This page lists changes that are made in each navigation stack release.
For future plans, see the roadmap. See also navigation/ReleaseProcess.
Contents
0.9.0 (forthcoming)
0.4.0 (forthcoming)
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.
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.
