# Revision history [back]

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.