spin-behavior

Nav2 spin recovery rotates the robot in place when it gets stuck or displaced by costmap artifacts. You trigger it by configuring the behavior_server with the spin plugin and setting parameters like spin_dist and max_rotational_vel in your YAML configuration.

The simulate_ahead_time parameter validates potential collisions before the robot rotates in place during Nav2 spin recovery. It simulates the rotation trajectory to ensure the path is clear of costmap obstacles before executing the recovery action.

Tune max_rotational_vel and rotational_acc_lim in the behavior_server configuration to control the speed and acceleration of the in-place spin. Adjust these parameters alongside transform_tolerance to achieve smooth rotation during costmap-related recovery.

Yes, the Nav2 spin plugin is designed to recover robots displaced by costmap artifacts. By enabling in-place rotation through the behavior_server, the robot can clear localized costmap errors and reorient itself to continue navigation.

Nav2 spin recovery may fail if the behavior_server lacks the spin plugin configuration or if parameters like spin_dist, simulate_ahead_time, and transform_tolerance are not properly defined in the YAML frontmatter. Verify these settings to enable recovery.