Fix behavior configuration in twil_2dnav.

diff --git a/twil_2dnav/config/behavior_params.yaml b/twil_2dnav/config/behavior_params.yaml
index 2dfe1c5..86fe6aa 100644 (file)
--- a/twil_2dnav/config/behavior_params.yaml
+++ b/twil_2dnav/config/behavior_params.yaml
@@ -3,13 +3,15 @@ recoveries_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
+    recovery_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_recoveries/Spin"
+      plugin: "nav2_behaviors/Spin"
     backup:
-      plugin: "nav2_recoveries/BackUp"
+      plugin: "nav2_behaviorss/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
-      plugin: "nav2_recoveries/Wait"
+      plugin: "nav2_behaviorss/Wait"
     global_frame: odom
     robot_base_frame: twil_origin
     transform_timeout: 0.1