spin-behavior

Name: spin-behavior
Availability: InStock
Author: wimble

Configure Nav2 spin recovery parameters for in-place robot rotation.

18|2|Updated Apr 20, 2026

Search Tags:#collision #recovery #ros2 #robotics #spin #nav2

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill spin-behavior

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: spin-behavior
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/spin-behavior
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill spin-behavior

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Configure Nav2 spin recovery to rotate the robot in place when it is stuck or displaced by costmap artifacts.

Core Features & Use Cases

Rotate in place by a specified angle using spin_dist and max_rotational_vel.
Validate potential collisions via simulate_ahead_time before rotating.
Configure general recovery behavior within behavior_server with plugin Nav2 Spin.

Quick Start

Set spin_dist and max_rotational_vel in the behavior_server configuration and trigger a recovery to observe in-place rotation.

Frequently Asked Questions about spin-behavior

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

FAQPage Schema

How do I configure Nav2 spin recovery to rotate the robot in place when stuck?▼

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.

What does simulate_ahead_time do for Nav2 spin recovery?▼

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.

How do I tune max_rotational_vel and rotational_acc_lim for Nav2 recovery behaviors?▼

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.

Can I use the Nav2 spin plugin to recover from costmap artifacts displacing my robot?▼

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.

Why does my Nav2 spin recovery behavior fail to trigger during 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.