Greetings

Is there any effort on upgrading movebase to handle ramps/inclines ? I have searched answers.ros.org for probable answers. Nearest answer is move_base in uneven terrain (slopes), but it do not solve the problem. I will be interested in implementing specific behaviour of movement as soon as robot detects a decline/incline. This will require transfer of control by movebase to another node, lets call, NodeA. After moving down the ramp, NodeA passes control back to move_base. Has similar behaviour implemented by any node?

Is there a way to store state of robot in movebase or I need to infect movebase with my code to implement state and transition memories? I am hoping to establish commn. between movebase and NodeA using actionLib interface. Is this correct approach to implement?

Rgds