From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 20 Jul 2023 04:42:01 +0000 (-0300)
Subject: Fix behavior configuration in twil_2dnav.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=a56d8a555e8b9070d1f5d7c87eaa950b70f11c77;p=twil.git

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
--- 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