Kei,<div><br></div><div>I&#39;ve answered in-line below.<br><br><div class="gmail_quote">On Wed, Sep 1, 2010 at 7:55 PM, Kei Okada <span dir="ltr">&lt;<a href="mailto:k-okada@jsk.t.u-tokyo.ac.jp">k-okada@jsk.t.u-tokyo.ac.jp</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hi<br>
<br>
I have two questions regarding the navigation stack.<br>
<br>
1)  is it possible to change inflation radius after we start move_base?<br>
    Currently we set new<br>
/move_base_node/local_costmap/inflation_radius parameter and rosnode<br>
kill /move_base_node.. but this takes about 10 seconds for respawn.We<br>
look for faster solution.<br></blockquote><div><br></div><div>Currently, there is no way to dynamically reconfigure the costmap&#39;s parameters, including the inflation radius. Handling dynamic footprints is something that&#39;s on the todo list for navigation, but, unfortunately, its not implemented yet.</div>
<div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
2) The robot behaves according to the move_base Default Recovery<br>
Behaviors shown in <a href="http://www.ros.org/wiki/move_base" target="_blank">http://www.ros.org/wiki/move_base</a> page<br>
   Is there a way to know current robot behavior (navigation?clarning rotatoin?)<br></blockquote><div><br></div><div>If you turn the DEBUG logging level on for move_base, you&#39;ll at least see a print out of &quot;In clearing/recovery state&quot; when a recovery behavior is executed and &quot;In planning state&quot; when planning is being executed, but there&#39;s no great way to tell programmatically. I&#39;ve never had a request to make that part of move_base&#39;s state external. I could probably add it to the feedback given from the MoveBase action in a future version of navigation. If that&#39;s something you&#39;d like to see, feel free to ticket me on it. If you really wanted to, you could write your own recovery behavior plugins that notify you when they&#39;re active and use those instead of the defaults.</div>
<div><br></div><div>Hope all is well, and sorry that both the answers were probably not what you were hoping to hear,</div><div><br></div><div>Eitan</div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

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