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 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).

is_recovery

Type	Default
bool	True

Description: True if the action is being used as a recovery.

disable_collision_checks

Type	Default
bool	false

Description: Disable collision checking.

Output Ports

error_code_id

Type	Default
uint16	N/A

Description: Spin error code. See Spin action message for the enumerated set of error codes.

Example

<Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}" disable_collision_checks="false"/>