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Recovery Behaviour Plugin not loading

asked 2016-09-10 17:17:04 -0500

arttp2 gravatar image

I am using Husky in Gazebo simulation. Because it is not circular in shape, rotate recovery does not help much. So I am trying to use a plugin.

The Plugin is located in my catkin_ws.

rospack plugins --attrib=plugin nav_core correctly lists the following: straf_recovery /home/ted/catkin_ws/src/straf_recovery/straf_recovery_plugin.xml

and here is how I have modified the move_base.launch file:

<arg name="recovery_plugin" default="straf_recovery"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <param name="recovery_behaviors" value="$(arg recovery_plugin)"/>

But during runtime i get the error: The recovery behavior specification must be a list, but is of XmlRpcType 4.

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answered 2016-12-12 13:39:25 -0500

Dharmateja Kadem gravatar image

I think you have to add the param as below

<rosparam param="recovery_behaviors"> [ { name: "backup_recovery", type: "backup_recovery_dwa/BackupRecovery" } ] </rosparam>

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Asked: 2016-09-10 17:17:04 -0500

Seen: 575 times

Last updated: Dec 12 '16