Remove custom recovery behaviors

params/global_planner/rrt_planner_params.yaml

-base_global_planner: "rrt_planner/RrtPlanner"
-
-RrtPlanner:
-    # Global
-    debug:               true
-    outmap_prohibited:   true
-    smooth_path:         true
-
-    # RRT parameters
-    dimension:           2
-    # reconfigurable
-    star:                true
-    range:               35.0
-    precision:           0.1
-    map_precision:       0.2
-    neighbour_threshold: 0.4
-    costfunc_orig_w:     0.5
-    max_nodes:           30000
-    max_time:            3.0
-    robot_radius:        0.3
-    robot_speed:         0.5
-    rate:                1
-    frame_id:            map
-
-    cost_function_type:  1  #0: Euclidean, 1: SRS
-    sampler_type:        1  #0: UniformTree, 1: UniformCSpace, 2: Density
-    simulator_type:      1  #0: Static, 1: ConstSpeed, 2: LinearSRS
-    edge_connector_type: 0  #0: Linear
-

params/move_base_params.yaml

@@ -3,11 +3,9 @@
 
 recovery_behavior_enabled: false
 recovery_behaviors:
-  - {name: rotational_recovery, type: rotational_recovery/RotationalRecovery}
   - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
-  - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
-  - {name: twist_recovery, type: twist_recovery/TwistRecovery}
-  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
+  - {name: rotate_recovery,    type: rotate_recovery/RotateRecovery}
+  - {name: aggressive_reset,   type: clear_costmap_recovery/ClearCostmapRecovery}
 
 controller_frequency: 10.0
 planner_patience: 5.0
@@ -17,10 +15,6 @@ max_planning_retries: -1
 
 conservative_reset_dist: 3.0
 
-linear_x: -0.5
-linear_y: 0.0
-angular_z: 0.0
-
 clearing_rotation_allowed: false
 clearing_radius: 0.46
 shutdown_costmaps: false

params/rrt_move_base_params.yaml

-#base_global_planner: #defined in the global planner parameter file
-#base_local_planner: #define in the local planner parameter file
-
-recovery_behavior_enabled: false
-recovery_behaviors:
-  - {name: rotational_recovery, type: rotational_recovery/RotationalRecovery}
-  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
-  - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
-  - {name: twist_recovery, type: twist_recovery/TwistRecovery}
-  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
-
-controller_frequency: 4.0
-planner_patience: 8.0
-controller_patience: 5.0
-planner_frequency: 5.0
-max_planning_retries: 5.0
-
-conservative_reset_dist: 3.0
-
-linear_x: -0.5
-linear_y: 0.0
-angular_z: 0.0
-
-clearing_rotation_allowed: false
-clearing_radius: 0.46
-shutdown_costmaps: false
-
-oscillation_timeout: -1.0
-oscillation_distance: 0.2