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The nav stack did change in that respect, so if you can, you should use the new code. It should make it easier and leaner to write custom local planner reusing much of the existing code.

And to get it, just download the sources, they are compatible to 1.8.3, but they will not be released before 1.10, but that's not for you to worry about.

$ hg pull https://kforge.ros.org/navigation/navigation

will get you the sources, if you use rosws, you can do

$ roslocate info navigation 
- hg:
    local-name: navigation
    meta:
      repo-name: rosdistro_fuerte
    uri: https://kforge.ros.org/navigation/navigation
    version: navigation-1.8

Copy this to your rosinstall file replacing version navigation-1.8 with navigation-1.9.1

Another way to do this is to call

$ rosws set navigation --hg https://kforge.ros.org/navigation/navigation --version=navigation-1.9.1

The nav stack did change in that respect, so if you can, you should use the new code. It should The new classes as shown on that wiki page make it easier and leaner for you to write create a custom local planner reusing much of planner.

You can use the existing code.sources for 1.9/1.10 with ros 1.8 as well, the APIs did not change.

And to get it, just download the sources, they are compatible to 1.8.3, but they will not be released before 1.10, but that's not for you to worry about.sources.

$ hg pull https://kforge.ros.org/navigation/navigation

will get you the sources, if you use rosws, you can do

$ roslocate info navigation 
- hg:
    local-name: navigation
    meta:
      repo-name: rosdistro_fuerte
    uri: https://kforge.ros.org/navigation/navigation
    version: navigation-1.8

Copy this to your rosinstall file replacing version navigation-1.8 with navigation-1.9.1

Another way to do this is to call

$ rosws set navigation --hg https://kforge.ros.org/navigation/navigation --version=navigation-1.9.1