Rotate Recovery

Software
1

Hi

I notice husarion rosbot default application has something like a rotate recovery function where it rotate 360 degree to clear space during gmapping / acml. Is this function part of ros or CORE2?

Is there anyway to stop this function or disable or edit this function?

Thank you in advance!

2

Hello angtzewern,

Recovery function is part of ROS, to be more precise it is executed by ‘move_base’ path planner.
You can disable the recovery behavior by setting parameter recovery_behavior_enabled to false in launch file:

<param name="recovery_behavior_enabled" value="false"/>

You can find this parameter here.

Regards,
Łukasz

3

hi

thank you very much
will test it out soon

i did not set this param last time
so i assume by default it is set to true?

4

Yes, default value for this parameter is true.

5

i changed the parameter value to false and notice that the husarion still does rotate recovery
Is there anything that can stop the husarion from rotating on the spot?

6

Could you record a rosbag file representing this behavior (including all sensor data, map and all commands sent to robot) and share this file?