ros-indigo-footstep-planner (0.4.1-2trusty) trusty; urgency=high

  * Added include files for footstep_planner and gridmap_2d for install.
  * uses double 2.0 and makes style locally consistent
  * catkinize the stack
  * Add service to (re)plan between feet as start and goal.
  * Requires newest humanoid_msgs.
  * Merge plan and replan functions
  * RViz launch file / config Groovy
  * mark heuristic as expired when map is updated
  * removed code in the destructor that gets already cleaned up in the super class
  * use pre-increment instead of post-increment (faster + post-increment for iterators not always optimizable)
  * fixed sbpl exception catch
  * introduced new functionality to totally reset the planning environment
  * storing environment params in new struct -- get rid of unnecessary member variables
  * more detailed information when sbpl planning was successful but only the old path is returned
  * wait 0.5 sec before updating the start (robot) pose
  * bug fix in path cost heuristic
  * make footsteps smaller; +  std::max
  * handle receiving of foot transformations differently
  * implemented the polygon-intersection-check for the navigation as well; not used so far due to some usability issues
  * bug resolved: free the execution log when planning failed; use ros::Time(0) instead of ros::Time::now() since when using the latter sometimes the tf cannot be received (now sometimes an outdated step is received but this works better anyhow)
  * bug resulting in segfaulting thread now (probably) resolved
  * replaced old reachable check by a new more smoother grid based approach
  * small fix in the replanning logic
  * enforce planning from scratch when necessary (e.g. goal changed when using backward planning)
  * added assertion to enforce correct heuristic calculation
  * applied ROS code style
  * reorganized the way FootstepNavigation invokes the planner and starts the execution; changed FootstepPlanner::updateMap
  * Contributors: Armin Hornung, Johannes Garimort, Pramuditha Aravinda, Vincent Rabaud, enriquefernandez

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Sun, 04 Sep 2016 18:30:00 -0000

ros-indigo-footstep-planner (0.4.0-2trusty) trusty; urgency=high

  * Updated stack.xml & CMakeLists, new version 0.4.0 to release
  * adjusted robot translation in z dir
  * footstep execution now aborted when map changes + replanning and new execution is started; again use ALL calculated steps when extracting the path
  * Changes in R* launch file params
  * using only the new launch file from pkg nao_driver
  * Fixed odometry lookup error (wrong frame)
  * Indenting / code style according to ROS style
  * fixed SBPL in CMakeListe for custom-installed location
  * fixed out of map check in R*
  * cleanup of R* code
  * manifest/CMakeLists now compatible with fuerte and electric compilation, includes should work better now
  * integrated the new footstep set
  * fix: spelling error (don't forget to update nao_driver and humanoid_nav_msgs)
  * navigation parameters in extra config file; using new launch file in nao_driver
  * handle situations where both start feet are part of the calculated solution
  * method rearrangement in the navigation
  * got rid of get_footstep in helper
  * added test to check whether all footsteps can be performed by the NAO robot; adjusted invalid footstep
  * now able to switch between protective and fast footstep execution via the 'protective_execution' param + various smaller changes
  * Finished fluid footstep execution for the NAO; has still to be tested for simulation/real robot
  * added footstep_planner_walls to read in separate wall map (larger clearing)
  * expanded states is now a hash map on x,y => vis.better in RVIZ, only one expanded state per (x,y)
  * heuristic_scale parameter to increase under-estimating heuristics
  * GetSuccsTo for improved R* functionality
  * nao_path_follower now accepts paths
  * Fixed PathCostHeuristic for non-square maps
  * reaching right goal foot faster, only left goal state absorbs now.
  * also show expanded states when failing; R* optimized (exact ==)
  * PathCostHeuristic is now inflated by foot incircle
  * Contributors: Armin Hornung, Daniel Maier, Johannes Garimort

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Wed, 09 Jan 2013 18:30:00 -0000

ros-indigo-footstep-planner (0.3.1-2trusty) trusty; urgency=high

  * preparing for fuerte release and sbpl package
  * replanning based on old planning info in cases of a changed map disabled for now (instead: complete new planning in such a case)
  * approx. comparison for R*
  * footstep-feedback synchronization now handled in the action client (in FootstepNavigation.cpp)
  * cost calculation directly based on the discrete planning states
  * during the planning the reachability check is now based on the discrete position and orientation of the state (planning speed up)
  * temp. simplification of the path cost heuristic calculation
  * temp simplification of heuristic calculation
  * code cleanup
  * updated RViz config, launch file for R*
  * slightly expanded large footstep set
  * Contributors: Armin Hornung, Johannes Garimort

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Thu, 14 Jun 2012 18:30:00 -0000

ros-indigo-footstep-planner (0.3.0-2trusty) trusty; urgency=high

  * changed default planning params: 1cm res, PathCostHeuristic
  * synchronized with footstep action server
  * PathCostHeuristic fixed
  * added fake localization launch file
  * documentation update
  * got rid of FootstepPlannerEnvironment::setUp - this is now done in the resp. updateGoal/updateStart-method (this makes it possible to reduce FootstepPlanner::run to its actual functionality)
  * Removed ANAPlanner (testing, requires newer SBPL)
  * Functions (stubs) added for R*
  * changed names of the robot feet (according to ROS standards); integrate actionlib to perform footsteps
  * corrected foot box for the nao robot
  * corrected footsteps (w.r.t the new step model and the old footstep sets)
  * footstep navigation debug and footstep execution debug update
  * some bugs affecting footstep execution fixed
  * footstep execution now completely discrete
  * new function for lengths (to distinct between grid cell discretization and length discretization; footstep calculation fully based on discrete footsteps (can be further optimized by calculating reverse footstep on the fly)
  * update of start pose in own function: used before planning and replanning
  * bugfix: set gready footstep
  * map callback subscription
  * add missing goal pose callback subscription
  * footstep robot navigation integration finished
  * replaced double-ptr returns with references in get_footstep() / getFootstep()
  * Added execution functions from old footstep planner code to FootstepNavigation
  * FootstepNavigation stub added
  * Contributors: Armin Hornung, Johannes Garimort

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Mon, 28 May 2012 18:30:00 -0000

ros-indigo-footstep-planner (0.2.0-2trusty) trusty; urgency=high

  * automatic replanning after map change
  * reset planner when to many states changed after map change
  * 2nd changed sample map added
  * inserted stubs for R* env. functions.
  * using old information in replanning after map change
  * fixed invalid states appearing on border of map during expansion
  * fixed corner cases for angles heuristic
  * added foundation for map change detection
  * get rid of last continuous planning state variable
  * orientation cost
  * fix on path cost heuristic and the recalculation w.r.t correct search direction
  * path cost heuristic implementation finished
  * footstep_planner now uses SBPL instead of D* lite, enabling ARA* and AD* for search with anytime capabilities
  * Moved the PlanFootsteps service into humanoid_nav_msgs
  * Contributors: Armin Hornung, Johannes Garimort

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Sun, 27 Nov 2011 18:30:00 -0000

ros-indigo-footstep-planner (0.1.0-2trusty) trusty; urgency=high

  * more maps added, adjusted launch files
  * Added call to clear previous visualization
  * Display of planning time in Dstar
  * added Python node to plan from the command line
  * added "PlanFootstep" service to FootstepPlanner
  * added override for default marker namespace
  * method to initiate heuristic values update from outside
  * documentation
  * private namespace for vis msgs
  * A* heuristic implemented and integrated
  * enhancements:
    
      * cleanup of param files
      * State, Footstep, Dstar classes separated
      * Got rid of rounding => huge speedup in planner
      * Better results with subgoal_distance=0.2
      * added Heuristic path visualization
      * helper functions inlined
      * replaced constants with step constants
      * access to Dstar path properties in FootstepPlanner
      * getPathCosts, getNumExpandedStates, getNumFootsteps added to receive planning information
    
  * fixes:
    
      * fixed heuristic update after goal update in Dstar
      * fixed foot width for Astar heuristic
    
  * Contributors: Armin Hornung, Johannes Garimort

 -- Armin Hornung <HornungA@informatik.uni-freiburg.de>  Mon, 02 May 2011 18:30:00 -0000


