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)

0.3.0

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 follwing 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 responsiblity.

• 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.