Spin¶

Invokes the Spin ROS 2 action server, which is implemented by the nav2_recoveries 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 recovery 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).

Example¶

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