Feature request

Feature description

The existing implementation of the backup recovery uses a prediction step to make sure its actions wont cause a future collision however it only predicts movement in the x-axis of the odometry reference frame which ignores the fact that the robot may be at a different orientation such that moving in the x-axis of the odometry frame is not actually representative of the backward movement.

https://github.com/ros-planning/navigation2/blob/master/nav2_recoveries/plugins/back_up.cpp