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backup-behavior

Back up a robot a configurable distance using footprint and costmap checks.

18|2|Updated Apr 20, 2026
Search Tags:#backup#ros2#behavior-tree#nav2#costmap#robot-recovery
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill backup-behavior
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: backup-behavior
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/backup-behavior
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill backup-behavior

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

The BackUp Recovery Behavior moves the robot backward by a specified distance at a controlled speed to escape tight spaces and free it when forward motion cannot. It helps prevent collisions during retreat and is commonly used as part of a larger recovery sequence.

Core Features & Use Cases

  • Controlled retreat: backs up a configurable distance at a safe speed to avoid collisions.
  • Rear clearance awareness: uses the footprint projection and local costmap checks to ensure the path behind the robot is clear.
  • BT integration: easily combines with other behaviors (Wait, Spin) in a recovery pattern.

Quick Start

Configure a BackUp action in your behavior tree to back up 0.20 m at 0.05 m/s when the robot is stuck.

Frequently Asked Questions about backup-behavior

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I make a ROS2 robot back up safely when it gets stuck in tight spaces?▼

To back up safely, the BackUp behavior drives the robot backward by a configurable distance at a controlled speed, validating pose, footprint clearance, and local costmap checks to prevent collisions during retreat.

Can I integrate a backup recovery behavior into an existing Nav2 behavior tree?▼

Yes, you can integrate the backup recovery behavior into a Nav2 behavior tree as a BackUp action node, easily combining it with other BT nodes like Wait and Spin to build a comprehensive recovery pattern.

What does a Nav2 backup behavior check before moving the robot backward?▼

Before moving backward, the backup behavior checks the robot's pose, validates footprint clearance, and analyzes the local costmap to ensure the rearward path is clear and safe to traverse.

Why is my robot spinning in place and how do I use a recovery behavior to escape?▼

If your robot is spinning in place or stalled, a recovery behavior like BackUp escapes the situation by driving the robot backward by a specified distance, such as 0.20 m at 0.05 m/s, to free it.

What is the best way to configure backward movement speed and distance in ROS2 recovery behaviors?▼

The best way to configure backward movement is by setting the target distance and controlled speed parameters within the BackUp action in your behavior tree, ensuring a safe and collision-free retreat.

Does the BackUp behavior report success when the target backward distance is reached?▼

Yes, the BackUp behavior reports success when the robot reaches the configured target backward distance, validating pose and footprint clearance throughout the rearward movement to ensure safety.

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