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