Move backwards, rotate and re plan a global path

edit

Dear all.

I am using:

<param name="base_global_planner" value = "SBPLLatticePlanner"/>
 <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />

I have experienced that when the robot is going to passed through a narrow doorway, it gets stuck.

I am trying to figure out how to set the following strategy when the robot gets stuck.

1.-A parameter that allows the robot to move certain meters backwards.

2.-Set the angle for the robot to rotate and make the robot rotate that angle

3.-Re plan the global path

If it can go trough the doorway, it is fine if not go to step 1

Well, probably I may need to write my own plug in, right?

Can you give me an advice on how to start it :)

I hope you can help me and in advance thank you :)