What is the condition for the ROS navigation package to call recovery behavior?

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I am using a Turtlebot to navigate through a built environment and collect some data. Sometimes it gets stuck trying to navigate through small spaces. I have fixed this mostly by reducing the inflation ratio.

My question is this. I have gone through the documentation and have not found the precise answer to this. What makes the Turtlebot to go to recovery behaviour? Specially when there are no dynamic obstacles around. If I know what the precise condition is, maybe I can navigate the Turtlebot better.