Dear all,

I am trying to develop a plugin for escaping when the robot gets stuck between inflated obstacles (/move_base/local_costmap/costmap) in narrow spaces, like going through doorways in an L shape.

My problem is that when the robot gets stuck between inflated obstacles the recovery_behaviors does not start.

For instance if i write in my move_base.yaml file the following:

recovery_behaviors:

 - name: 'rotate_recovery'
    type: 'rotate_recovery/RotateRecovery'     

The recovery_behaviors do not start.

It seems to be as if the robot gets stuck in a weird recovery that makes the robot moves a bit forwards and backwards.

How I can guaranty that once the robot get stuck between obstacles the recovery_behaviors starts.

In advance thank you for your kindly help :)