What problem does it solve? Robots navigating with Nav2 sometimes get stuck in tight spaces where spinning alone cannot free them, and the BackUp recovery behavior often fails silently due to sensor self-occlusion or TF timing issues. This Skill provides the configuration knowledge to tune backup distance, speed, and collision checking so reverse recovery works reliably. ## Core Features & Use Cases - BT Node and YAML Configuration: Set backup_dist and backup_speed in the Behavior Tree and configure the behavior_server plugin, costmap topics, and simulate_ahead_time in YAML. - Failure Diagnosis: Fix the most common failure mode where rear-facing sensors mark the robot's own body as occupied, using min_range tuning and footprint_clearing_enabled. - Recovery Pattern Design: Build escalating recovery sequences combining Wait, Spin, BackUp, and costmap clearing in a RoundRobin BT structure. - Use Case: Your differential-drive robot repeatedly fails its BackUp recovery with TF errors and refuses to reverse. Use this Skill to raise transform_tolerance, adjust rear sensor min_range, and verify negative cmd_vel output. ## Quick Start Configure the Nav2 BackUp behavior to reverse 0.3 meters at 0.05 m/s and fix the rear sensor self-occlusion causing it to fail.
