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custom recovery behaviors [closed]

asked 2016-12-12 14:15:19 -0500

Dharmateja Kadem gravatar image


I want my robot to move back whenever it gets stuck, for this I want to write a custom recovery behavior. Can someone explain how to write a custom recovery behavior?

I am using ubuntu 14.04 and ros indigo

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Closed for the following reason the question is answered, right answer was accepted by Procópio
close date 2016-12-19 04:44:08.222432

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answered 2016-12-13 11:00:49 -0500

Dharmateja Kadem gravatar image

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.

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Asked: 2016-12-12 14:15:19 -0500

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Last updated: Dec 13 '16