I'm pleased to announce a major update and rewrite of Freiburg's 
footstep planner (http://www.ros.org/wiki/footstep_planner) in the 
humanoid_navigation stack, mainly contributed by Johannes Garimort. The 
planner is now much faster and builds on SBPL. In addition to the 
previous D* Lite implementation, this now enables anytime planning e.g. 
with ARA* or AD*.

The ROS interface was largely kept compatible and you can interact with 
the planner using RViz as planning GUI (instruction on the wiki page).
You can check out the humanoid_navigation stack from 
http://code.google.com/p/alufr-ros-pkg/.

Best regards,
Armin

-- 
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga