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

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

1.1 Series

1.1.0 - (Forthcoming)

1.0 Series

1.0.5 - (Forthcoming)

1.0.4 - (2010-02-24)

• move_base_msgs

  • Messages now automatically generated from a .action file instead of being manually generated and checked in

• navfn

  • Fixed a problem where debugging information was saved all the time. This was especially troublesome on the shared install on the robot where users don't have write permissions.
  • Fixed a bug in the validPointPotential method that could cause it to return false incorrectly

• map_server

  • Changed the map_saver to use a latched topic instead of a service call to get the map.
  • Fixed a bug where the map_saver would save unknown space with a color value that did not match the threshold it wrote out to its yaml file.

1.0.3 (2010-02-10)

• robot_pose_ekf

  • fix compile warning
  • wait for tf messages to become available before activating the imu sensor
  • moved some less useful ros_info prints to ros_debug

• navfn

  • Added a getPlanFromPotential function call that allows efficient planning to multiple goals from a single start point.

1.0.2 (2010-01-27)

• costmap_2d

  • A call to clearNonLethalWindow now affects the voxel grid and not just the costmap to keep the two consistent.
  • Added a warning if the inflation_radius parameter is less than the radii of the robot.

• voxel_grid

  • Fixed a bug in raytracing that wouldn't allow a marked column to become an unknown column.

• move_base

  • Now checks for invalid quaternions sent as goals, aborts on them and prints errors

• navfn

  • Fixed a bug where nans and infs could be passed over the wire for orientation values
  • Now warns when a goal or start position is off the global costmap
  • Removed deprecated use of tf::remap in favor of tf::resolve

1.0.1 (2010-01-22)

• robot_pose_ekf

  • imu data is now transformed to the base frame using tf

1.0.0 (2010-01-14)

* 1.0 Release!

0.8.1 (2010-01-14)

• robot_pose_ekf

  • remove subscriptions in global namespace

• nav_view

  • Fixed bug where when the display jumped on updating a map.
  • nav_view now works correctly on OSX

0.8.0 (2010-01-13)

• move_base

  • make_plan service now advertised in the namespace of the node

• costmap_2d

  • Visualization topics now published in the namespace of the node

• base_local_planner

  • Visualization topics now published in the namespace of the node

• navfn

  • Visualization topics now published in the namespace of the node

• nav_view

  • Subscribes to a latched topic for the map instead of using a service call

0.7.0 (2010-01-12)

• navigation

  • The navigation stack now interfaces nicely with the gmapping SLAM system. This opens it up for use with other SLAM systems as well.

• costmap_2d

  • 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.

• base_local_planner

  • Bugfix for an unnecessary use of a transform when computing the base velocity from the odometry message

• amcl

  • Updated amcl's regression test bags to change tf_message to tf, in the wake of geometry 0.9.1 release.

0.6.5 (2010-01-11)

• costmap_2d

  • Absorbed the message notifier until needed features are added to the messsage filter to fix deprecation warnings

• fake_localization

  • 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.

• fake_localization

  • Added API for having a map coordinate frame that is different from the simulator coordinate frame.

• robot_pose_ekf

  • Fix bug where nodehandle.getParam was used instead of nodehandle.pararm
  • fix test launch files to have names as required for ROS 0.11

• costmap_2d

  • 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.

• navfn

  • 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)

• navigation

  • Added a lot of timestamps to messages that were missing them in preparation for the removal of auto-filling of timestamps in message headers.

• robot_pose_ekf

  • 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.