move_base on incline/ramps
Greetings
Is there any effort on upgrading move_base 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 move_base to another node, lets call, Node_A. After moving down the ramp, Node_A passes control back to move_base. Has similar behaviour implemented by any node?
Is there a way to store state of robot in move_base or I need to infect move_base with my code to implement state and transition memories? I am hoping to establish commn. between move_base and Node_A using actionLib interface. Is this correct approach to implement?
Rgds
