From b0277680252fe7318d71987ca675abd1c28edeb2 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 27 Jun 2024 11:22:29 -0700
Subject: [PATCH] adjusting backup speed to be more reasonable (#4501)

---
 ...e_with_consistent_replanning_and_if_path_becomes_invalid.xml | 2 +-
 .../navigate_through_poses_w_replanning_and_recovery.xml        | 2 +-
 .../navigate_to_pose_w_replanning_and_recovery.xml              | 2 +-
 ...navigate_to_pose_w_replanning_goal_patience_and_recovery.xml | 2 +-
 ...e_w_recovery_and_replanning_only_if_path_becomes_invalid.xml | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
index 6973057e93a..b2cb86113e5 100644
--- a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -40,7 +40,7 @@
           </Sequence>
           <Spin spin_dist="1.57"/>
           <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
index 28eda8ed893..501034d6740 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -43,7 +43,7 @@
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
index 772d36fded8..f135107c5b1 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -41,7 +41,7 @@
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_code_id}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
index a705aa6b3a2..0b9bccf3abe 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -41,7 +41,7 @@
           </Sequence>
           <Spin spin_dist="1.57"/>
           <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
index 872dbf80187..3575740252d 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -38,7 +38,7 @@
           </Sequence>
           <Spin name="SpinRecovery" spin_dist="1.57"/>
           <Wait name="WaitRecovery" wait_duration="5.0"/>
-          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>