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Just follow the same steps as creating a new layer in costmaps. Instead of sample_layers.h and sample_layers.cpp copy the code from rotate recovery because It adheres to the nav_core::RecoveryBehavior interface found in the nav_core package.

Now configure the Cmakelists.txt and package.xml file.

create a recovery_plugin.xml file and add it to the package.xml file under <export> tags.