navigation 0.6.0 has just been released. This release makes the recovery behaviors the navigation stack invokes when planning fails plugin based. This means that users of the move_base node now have the flexibility to write recovery behaviors that are appropriate for their robot. Documentation on how to configure the navigation stack to use these plugins can be found here, and two example recovery behaviors can be found here and here. These changes are all backwards compatible, so if you've been satisfied with the default recovery behaviors, they'll contiunue to work as they have in the past.
New Features
- move_base: Made the recovery behaviors that the navigation stack uses plugins so that users of the move_base node have more flexibility in how the robot behaves when planning fails. All the changes to the navigation stack are backwards compatible.
- clear_costmap_recovery: Added this recovery behavior as a default plugin for the move_base node. Also, this package was API and Doc reviewed.
- rotate_recovery: Added this recovery behavior as a default plugin for the move_base node. Also, this package was API and Doc reviewed.
- nav_core: Added a !RecoveryBehavior interface and updated documentation accordingly.
- voxel_grid: Added a few more tests for the voxel_grid package.
Bug Fixes
- costmap_2d: Fixed build failure on Karmic/gcc4.4
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