovery_behaviors:
  - name: 'moveback_recovery'
    type: 'moveback_recovery/MoveBackRecovery'

In the corresponding launch file, e.g., my_pkg/launch/move_base_flex.launch you now can load the parameter file into the namespace of the MBF node.

<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" name="move_base_flex" output="screen">
  ...
  <rosparam file="$(find my_pkg)/config/recovery_behaviors.yaml" command="load" />
  ...
</node>