This page lists changes that were made in the 1.4.x series of navigation.

For future plans, see the roadmap. See also navigation/Releases.

1.4.2 (2011-09-07)

  • amcl: Applied a patch from Javier Correa Villanueva to improve AMCL's uniform sampling.

  • navfn: Fixes to allow navfn to compile on Fedora.

1.4.1 (2011-03-30)

  • robot_pose_ekf

    • Make things configurable: output frame name, debugging and self diagnostics. <<Ticket(ros-pkg 4844)>>

  • costmap_2d

    • Now uses tf_prefix properly when publishing visualization information
  • move_base

    • Fixes bug where "make_plan" service wasn't actually using the start pose of the service request.

1.4.0 (2010-02-09)

  • This list contains highlights from development done in the 1.3 series of navigation. Please see the 1.3 Change List for full details.

    • navigation

      • The navigation stack now supports the sensor_msgs/PointCloud2 message which should allow it to be used directly with many PCL filters and nodelets. As a result of this, sensor_msgs/PointCloud support becomes slightly less efficient because a conversion must take place.

    • costmap_2d

      • Patch from Andreas Tropschug for supporting different map topics for different costmaps within the same node. Adds the "map_topic" parameter to the costmap.
      • Uses pcl types internally for storage of sensor_msgs/PointCloud2 structures rather than using sensor_msgs/PointCloud messages.

      • Added support for changing global frames. This means that an OccupancyGrid can be given to the costmap in a frame that is different from the current global frame and things will still work.

    • dwa_local_planner

      • Moved the dwa_local_planner from the navigation_experimental stack to the navigation stack. This planner was used by the PR2 during its continuous_ops run and provides nice features like dynamically reconfigurable parameters. The package should have up-to-date documentation on the wiki explaining how things work. Though, its interfaces are very similar to the base_local_planner.

    • base_local_planner

      • Added Eric Perko's cost visualization tool to the base_local_planner package. This allows for visual feedback when tuning the cost function used by the base_local_planner.
      • Adding the latch_xy_goal_tolerance parameter to allow for considering the goal position to be reached permanently once it is ever achieved. This should help robots with poor odometry.
      • Added an angular_sim_granularity parameter that allows setting the minimum angular simulation step independently from the translational simulation step.
      • Deprecated the backup_vel parameter in favor of escape_vel since the old name was misleading.

      • Added the meter_scoring parameter to allow users to set their goal and path distance bias factors independent of the resolution of the costmap.

      • Added a scoreTrajectory function from Travis Deyle's patch to complement checkTrajectory, but return a true score.
    • navfn

      • Added the visualize_potential parameter that, along with Ye Cheng's patch, allows the potential area that navfn computes to be visualized in rviz.

      • Planner now supports a tolerance when making a plan so that if people want to use it to get to a general region, it still work. Say you want to go all the way across the building, but you don't care if you're two feet away from the actual goal point.
    • move_base

      • Added the clear_costmaps service that allows an external user to tell move_base to clear all the information in its costmaps. Patch from JSK (manabusaito).

      • Now executes recovery behaviors when the local planner fails as well as the global planner.
      • Executes recovery behaviors when the robot oscillates for too long. Added two new parameters to move_base.

    • move_slow_and_clear

Wiki: navigation/ChangeList/1.4 (last edited 2011-09-07 19:16:08 by EitanMarderEppstein)