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: double Default: 0.15: Total distance to backup (m).

`backup_speed`

Type: double Default: 0.025: Backup speed (m/s).

`time_allowance`

Type: double Default: 10.0: Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).

`disable_collision_checks`

Type: bool Default: false: Disable collision checking.

`server_name`

Type: string Default: N/A: Action server name. If not specified, backup is used.

`server_timeout`

Type: chrono::milliseconds Default: N/A: Action server timeout (ms). If not provided, uses the BT Navigator's default_server_timeout parameter value (20 ms by default).

Output Ports

`error_code_id`

Type: uint16 Default: N/A: Backup error code. See BackUp action message for the enumerated set of error codes.

`error_msg`

Type: string Default: N/A: Backup error message. 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" disable_collision_checks="false"
        error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>