git commit -m "first commit"

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commit 167c52aeb6
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--- a/navigations/rotate_recovery/include/rotate_recovery/rotate_recovery.h
+++ b/navigations/rotate_recovery/include/rotate_recovery/rotate_recovery.h
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+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2009, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Eitan Marder-Eppstein
+*********************************************************************/
+#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H
+#define ROTATE_RECOVERY_ROTATE_RECOVERY_H
+#include <nav_core/recovery_behavior.h>
+#include <costmap_2d/costmap_2d_ros.h>
+#include <tf2_ros/buffer.h>
+#include <base_local_planner/costmap_model.h>
+#include <string>
+
+namespace rotate_recovery
+{
+/**
+ * @class RotateRecovery
+ * @brief A recovery behavior that rotates the robot in-place to attempt to clear out space
+ */
+class RotateRecovery : public nav_core::RecoveryBehavior
+{
+public:
+  /**
+   * @brief  Constructor, make sure to call initialize in addition to actually initialize the object
+   */
+  RotateRecovery();
+
+  /**
+   * @brief  Initialization function for the RotateRecovery recovery behavior
+   * @param name Namespace used in initialization
+   * @param tf (unused)
+   * @param global_costmap (unused)
+   * @param local_costmap A pointer to the local_costmap used by the navigation stack
+   */
+  void initialize(std::string name, tf2_ros::Buffer*,
+                  costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap);
+
+  /**
+   * @brief  Run the RotateRecovery recovery behavior.
+   */
+  void runBehavior();
+
+  /**
+   * @brief  Destructor for the rotate recovery behavior
+   */
+  ~RotateRecovery();
+
+private:
+  costmap_2d::Costmap2DROS* local_costmap_;
+  bool initialized_;
+  double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_;
+  base_local_planner::CostmapModel* world_model_;
+};
+};  // namespace rotate_recovery
+#endif  // ROTATE_RECOVERY_ROTATE_RECOVERY_H