navigation 0.5.1 is a patch release that adds new tests and fixes a bug with a costmap_2d test.
- amcl: Updating amcl so that the coordinate frames it uses can be set via parameters
- costmap_2d: Can now save pgm files of the costmap to help with debugging if the user desires
- costmap_2d: Added test to catch invalid costmap construction or updating due to improper raytracing or inflation
- costmap_2d: Fixed a bug in obstacle re-inflation after raytracing
- robot_pose_ekf: Update bag downloading and fix assert in regression test exit
- base_local_planner: The local plan published by the planner for visualization purposes now includes orientation information
- Fixed CMake deprecation warnings across all packages