Not really a navigation stack user myself, so just passing by, but I was surprised `move_base_flex` wasn't / isn't mentioned more. Only @Jeremie mentioned it once earlier in this thread.
>From the [presentation](https://vimeo.com/236174072) at ROSCon and [the docs](http://wiki.ros.org/move_base_flex) it seems it's gone into the direction that @gbiggs, @wdsmart and some others sketch:
> Move Base Flex (MBF) is a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the planner, controller and recovery plugin ROS interfaces. It exposes action servers for planning, controlling and recovering, providing detailed information of the current state and the plugins feedback. An external executive logic can use MBF and its actions to perform smart and flexible navigation strategies. Furthermore, MBF enables the use of other map representations, e.g. meshes or grid_map This package is a meta package and refers to the Move Base Flex stack packages.The abstract core of MBF without any binding to a map representation is represented by the [mbf_abstract_nav](http://wiki.ros.org/mbf_abstract_nav) and the [mbf_abstract_core](http://wiki.ros.org/mbf_abstract_core). For navigation on costmaps see [mbf_costmap_nav](http://wiki.ros.org/mbf_costmap_nav) and [mbf_costmap_core](http://wiki.ros.org/mbf_co
stmap_core).
Would seem to be a good idea to get some input from its maintainers (@spuetz et al.).
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