Spin

Invokes the Spin ROS 2 action server, which is implemented by the nav2_behaviors module. It performs an in-place rotation by a given angle. This action is used in nav2 Behavior Trees as a recovery behavior.

Input Ports

spin_dist

Type

Default

double

1.57

Description

Spin distance (radians).

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).

is_recovery

Type

Default

bool

True

Description

True if the action is being used as a recovery.

Example

<Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true"/>