From 9ddf4f82ab409bf5b2feeb02d7a8b913268af326 Mon Sep 17 00:00:00 2001 From: Nisarg Date: Tue, 24 Feb 2026 11:42:03 +0900 Subject: [PATCH] add backward_ros --- mbf_abstract_nav/CMakeLists.txt | 1 + mbf_abstract_nav/package.xml | 3 ++- mbf_costmap_nav/CMakeLists.txt | 1 + mbf_costmap_nav/package.xml | 3 ++- mbf_simple_nav/CMakeLists.txt | 1 + mbf_simple_nav/package.xml | 3 ++- mbf_utility/CMakeLists.txt | 1 + mbf_utility/package.xml | 1 + 8 files changed, 11 insertions(+), 3 deletions(-) diff --git a/mbf_abstract_nav/CMakeLists.txt b/mbf_abstract_nav/CMakeLists.txt index 8baf6a40..08f781b6 100644 --- a/mbf_abstract_nav/CMakeLists.txt +++ b/mbf_abstract_nav/CMakeLists.txt @@ -16,6 +16,7 @@ find_package(catkin REQUIRED std_srvs tf xmlrpcpp + backward_ros ) find_package(Boost COMPONENTS thread chrono REQUIRED) diff --git a/mbf_abstract_nav/package.xml b/mbf_abstract_nav/package.xml index 5d6f535b..2152252d 100644 --- a/mbf_abstract_nav/package.xml +++ b/mbf_abstract_nav/package.xml @@ -25,7 +25,7 @@ mbf_msgs mbf_utility xmlrpcpp - + backward_ros tf roscpp actionlib @@ -39,6 +39,7 @@ mbf_msgs mbf_utility xmlrpcpp + backward_ros diff --git a/mbf_costmap_nav/CMakeLists.txt b/mbf_costmap_nav/CMakeLists.txt index 1d1fbd9f..6ce64eb1 100644 --- a/mbf_costmap_nav/CMakeLists.txt +++ b/mbf_costmap_nav/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(catkin REQUIRED roscpp std_msgs std_srvs + backward_ros tf ) diff --git a/mbf_costmap_nav/package.xml b/mbf_costmap_nav/package.xml index 2b3c65e4..3f6af0c4 100644 --- a/mbf_costmap_nav/package.xml +++ b/mbf_costmap_nav/package.xml @@ -2,7 +2,7 @@ mbf_costmap_nav 0.4.0 - The mbf_costmap_nav package contains the costmap navigation server implementation of Move Base Flex (MBF). The costmap navigation server is bound to the costmap_2d representation. It provides the Actions for planning, controlling and recovering. At the time of start MBF loads all defined plugins. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + The mbf_costmap_nav package contains the costmap navigation server implementation of Move Base Flex (MBF). The costmap navigation server is bound to the costmap_2d representation. It provides the Actions for planning, controlling and recovering. At the time of start MBF loads all defined plugins. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. Additionally the mbf_costmap_nav package comes with a wrapper for the old navigation stack and the plugins which inherits from the nav_core base classes. Preferably it tries to load plugins for the new API. However, plugins could even support both move_base and move_base_flex by inheriting both base class interfaces located in the nav_core package and in the mbf_costmap_core package. @@ -31,6 +31,7 @@ std_msgs std_srvs tf + backward_ros move_base diff --git a/mbf_simple_nav/CMakeLists.txt b/mbf_simple_nav/CMakeLists.txt index 21149564..2ddec989 100644 --- a/mbf_simple_nav/CMakeLists.txt +++ b/mbf_simple_nav/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(catkin REQUIRED tf tf2 tf2_ros + backward_ros ) find_package(Boost COMPONENTS thread chrono REQUIRED) diff --git a/mbf_simple_nav/package.xml b/mbf_simple_nav/package.xml index b29b1b27..880299cd 100644 --- a/mbf_simple_nav/package.xml +++ b/mbf_simple_nav/package.xml @@ -2,7 +2,7 @@ mbf_simple_nav 0.4.0 - The mbf_simple_nav package contains a simple navigation server implementation of Move Base Flex (MBF). The simple navigation server is bound to no map representation. It provides actions for planning, controlling and recovering. MBF loads all defined plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + The mbf_simple_nav package contains a simple navigation server implementation of Move Base Flex (MBF). The simple navigation server is bound to no map representation. It provides actions for planning, controlling and recovering. MBF loads all defined plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. It tries to load the defined plugins which implements the defined interfaces in mbf_abstract_core. @@ -30,6 +30,7 @@ tf2 tf2_ros + backward_ros diff --git a/mbf_utility/CMakeLists.txt b/mbf_utility/CMakeLists.txt index 69aee5f3..43455e8a 100644 --- a/mbf_utility/CMakeLists.txt +++ b/mbf_utility/CMakeLists.txt @@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS tf2 tf2_ros tf2_geometry_msgs + backward_ros ) catkin_package( diff --git a/mbf_utility/package.xml b/mbf_utility/package.xml index 4bec892f..2d40e2df 100644 --- a/mbf_utility/package.xml +++ b/mbf_utility/package.xml @@ -19,4 +19,5 @@ tf2 tf2_ros tf2_geometry_msgs + backward_ros