Making Robot Reverse - mobile_base

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Hi,

I want to be able to make my robot reverse/backup when that is the optimal route/easiest escape path. I've been able to achieve this by setting DWA's planner min_vel_x to -0.35. However I don't want the robot to always reverse to another waypoint if there is no need to (Which is happening at the moment)

(as detailed here - https://answers.ros.org/question/2196... )

Use case is this: 1) Robot starts from docking station - the only way out is to reverse 2) There after move fwd/turn/rotate as required to navigate/escape 3) If there is no other option then reverse to get out of a stuck position

Is this achievable with the current stack or do I need to add some custom s/w?

Many Thanks

Mark