Finally, it’s here!
Short reminder of the key features:
- exposes action servers for planning, controlling and recovering plus access to the costmaps, allowing an external executive to implement smarter navigation strategies
- abstracts a generic navigation framework that can be easily extended into particular implementations (in our implementation move_base is just an specialization of this abstract framework)
We are still actively developing it, so expect significant changes on incoming releases. But the basic ROS and plugins APIs are (we hope) frozen or at least won’t change significantly (and we will in any case properly document any needed porting)
Hope you will enjoy composing your clever navigation strategies, and please tell us if you have comments, critics, wanted features…