This page lists changes that are made in each navigation stack release.

For future plans, see the roadmap. See also navigation/ReleaseProcess.

0.9.0 (forthcoming)

0.5.1

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 costs

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

0.5.0

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

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

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 (09-2009)

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.