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 invoke 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 BackUp action 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}"/>