What is the right method to set recovery_behaviors param? about navigation

[maker-ATOM]

Updates: Documentation of XML params only allow specific type of parameters to be used specifically, str|int|double|bool|yaml

https://wiki.ros.org/roslaunch/XML/param

[maker-ATOM]

Solved:

<launch>
    <arg name="cmd_vel_topic" default="/cmd_vel" />
    <arg name="odom_topic" default="odom" />
    <arg name="move_forward_only" default="false"/>
  
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
      <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
      <rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find spark_navigation)/param/local_costmap_params.yaml" command="load" />
      <rosparam file="$(find spark_navigation)/param/global_costmap_params.yaml" command="load" />
      <rosparam file="$(find spark_navigation)/param/move_base_params.yaml" command="load" />
      <rosparam file="$(find spark_navigation)/param/dwa_local_planner_params.yaml" command="load" />
      <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
      <remap from="odom" to="$(arg odom_topic)"/>
      <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
      <param name="recovery_behaviors" value="[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]" type="yaml" />
    </node>
  </launch>

The type of param should be yaml else roslaunch will interpret it as string and the same will be passed on to move_base.