From 2c84c534b8fe28776aab199729c29ce997af74b7 Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Mon, 30 Sep 2019 10:05:32 -0700
Subject: [PATCH] adding wait recovery into recovery behavior tree
---
.../behavior_trees/navigate_w_replanning_and_recovery.xml | 1 +
1 file changed, 1 insertion(+)
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
index f0bc4e10..4fd109b2 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
@@ -24,6 +24,7 @@
<ClearEntireCostmap service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>
<Spin/>
+ <Wait wait_duration="5"/>
</SequenceStar>
</RecoveryNode>
</BehaviorTree>
--
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