These releases are compatible with the Diamondback (0.3.x) series for graph_mapping. The topological map and roadmap have been separated out, and various efficiency improvements have been made.
- Initial release of 0.3.x series
- Patch release: rollback Eigen3 update till vslam unstable is released
Switch to a different system where global coordinate frame longer assumed. Rather, there is a set of local coordinate systems based on output from a graph slam system, such as graph_mapping, and a set of occupancy grids overlaid upon them.
- Remove dependency on willow_maps.
- Bugfix release: remove a test that was failing due to rosrecord changes.
This is the initial release of the topological_navigation stack. This stack is unreviewed and under active development; its API is therefore likely to change significantly over the next few months. Nevertheless, we are making an initial version as the basic topological navigation functionality is in place:
The Roadmap C++ datatype and corresponding ROS message
roadmap_server, which is a ROS node that incrementally computes and publishes a roadmap
deterministic_topo_planner, which is a ROS node that answers planning queries
move_base_topo, the overall topological navigation executive