This page lists changes that were made in the pre-1.0 series of navigation (unstable).
Contents
0.8.1 (2010-01-14)
- remove subscriptions in global namespace
- Fixed bug where when the display jumped on updating a map.
- nav_view now works correctly on OSX
0.8.0 (2010-01-13)
- make_plan service now advertised in the namespace of the node
- Visualization topics now published in the namespace of the node
- Visualization topics now published in the namespace of the node
- Visualization topics now published in the namespace of the node
- Subscribes to a latched topic for the map instead of using a service call
0.7.0 (2010-01-12)
The navigation stack now interfaces nicely with the gmapping SLAM system. This opens it up for use with other SLAM systems as well.
- Now subscribes to the "map" latched topic to add compatibility for SLAM systems.
Added an "unknown_cost_value" parameter which allows unknown space to be loaded from OccupancGrid messages.
- Bugfix for an unnecessary use of a transform when computing the base velocity from the odometry message
0.6.5 (2010-01-11)
- Absorbed the message notifier until needed features are added to the messsage filter to fix deprecation warnings
- Moved from message notifier to message filter and fixed some deprecation warnings
0.6.4 (2010-01-06)
- added netpbm in rosdep.yaml
0.6.3 (2009-12-21)
- Removed use of deprecated rosbuild macros.
- Added API for having a map coordinate frame that is different from the simulator coordinate frame.
- Fix bug where nodehandle.getParam was used instead of nodehandle.pararm
- fix test launch files to have names as required for ROS 0.11
- The costmap now publishes information about what cells are unknown
- Fixed a bug where the voxel version of the costmap was not retaining unknown space correctly when reset to the static map.
- Built support for changing maps into the Costmap and Costmap2DROS objects. See the updateStaticMap method of the Cosmtap2DROS object.
- Added support for copying only a window of a costmap. See the getCostmapWindowCopy method of the Costmap2DROS object.
- Changed the default value for the min_obstacle_height parameter to be 0.0m from 0.05m.
- Added a parameter that allows the user to configure whether or not navfn should consider unknown space as traversible.
- Updated navfn to work with costmaps of changing size
0.6.2 (2009-11-20)
- Added a lot of timestamps to messages that were missing them in preparation for the removal of auto-filling of timestamps in message headers.
- Fix crash when covariance is zero, and add regression test to catch this problem
0.6.1 (2009-11-10)
Minor Updates
costmap_2d: Added an example launch file that is up-to-date
Bug Fixes
nav_core: Destructors of the interfaces weren't virtual, causing all sorts of memory problems on shutdown of nodes. This is now fixed.
rotate_recovery: Added missing cleanup of a pointer on destruction.
move_base: Switched action server to be a pointer to avoid a race condition that will be fixed in trunk of common, but can be worked around.
move_base: Ran valgrind on the move_base node and got it passing cleanly.
0.6.0 (2009-11-06)
New Features
move_base: Made the recovery behaviors that the navigation stack uses plugins so that users of the move_base node have more flexibility in how the robot behaves when planning fails. All the changes to the navigation stack are backwards compatible.
clear_costmap_recovery: Added this recovery behavior as a default plugin for the move_base node. Also, this package was API and Doc reviewed.
rotate_recovery: Added this recovery behavior as a default plugin for the move_base node. Also, this package was API and Doc reviewed.
nav_core: Added a RecoveryBehavior interface and updated documentation accordingly.
voxel_grid: Added a few more tests for the voxel_grid package.
Bug Fixes
costmap_2d: Fixed build failure on Karmic/gcc4.4
0.5.2 (2009-10-29)
New Features
voxel_grid: Added some basic tests, more to come soon
costmap_2d: Added a lot of tests
Bug Fixes
costmap_2d: Fixing test dependency on willow_maps which is not in the navigation stack
0.5.1 (2009-10-14)
New Features
amcl: Updating amcl so that the coordinate frames it uses can be set via parameters
costmap_2d: Can now save pgm files of the costmap to help with debugging if the user desires
costmap_2d: Added test to catch invalid costmap construction or updating due to improper raytracing or inflation
Bug Fixes
costmap_2d: Fixed a bug in obstacle re-inflation after raytracing
robot_pose_ekf: Update bag downloading and fix assert in regression test exit
base_local_planner: The local plan published by the planner for visualization purposes now includes orientation information
- Fixed CMake deprecation warnings across all packages
0.5.0 (2009-10-07)
New Features
base_local_planner: Added "y_vels" parameter to allow holonomic robot users to control the y velocities that their robot will explore
- All packages in the stack have passed documentation reviews
Minor Updates
robot_pose_ekf: Make parent-child tags in internal buffer consistent. Update to new tf::StampedTransform data type.
costmap_2d: Fixed many deprecation warnings resulting from new release of geometry stack
base_local_planner: Fixed many deprecation warnings resulting from new release of geometry stack
move_base: Fixed many deprecation warnings resulting from new release of geometry stack
Deprecations
base_local_planner: The min_vel_th, max_vel_th, and min_in_place_vel_th parameters have now been removed, update to max_rotational_vel and min_in_place_rotational_vel
costmap_2d The "inscribed_radius" and "circumscribed_radius" parameters have now been removed, switch to the "robot_radius" parameter or the "footprint" parameter.
Bug Fixes
costmap_2d: Fixed clearing the robot footprint of obstacles for circular robots.
Package Moves
All the tutorials for the navigation stack have moved to the ros_pkg_tutorials stack.
0.4.0
New Features
costmap_2d: Added "track_unknown_space" parameter to control whether or not the purely 2D costmap should reason about unknown space
Bug Fixes
costmap_2d: Fixed improper initialization of the costmap when unknown space is not being considered.
map_server: Fixed test on getting metadata
Deprecations
base_local_planner: The min_vel_th, max_vel_th, and min_in_place_vel_th parameters have been deprecated in favor of max_rotational_vel and min_in_place_rotational_vel
0.3.1 (2009-09-25)
New Features
map_server - The map server now supports a latched topic interface
map_server - The map server is now API cleared
Bug Fixes
amcl - Fixed failing tests and bug where amcl failed to initialize the map origin.
map_server - Fixed failing tests due to a missing file
0.3.0 (2009-09-24)
New Features
costmap_2d: Publishes the footprint of the robot, computes the inscribed and circumscribed radii of the robot automatically from the footprint specified, supports circular robots if no footprint specification is loaded on the parameter server through the "robot_radius" parameter.
base_local_planner : Minor modifications to support circular robots.
The following packages are now API Cleared: amcl, base_local_planner, carrot_planner, costmap_2d, fake_localization, move_base, move_base_msgs, nav_core, nav_view, (voxel_grid -- Note: No supported public API for voxel_gird)
The following packages are DOC Reviewed: robot_pose_ekf
The following packages are in the API review process: map_server
Deprecated
base_local_planner : Removed drawFootprint() method in TrajectoryPlanner since publishing the footprint is now the costmap's responsibility.
move_base, costmap_2d, base_local_planner, navfn: Changed the ROS API for the move_base node to move away from private topics.
costmap_2d The "inscribed_radius" and "circumscribed_radius" parameters have been deprecated in favor of the "robot_radius" parameter.
Backwards Compatibility
move_base, costmap_2d, base_local_planner, navfn: Using the deprecated interface for the navigation stack requires adding an include to your launch file. Instructions on this can be found on the move_base documentation page.
costmap_2d Old parameters will work, but you will receive warnings from using them.
Bug Fixes
nav_view: Fixed crash on intel GPUs (or any GPU not supporting textures of size >2048 on a side)
0.2.0 (2009-09-09)
costmap_2d: The update map cycle will now clear the footprint of the robot explicitly, this removes the need for the clearRobotFootprint() method call on the Costmap2DROS object.
Major changes:
Minor changes and bug fixes:
costmap_2d: Updated to work with the new ros::Rate, will not spew warnings incorrectly anymore.