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Only released in EOL distros:   indigo

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Overview

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)

• Provides a non-action interface to move_base for users that don't care about tracking the execution status of their goals.

Published Topics

~/obstacle_direction (geometry_msgs/PoseStamped)

• for visualizing the direction of strafing in RViz. pose is at the obstacle and points in the direction of strafing

~/cycles (std_msgs/Int32)

• A count of the number of occurrences of straf recovery. Purely for failure detection or debugging.

Parameters

timeout (double, default: 10)

• The maximum amount of time to straf for. This overrides min and max distance.

minimum_translate_distance (double, default: 0.5)

• The minimum distance to straf for

maximum_translate_distance (double, default: 5)

• The maximum distance to straf for

straf_vel (double, default: 0.1)

• The velocity in meters/second to straf at.

xy_goal_tolerance (double, default: whatever base_local_planner has)

• see your base local planner docs (dwa, eband, ect...)

frequency (double, default: whatever base_local_planner has)

• see your base local planner docs (dwa, eband, ect...)