Hi,

Another difference since upgrading to Noetic (From Kinetic) is with DWAPlannerROS. Specifically backing out of the docking station. It used to be I could calculate 30cm back and pass that through as the goal. The robot would just back up. Now it just goes straight into a recovery behaviour - which isn't going to work. I get why it's doing it - the bumpers contacted and there is no way fwd (As it's in docking station, charging up and against a wall). I have the following set:

min_vel_x: -0.2  
escape_vel: -0.2  

And the robot will reverse when out and about path planning - but on in the case. It used to work quite happily in Kinetic (Many changes I expect).

Any suggestion? Other that dumbly just setting the robot to reverse blindly?

Many Thanks

Mark