Add Backward/Forward recovery plugin #6
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5 is too small to damp to the large values of kp_lat that are commonly used.
This plugin will attempt to move directly backwards to regain traction, and if that fails, try to move directly forwards. It will attempt to stop if it would collide with an object or leave the costmap.
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This plugin will attempt to move directly backwards to regain traction, and if that fails, try to move directly forwards. It will attempt to stop if it would collide with an object or leave the costmap.