How does recovery behavior get triggered in navigation?

asked 2016-07-06 14:14:13 -0500

kaiyu gravatar image

When the robot gets stuck, it will automatically run recovery behaviors, such as rotation or clear costmap. I'm curious about how the robot detects the "stuck" and where is recovery behaviors triggered in the code base? I'm going to do some investigation myself, but if anybody knows something about this, please help me out!


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Hey did you find anything after your investigations? I am trying to run clear_costmap_recovery from move_base from python side and I am not quite sure how can I do this.

geoporus gravatar image geoporus  ( 2020-11-16 05:07:21 -0500 )edit

Hey @geoporus It's been a long time. But I the recovery behavior in ROS is part of a finite state machine ran on the move_based node. You can find how the state changes in their code

kaiyu gravatar image kaiyu  ( 2020-11-16 18:49:32 -0500 )edit