add backward_ros

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)

mbf_abstract_nav/package.xml

@@ -25,7 +25,7 @@
     <build_depend>mbf_msgs</build_depend>
     <build_depend>mbf_utility</build_depend>
     <build_depend>xmlrpcpp</build_depend>
-
+    <build_depend>backward_ros</build_depend>
     <run_depend>tf</run_depend>
     <run_depend>roscpp</run_depend>
     <run_depend>actionlib</run_depend>
@@ -39,6 +39,7 @@
     <run_depend>mbf_msgs</run_depend>
     <run_depend>mbf_utility</run_depend>
     <run_depend>xmlrpcpp</run_depend>
+    <run_depend>backward_ros</run_depend>
 
     <export>
       <rosdoc config="rosdoc.yaml" />

mbf_costmap_nav/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(catkin REQUIRED
   roscpp
   std_msgs
   std_srvs
+  backward_ros
   tf
 )
 

mbf_costmap_nav/package.xml

@@ -2,7 +2,7 @@
     <name>mbf_costmap_nav</name>
     <version>0.4.0</version>
     <description>
-        The mbf_costmap_nav package contains the costmap navigation server implementation of Move Base Flex (MBF). The costmap navigation server is bound to the <a href="wiki.ros.org/costmap_2d">costmap_2d</a> 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 <a href="wiki.ros.org/costmap_2d">costmap_2d</a> 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 <a href="wiki.ros.org/nav_core">nav_core</a> base classes. Preferably it tries to load plugins for the new API. However, plugins could even support both <a href="wiki.ros.org/move_base">move_base</a> and <a href="wiki.ros.org/move_base_flex">move_base_flex</a> by inheriting both base class interfaces located in the <a href="wiki.ros.org/nav_core">nav_core</a> package and in the <a href="mbf_costmap_core">mbf_costmap_core</a> package.
     </description>
@@ -31,6 +31,7 @@
     <depend>std_msgs</depend>
     <depend>std_srvs</depend>
     <depend>tf</depend>
+    <depend>backward_ros</depend>
 
     <!-- Required by the backward compatibility move_base relay -->
     <exec_depend>move_base</exec_depend>

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)

mbf_simple_nav/package.xml

@@ -2,7 +2,7 @@
     <name>mbf_simple_nav</name>
     <version>0.4.0</version>
     <description>
-        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 <a href="wiki.ros.org/mbf_abstract_core">mbf_abstract_core</a>.
     </description>
@@ -30,6 +30,7 @@
 
     <depend>tf2</depend>
     <depend>tf2_ros</depend>
+    <depend>backward_ros</depend>
     <export>
       <rosdoc config="rosdoc.yaml" />
     </export>

mbf_utility/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2
   tf2_ros
   tf2_geometry_msgs
+  backward_ros
 )
 
 catkin_package(

mbf_utility/package.xml

@@ -19,4 +19,5 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>backward_ros</depend>
 </package>