It’s a major code refactoring to enable the decoupling of the action executions. This allows us to implement the main new feature: Concurrent running planners, controllers and recovery behaviors.
Parallel running plugins are identified by their concurrency slot. You just need to provide a different concurrency_slot on the action goal to run a action goal in parallel with a different plugin. Using a already running concurrency_slot will preempt the previous execution in the old good fashion. Not using the concurrency_slot will lead to the normal behavior of canceling the current goal when sending a new one.
Other new feature is the check_path_cost service, similar to the check_pose_cost but for a full path.
Enjoy!