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_behaviors 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).
- time_allowance
Type
Default
double
10.0
- Description
Time to envoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
- server_name
Type
Default
string
N/A
- Description
Action server name.
- server_timeout
Type
Default
double
10
- Description
Action server timeout (ms).
Output Ports¶
- error_code_id
Type
Default
uint16
N/A
- Description
Backup error code. See
BackUpaction message for the enumerated set of error codes.
Example¶
<BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}"/>