This page lists changes that were made in the 1.4.x series of navigation. For future plans, see the [[navigation/Roadmap|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. <> * [[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 [[navigation/ChangeList/1.3 | 1.3]] series of navigation. Please see the [[navigation/ChangeList/1.3 | 1.3 Change List]] for full details. * [[navigation]] * The navigation stack now supports the <> message which should allow it to be used directly with many PCL filters and nodelets. As a result of this, <> 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 <> structures rather than using <> 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]] * Moved the [[move_slow_and_clear]] recovery behavior from [[navigation_experimental]] to [[navigation]].