diff --git a/nav2_simple_commander/README.md b/nav2_simple_commander/README.md
index c44d4fea08..3a368511f2 100644
--- a/nav2_simple_commander/README.md
+++ b/nav2_simple_commander/README.md
@@ -19,10 +19,12 @@ The methods provided by the basic navigator are shown below, with inputs and exp
 | goToPose(pose)                    | Requests the robot to drive to a pose (`PoseStamped`).                     |
 | followWaypoints(poses)            | Requests the robot to follow a set of waypoints (list of `PoseStamped`). This will execute the specific `TaskExecutor` at each pose.   |
 | followPath(path)                  | Requests the robot to follow a path from a starting to a goal `PoseStamped`, `nav_msgs/Path`.     |
-| cancelNav()                       | Cancel an ongoing `goThroughPoses` `goToPose` or `followWaypoints` request.|
-| isNavComplete()                   | Checks if navigation is complete yet, times out at `100ms`.  Returns `True` if completed and `False` if still going.                  |
-| getFeedback()                     | Gets feedback from navigation task, returns action server feedback object. |
-| getResult()				        | Gets final result of navigation task, to be called after `isNavComplete` returns `True`. Returns action server result object. |
+| spin(spin_dist, time_allowance)   | Requests the robot to performs an in-place rotation by a given angle.      |
+| backup(backup_dist, backup_speed, time_allowance) | Requests the robot to back up by a given distance.         |
+| cancelTask()                       | Cancel an ongoing task request.|
+| isTaskComplete()                   | Checks if task is complete yet, times out at `100ms`.  Returns `True` if completed and `False` if still going.                  |
+| getFeedback()                     | Gets feedback from task, returns action server feedback object. |
+| getResult()				        | Gets final result of task, to be called after `isTaskComplete` returns `True`. Returns action server result object. |
 | getPath(start, goal)              | Gets a path from a starting to a goal `PoseStamped`, `nav_msgs/Path`.      |
 | getPathThroughPoses(start, goals) | Gets a path through a starting to a set of goals, a list of `PoseStamped`, `nav_msgs/Path`. |
 | changeMap(map_filepath)           | Requests a change from the current map to `map_filepath`'s yaml.           |
@@ -50,17 +52,17 @@ nav.setInitialPose(init_pose)
 nav.waitUntilNav2Active() # if autostarted, else use `lifecycleStartup()`
 ...
 nav.goToPose(goal_pose)
-while not nav.isNavComplete():
+while not nav.isTaskComplete():
 	feedback = nav.getFeedback()
 	if feedback.navigation_duration > 600:
-		nav.cancelNav()
+		nav.cancelTask()
 ...
 result = nav.getResult()
-if result == NavigationResult.SUCCEEDED:
+if result == TaskResult.SUCCEEDED:
     print('Goal succeeded!')
-elif result == NavigationResult.CANCELED:
+elif result == TaskResult.CANCELED:
     print('Goal was canceled!')
-elif result == NavigationResult.FAILED:
+elif result == TaskResult.FAILED:
     print('Goal failed!')
 ```
 
diff --git a/nav2_simple_commander/launch/recoveries_example_launch.py b/nav2_simple_commander/launch/recoveries_example_launch.py
new file mode 100644
index 0000000000..0d50500034
--- /dev/null
+++ b/nav2_simple_commander/launch/recoveries_example_launch.py
@@ -0,0 +1,77 @@
+# Copyright (c) 2021 Samsung Research America
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    python_commander_dir = get_package_share_directory('nav2_simple_commander')
+
+    map_yaml_file = os.path.join(warehouse_dir, 'maps', '005', 'map.yaml')
+    world = os.path.join(python_commander_dir, 'warehouse.world')
+
+    # start the simulation
+    start_gazebo_server_cmd = ExecuteProcess(
+        cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world],
+        cwd=[warehouse_dir], output='screen')
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        cmd=['gzclient'],
+        cwd=[warehouse_dir], output='screen')
+
+    urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        arguments=[urdf])
+
+    # start the visualization
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+        launch_arguments={'namespace': '',
+                          'use_namespace': 'False'}.items())
+
+    # start navigation
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
+        launch_arguments={'map': map_yaml_file}.items())
+
+    # start the demo autonomy task
+    demo_cmd = Node(
+        package='nav2_simple_commander',
+        executable='demo_recoveries',
+        emulate_tty=True,
+        output='screen')
+
+    ld = LaunchDescription()
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+    ld.add_action(demo_cmd)
+    return ld
diff --git a/nav2_simple_commander/nav2_simple_commander/demo_inspection.py b/nav2_simple_commander/nav2_simple_commander/demo_inspection.py
index 111e54dc9d..429e11b68f 100644
--- a/nav2_simple_commander/nav2_simple_commander/demo_inspection.py
+++ b/nav2_simple_commander/nav2_simple_commander/demo_inspection.py
@@ -16,7 +16,7 @@
 from copy import deepcopy
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
 
 """
@@ -72,7 +72,7 @@ def main():
     # Do something during our route (e.x. AI to analyze stock information or upload to the cloud)
     # Simply the current waypoint ID for the demonstation
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         i += 1
         feedback = navigator.getFeedback()
         if feedback and i % 5 == 0:
@@ -80,18 +80,17 @@ def main():
                   str(feedback.current_waypoint + 1) + '/' + str(len(inspection_points)))
 
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Inspection of shelves complete! Returning to start...')
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print('Inspection of shelving was canceled. Returning to start...')
-        exit(1)
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print('Inspection of shelving failed! Returning to start...')
 
     # go back to start
     initial_pose.header.stamp = navigator.get_clock().now().to_msg()
     navigator.goToPose(initial_pose)
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         pass
 
     exit(0)
diff --git a/nav2_simple_commander/nav2_simple_commander/demo_picking.py b/nav2_simple_commander/nav2_simple_commander/demo_picking.py
index 8cfcb2aec3..6a7a177acb 100644
--- a/nav2_simple_commander/nav2_simple_commander/demo_picking.py
+++ b/nav2_simple_commander/nav2_simple_commander/demo_picking.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 
 import rclpy
 from rclpy.duration import Duration
@@ -82,7 +82,7 @@ def main():
     # (e.x. queue up future tasks or detect person for fine-tuned positioning)
     # Simply print information for workers on the robot's ETA for the demonstation
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         i += 1
         feedback = navigator.getFeedback()
         if feedback and i % 5 == 0:
@@ -92,7 +92,7 @@ def main():
                   + ' seconds.')
 
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Got product from ' + request_item_location +
               '! Bringing product to shipping destination (' + request_destination + ')...')
         shipping_destination = PoseStamped()
@@ -104,16 +104,16 @@ def main():
         shipping_destination.pose.orientation.w = 0.0
         navigator.goToPose(shipping_destination)
 
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print(f'Task at {request_item_location} was canceled. Returning to staging point...')
         initial_pose.header.stamp = navigator.get_clock().now().to_msg()
         navigator.goToPose(initial_pose)
 
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print(f'Task at {request_item_location} failed!')
         exit(-1)
 
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         pass
 
     exit(0)
diff --git a/nav2_simple_commander/nav2_simple_commander/demo_recoveries.py b/nav2_simple_commander/nav2_simple_commander/demo_recoveries.py
new file mode 100644
index 0000000000..0313f956ff
--- /dev/null
+++ b/nav2_simple_commander/nav2_simple_commander/demo_recoveries.py
@@ -0,0 +1,105 @@
+#! /usr/bin/env python3
+# Copyright 2021 Samsung Research America
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from geometry_msgs.msg import PoseStamped
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+import rclpy
+from rclpy.duration import Duration
+
+
+"""
+Basic recoveries demo. In this demonstration, the robot navigates
+to a dead-end where recoveries such as backup and spin are used
+to get out of it.
+"""
+
+
+def main():
+    rclpy.init()
+
+    navigator = BasicNavigator()
+
+    # Set our demo's initial pose
+    initial_pose = PoseStamped()
+    initial_pose.header.frame_id = 'map'
+    initial_pose.header.stamp = navigator.get_clock().now().to_msg()
+    initial_pose.pose.position.x = 3.45
+    initial_pose.pose.position.y = 2.15
+    initial_pose.pose.orientation.z = 1.0
+    initial_pose.pose.orientation.w = 0.0
+    navigator.setInitialPose(initial_pose)
+
+    # Wait for navigation to fully activate
+    navigator.waitUntilNav2Active()
+
+    goal_pose = PoseStamped()
+    goal_pose.header.frame_id = 'map'
+    goal_pose.header.stamp = navigator.get_clock().now().to_msg()
+    goal_pose.pose.position.x = 6.13
+    goal_pose.pose.position.y = 1.90
+    goal_pose.pose.orientation.w = 1.0
+
+    navigator.goToPose(goal_pose)
+
+    i = 0
+    while not navigator.isTaskComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print(
+                f'Estimated time of arrival to destination is: \
+                {Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9}'
+            )
+
+    # Robot hit a dead end, back it up
+    print('Robot hit a dead end, backing up...')
+    navigator.backup(backup_dist=0.5, backup_speed=0.1)
+
+    i = 0
+    while not navigator.isTaskComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print(f'Distance traveled: {feedback.distance_traveled}')
+
+    # Turn it around
+    print('Spinning robot around...')
+    navigator.spin(spin_dist=3.14)
+
+    i = 0
+    while not navigator.isTaskComplete():
+        i += 1
+        feedback = navigator.getFeedback()
+        if feedback and i % 5 == 0:
+            print(f'Spin angle traveled: {feedback.angular_distance_traveled}')
+
+    result = navigator.getResult()
+    if result == TaskResult.SUCCEEDED:
+        print('Dead end confirmed! Returning to start...')
+    elif result == TaskResult.CANCELED:
+        print('Recovery was canceled. Returning to start...')
+    elif result == TaskResult.FAILED:
+        print('Recovering from dead end failed! Returning to start...')
+
+    initial_pose.header.stamp = navigator.get_clock().now().to_msg()
+    navigator.goToPose(initial_pose)
+    while not navigator.isTaskComplete():
+        pass
+
+    exit(0)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/nav2_simple_commander/nav2_simple_commander/demo_security.py b/nav2_simple_commander/nav2_simple_commander/demo_security.py
index 8180bc36b4..f727cc8d72 100644
--- a/nav2_simple_commander/nav2_simple_commander/demo_security.py
+++ b/nav2_simple_commander/nav2_simple_commander/demo_security.py
@@ -16,7 +16,7 @@
 from copy import deepcopy
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 
 import rclpy
 from rclpy.duration import Duration
@@ -75,7 +75,7 @@ def main():
         # Do something during our route (e.x. AI detection on camera images for anomalies)
         # Simply print ETA for the demonstation
         i = 0
-        while not navigator.isNavComplete():
+        while not navigator.isTaskComplete():
             i += 1
             feedback = navigator.getFeedback()
             if feedback and i % 5 == 0:
@@ -86,18 +86,18 @@ def main():
                 # Some failure mode, must stop since the robot is clearly stuck
                 if Duration.from_msg(feedback.navigation_time) > Duration(seconds=180.0):
                     print('Navigation has exceeded timeout of 180s, canceling request.')
-                    navigator.cancelNav()
+                    navigator.cancelTask()
 
         # If at end of route, reverse the route to restart
         security_route.reverse()
 
         result = navigator.getResult()
-        if result == NavigationResult.SUCCEEDED:
+        if result == TaskResult.SUCCEEDED:
             print('Route complete! Restarting...')
-        elif result == NavigationResult.CANCELED:
+        elif result == TaskResult.CANCELED:
             print('Security route was canceled, exiting.')
             exit(1)
-        elif result == NavigationResult.FAILED:
+        elif result == TaskResult.FAILED:
             print('Security route failed! Restarting from other side...')
 
     exit(0)
diff --git a/nav2_simple_commander/nav2_simple_commander/example_follow_path.py b/nav2_simple_commander/nav2_simple_commander/example_follow_path.py
index fe94f98798..084d06f08b 100644
--- a/nav2_simple_commander/nav2_simple_commander/example_follow_path.py
+++ b/nav2_simple_commander/nav2_simple_commander/example_follow_path.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
 
 
@@ -56,7 +56,7 @@ def main():
     navigator.followPath(path)
 
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         ################################################
         #
         # Implement some code here for your application!
@@ -74,11 +74,11 @@ def main():
 
     # Do something depending on the return code
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Goal succeeded!')
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print('Goal was canceled!')
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print('Goal failed!')
     else:
         print('Goal has an invalid return status!')
diff --git a/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py b/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py
index f4523b8974..58c47c75e1 100644
--- a/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py
+++ b/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
 from rclpy.duration import Duration
 
@@ -89,7 +89,7 @@ def main():
     navigator.goThroughPoses(goal_poses)
 
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         ################################################
         #
         # Implement some code here for your application!
@@ -106,7 +106,7 @@ def main():
 
             # Some navigation timeout to demo cancellation
             if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0):
-                navigator.cancelNav()
+                navigator.cancelTask()
 
             # Some navigation request change to demo preemption
             if Duration.from_msg(feedback.navigation_time) > Duration(seconds=35.0):
@@ -121,11 +121,11 @@ def main():
 
     # Do something depending on the return code
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Goal succeeded!')
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print('Goal was canceled!')
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print('Goal failed!')
     else:
         print('Goal has an invalid return status!')
diff --git a/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py b/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py
index cd302e418c..58dee813c9 100644
--- a/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py
+++ b/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
 from rclpy.duration import Duration
 
@@ -68,7 +68,7 @@ def main():
     navigator.goToPose(goal_pose)
 
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         ################################################
         #
         # Implement some code here for your application!
@@ -85,7 +85,7 @@ def main():
 
             # Some navigation timeout to demo cancellation
             if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0):
-                navigator.cancelNav()
+                navigator.cancelTask()
 
             # Some navigation request change to demo preemption
             if Duration.from_msg(feedback.navigation_time) > Duration(seconds=18.0):
@@ -94,11 +94,11 @@ def main():
 
     # Do something depending on the return code
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Goal succeeded!')
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print('Goal was canceled!')
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print('Goal failed!')
     else:
         print('Goal has an invalid return status!')
diff --git a/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py b/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py
index 8ed0fc3d16..9d02341a66 100644
--- a/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py
+++ b/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 from geometry_msgs.msg import PoseStamped
-from nav2_simple_commander.robot_navigator import BasicNavigator, NavigationResult
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
 from rclpy.duration import Duration
 
@@ -90,7 +90,7 @@ def main():
     navigator.followWaypoints(goal_poses)
 
     i = 0
-    while not navigator.isNavComplete():
+    while not navigator.isTaskComplete():
         ################################################
         #
         # Implement some code here for your application!
@@ -107,7 +107,7 @@ def main():
 
             # Some navigation timeout to demo cancellation
             if now - nav_start > Duration(seconds=600.0):
-                navigator.cancelNav()
+                navigator.cancelTask()
 
             # Some follow waypoints request change to demo preemption
             if now - nav_start > Duration(seconds=35.0):
@@ -124,11 +124,11 @@ def main():
 
     # Do something depending on the return code
     result = navigator.getResult()
-    if result == NavigationResult.SUCCEEDED:
+    if result == TaskResult.SUCCEEDED:
         print('Goal succeeded!')
-    elif result == NavigationResult.CANCELED:
+    elif result == TaskResult.CANCELED:
         print('Goal was canceled!')
-    elif result == NavigationResult.FAILED:
+    elif result == TaskResult.FAILED:
         print('Goal failed!')
     else:
         print('Goal has an invalid return status!')
diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
index ce0ee8d01b..2a7bfff430 100644
--- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
+++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
@@ -18,12 +18,14 @@
 import time
 
 from action_msgs.msg import GoalStatus
+from builtin_interfaces.msg import Duration
+from geometry_msgs.msg import Point
 from geometry_msgs.msg import PoseStamped
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from lifecycle_msgs.srv import GetState
+from nav2_msgs.action import BackUp, Spin
 from nav2_msgs.action import ComputePathThroughPoses, ComputePathToPose
-from nav2_msgs.action import FollowWaypoints, NavigateThroughPoses, NavigateToPose
-from nav2_msgs.action import FollowPath
+from nav2_msgs.action import FollowPath, FollowWaypoints, NavigateThroughPoses, NavigateToPose
 from nav2_msgs.srv import ClearEntireCostmap, GetCostmap, LoadMap, ManageLifecycleNodes
 
 import rclpy
@@ -33,8 +35,8 @@
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy
 
 
-class NavigationResult(Enum):
-    UKNOWN = 0
+class TaskResult(Enum):
+    UNKNOWN = 0
     SUCCEEDED = 1
     CANCELED = 2
     FAILED = 3
@@ -68,6 +70,8 @@ def __init__(self):
                                                         'compute_path_to_pose')
         self.compute_path_through_poses_client = ActionClient(self, ComputePathThroughPoses,
                                                               'compute_path_through_poses')
+        self.spin_client = ActionClient(self, Spin, 'spin')
+        self.backup_client = ActionClient(self, BackUp, 'backup')
         self.localization_pose_sub = self.create_subscription(PoseWithCovarianceStamped,
                                                               'amcl_pose',
                                                               self._amclPoseCallback,
@@ -157,6 +161,47 @@ def followWaypoints(self, poses):
         self.result_future = self.goal_handle.get_result_async()
         return True
 
+    def spin(self, spin_dist=1.57, time_allowance=10):
+        self.debug("Waiting for 'Spin' action server")
+        while not self.spin_client.wait_for_server(timeout_sec=1.0):
+            self.info("'Spin' action server not available, waiting...")
+        goal_msg = Spin.Goal()
+        goal_msg.target_yaw = spin_dist
+        goal_msg.time_allowance = Duration(sec=time_allowance)
+
+        self.info(f'Spinning to angle {goal_msg.target_yaw}....')
+        send_goal_future = self.spin_client.send_goal_async(goal_msg, self._feedbackCallback)
+        rclpy.spin_until_future_complete(self, send_goal_future)
+        self.goal_handle = send_goal_future.result()
+
+        if not self.goal_handle.accepted:
+            self.error('Spin request was rejected!')
+            return False
+
+        self.result_future = self.goal_handle.get_result_async()
+        return True
+
+    def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10):
+        self.debug("Waiting for 'Backup' action server")
+        while not self.backup_client.wait_for_server(timeout_sec=1.0):
+            self.info("'Backup' action server not available, waiting...")
+        goal_msg = BackUp.Goal()
+        goal_msg.target = Point(x=float(backup_dist))
+        goal_msg.speed = backup_speed
+        goal_msg.time_allowance = Duration(sec=time_allowance)
+
+        self.info(f'Backing up {goal_msg.target.x} m at {goal_msg.speed} m/s....')
+        send_goal_future = self.backup_client.send_goal_async(goal_msg, self._feedbackCallback)
+        rclpy.spin_until_future_complete(self, send_goal_future)
+        self.goal_handle = send_goal_future.result()
+
+        if not self.goal_handle.accepted:
+            self.error('Backup request was rejected!')
+            return False
+
+        self.result_future = self.goal_handle.get_result_async()
+        return True
+
     def followPath(self, path):
         """Send a `FollowPath` action request."""
         self.debug("Waiting for 'FollowPath' action server")
@@ -179,16 +224,16 @@ def followPath(self, path):
         self.result_future = self.goal_handle.get_result_async()
         return True
 
-    def cancelNav(self):
-        """Cancel pending navigation request of any type."""
-        self.info('Canceling current goal.')
+    def cancelTask(self):
+        """Cancel pending task request of any type."""
+        self.info('Canceling current task.')
         if self.result_future:
             future = self.goal_handle.cancel_goal_async()
             rclpy.spin_until_future_complete(self, future)
         return
 
-    def isNavComplete(self):
-        """Check if the navigation request of any type is complete yet."""
+    def isTaskComplete(self):
+        """Check if the task request of any type is complete yet."""
         if not self.result_future:
             # task was cancelled or completed
             return True
@@ -196,13 +241,13 @@ def isNavComplete(self):
         if self.result_future.result():
             self.status = self.result_future.result().status
             if self.status != GoalStatus.STATUS_SUCCEEDED:
-                self.debug(f'Goal with failed with status code: {self.status}')
+                self.debug(f'Task with failed with status code: {self.status}')
                 return True
         else:
             # Timed out, still processing, not complete yet
             return False
 
-        self.debug('Goal succeeded!')
+        self.debug('Task succeeded!')
         return True
 
     def getFeedback(self):
@@ -212,13 +257,13 @@ def getFeedback(self):
     def getResult(self):
         """Get the pending action result message."""
         if self.status == GoalStatus.STATUS_SUCCEEDED:
-            return NavigationResult.SUCCEEDED
+            return TaskResult.SUCCEEDED
         elif self.status == GoalStatus.STATUS_ABORTED:
-            return NavigationResult.FAILED
+            return TaskResult.FAILED
         elif self.status == GoalStatus.STATUS_CANCELED:
-            return NavigationResult.CANCELED
+            return TaskResult.CANCELED
         else:
-            return NavigationResult.UNKNOWN
+            return TaskResult.UNKNOWN
 
     def waitUntilNav2Active(self):
         """Block until the full navigation system is up and running."""
diff --git a/nav2_simple_commander/setup.py b/nav2_simple_commander/setup.py
index 8fbdd00f11..ab19a26e47 100644
--- a/nav2_simple_commander/setup.py
+++ b/nav2_simple_commander/setup.py
@@ -32,6 +32,7 @@
                 'demo_picking = nav2_simple_commander.demo_picking:main',
                 'demo_inspection = nav2_simple_commander.demo_inspection:main',
                 'demo_security = nav2_simple_commander.demo_security:main',
+                'demo_recoveries = nav2_simple_commander.demo_recoveries:main',
         ],
     },
 )