Hi Goncalo, we're actively working on this stack.  The current released version (0.1.2) and the associated documentation on the wiki are somewhat out of date, and it has been completely overhauled in the trunk version.  The main change is that it does not require a preprocessing step on a ground truth global occupancy grid, but can instead take input from a graph-based slam system that produces a topological graph with local grids, and handle a changing map.  We are also actively working on one such graph slam system, in the graph_mapping stack (again, most of the recent work is in trunk).  These 0.2 versions are not yet ready for general release, though; we hope to push them out over the new few months.  In the mean time, you're welcome to check out the trunk versions, and we'd be glad to get your feedback.
- Bhaskara


2010/9/16 Gonçalo Cabrita <goncabrita@gmail.com>
Hi everyone!

I just stumbled upon the topological_navigation stack on the ROS wiki. I was wondering if anyone could give me some feedback on the progress of this stack. I'm greatly interested in this and I would be glad to assist in any way I can.

Gonçalo Cabrita
ISR - University of Coimbra
Portugal
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Bhaskara Marthi
Research Scientist
Willow Garage Inc.
650-475-2856