The global and local costmap are tied with the laser scan data. If the robot is stuck somewhere, the Navigation package will trigger the recovery behavior nodes, such as the clear costmap recovery or rotate recovery nodes.
Collision recovery behavior
Get Mastering ROS for Robotics Programming - Second Edition now with the O’Reilly learning platform.
O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.
