1.9.0 (2012-06-22)

• Refactored version of the dwa_local_planner and local planner infrastructure in general thanks to Thibault Kruse.
  • Modular c++ design with interfaces for decoupled generic trajectory sample generation, scoring and selection.

    • New interfaces TrajectorySearch, TrajectorySampleGenerator, TrajectoryCostFunction

    • interface implementations SimpleScoredSamplingPlanner, SimpleTrajectoryGenerator, ObstacleCostFunction, MapGridCostFunction, OscillationCostFunction, PreferForwardCostFunction

  • detached class LatchedStopRotateController for stopping and rotating robot once goal has been passed

  • generic local planner parameters for dynamic_reconfigure shareable among local planners

  • helper classes OdometryHelperRos, FootprintHelper and LocalPlannerUtil to reduce duplicate code among different local planners

  • all new classes mentioned above (except SimpleScoredSamplingPlanner) are code from dwa_planner and dwa_planner_ros that was moved into own classes, and then put into the base_local_planner ROS package to share with other local planners. This is not a reimplementation, just code that moved from functions into smaller classes.

• new dynamic parameter 'use_dwa' so that dwa_planner can generate trajectories like trajectory_planner_ros

• MapGrid class robust against passing in a global plan where points have larger distance than map resolution

• Bugfix dynamic_reconfigure redundant parameters being duplicate in dwa_planner and dwa_planner_ros