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Yes, this in the rotate_recovery behavior inside the navigation stack. However, the actual cause of this is typically more complex. If your robot has an odd-shaped footprint, than that can be the cause. But if you are using a turtlebot, with a circular footprint and centered drive wheels, you should pretty much always be able to rotate in place -- unless localization drifts, thus putting you on top of an obstacle that was already in the cost map.

Yes, this in the rotate_recovery behavior inside the navigation stack. However, the actual cause of this is typically more complex. If your robot has an odd-shaped footprint, than that can be the cause. But if you are using a turtlebot, with a circular footprint and centered drive wheels, you should pretty much always be able to rotate in place -- unless localization drifts, drifts/jumps, thus putting you on top of an obstacle that was already in the cost map.