From a56d8a555e8b9070d1f5d7c87eaa950b70f11c77 Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Thu, 20 Jul 2023 01:42:01 -0300 Subject: [PATCH] Fix behavior configuration in twil_2dnav. --- twil_2dnav/config/behavior_params.yaml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) 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 -- 2.12.0