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moveback_recovery package from mbf_recovery_behaviors repo

mbf_recovery_behaviors moveback_recovery

ROS Distro
melodic

Package Summary

Tags	No category tags.
Version	0.1.0
License	BSD-3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	Recovery behaviors for the mbf_costmap_nav server of Move Base Flex (MBF)
Checkout URI	https://github.com/uos/mbf_recovery_behaviors.git
VCS Type	git
VCS Version	master
Last Updated	2020-05-03
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Move Base Flex (MBF) recovery behavior moves the robot back for specified length. It also checks the costmap for a possible collision behind the robot while moving and stops the robot if necessary.

Additional Links

No additional links.

Maintainers

Sebastian Pütz

Authors

Sebastian Pütz
Finn Stutzenstein

moveback_recovery/README.md

Moveback recovery

A simple recovery behavior that moves the robot back. It implements the move base flex recovery interface.

Parameters

control_frequency The cycle frequency executing the break checks, (default: 20 Hz)
linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec)
step_back_length The distance to move the robot backwards, (default: 1 m)
step_back_timeout The timeout before stopping the robot, (default: 15 sec)
footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m)
look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m)
publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false) - control_frequency The cycle frequency executing the break checks, (default: 20 Hz) - linear_vel_back The velocity for driving the robot backwards, (default: -0.3 m/sec) - step_back_length The distance to move the robot backwards, (default: 1 m) - step_back_timeout The timeout before stopping the robot, (default: 15 sec) - footprint_inflation The footprint inflation which is used when check the costmap for obstacles, (default: 0.0 m) - look_behind_dist The robot pose checking distance to use for the costmap footprint checks, (default: 0.1 m) - publish_back_point Publishes a point at the distance to the robot footprint position as point, (default: false)

CHANGELOG

Changelog for package moveback_recovery

0.1.0 (2020-04-25)

initial version 0.1.0 containing the moveback_recovery
Contributors: Sebastian Pütz

Package Dependencies

Deps	Name
	base_local_planner
	costmap_2d
	mbf_costmap_core
	mbf_msgs
	pluginlib
	roscpp
	tf2_geometry_msgs
	tf2_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mbf_recovery_behaviors

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

mbf_costmap_core

Recent questions tagged `moveback_recovery` at Robotics Stack Exchange

API Docs Browse Code

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