It's a major code refactoring to enable the decoupling of the action executions. This allows us to implement the main new feature: Concurrent running planners, controllers and recovery behaviors. Parallel running plugins are identified by their concurrency slot. You just need to provide a different concurrency_slot on the action goal to run a action goal in parallel with a different plugin. Using a already running concurrency_slot will preempt the previous execution in the old good fashion. Not using the concurrency_slot will lead to the normal behavior of canceling the current goal when sending a new one. Other new feature is the check_path_cost service, similar to the check_pose_cost but for a full path. Enjoy! --- [Visit Topic](https://discourse.ros.org/t/move-base-flex-0-2-0-is-here/6200/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: