Is move_base's parameter clearing_rotation_allowed actually working? about navigation HOT 6 CLOSED

From the wiki (and confirmed by reading the source code):

"clearing_rotation_allowed (bool, default: true): Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space. Note: This parameter is only used when the default recovery behaviors are in use, meaning the user has not set the recovery_behaviors parameter to anything custom."

If you have a "recovery_behaviors" section in your move_base parameters, that makes clearing_rotation_allowed be ignored. If you have such a section and it contains a recovery behavior called "rotate_recovery" then just take it out.

However, I will say that sadly there are tons of situations that can make a robot just rotate in place which are not related to rotate_recovery. Eliminating all of them is a subject too long for this bug discussion.

from navigation.

mmm.... but I'm using default recovery behaviors, and the log says "rotating to clear costmap" or something like this, so I think is a recovery behavior what makes the robot spins.

from navigation.

Well OK then! :) Sorry, I didn't realize how clear your situation was.

What version of move_base are you running?

from navigation.

Looks like it is a spelling error in the code. The code is waiting for "clearing_roatation_allowed". Sigh.

from navigation.

Cool! it will be very useful to me. Do u want me to do a pull request?

Btw, I use hydro-devel sources.

from navigation.

You can use it right away by misspelling the parameter in your rosparams the same way it is misspelled in the code. I'll get a fix in later today.

from navigation.