BackUp

Invokes the BackUp ROS 2 action server, which causes the robot to back up by a specific displacement. It performs an linear translation by a given distance. This is used in nav2 Behavior Trees as a recovery behavior. The nav2_recoveries module implements the BackUp action server.

Input Ports

backup_dist:
Type Default
double -0.15
Description

Total distance to backup (m).

backup_speed:
Type Default
double 0.025
Description

Backup speed (m/s).

server_name:
Type Default
string N/A
Description

Action server name.

server_timeout:
Type Default
double 10
Description

Action server timeout (ms).

Example

<BackUp backup_dist="-0.2" backup_speed="0.05" service_name="backup_server" server_timeout="10"/>