<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
    <name>navfn</name>
    <version>1.17.2</version>
    <description>

        navfn provides a fast interpolated navigation function that can be used to create plans for
        a mobile base. The planner assumes a circular robot and operates on a costmap to find a
        minimum cost plan from a start point to an end point in a grid. The navigation function is
        computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the
        near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the
        nav_core::BaseGlobalPlanner interface specified in <a href="http://wiki.ros.org/nav_core">nav_core</a>.

    </description>
    <author>Kurt Konolige</author>
    <author>Eitan Marder-Eppstein</author>
    <author>contradict@gmail.com</author>
    <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
    <maintainer email="mfergs7@gmail.com">Michael Ferguson</maintainer>
    <maintainer email="ahoy@fetchrobotics.com">Aaron Hoy</maintainer>
    <license>BSD</license>
    <url>http://wiki.ros.org/navfn</url>

    <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>

    <build_depend>cmake_modules</build_depend>
    <build_depend>message_generation</build_depend>
    <build_depend>netpbm</build_depend> <!-- This is a test dependency -->

    <depend>costmap_2d</depend>
    <depend>geometry_msgs</depend>
    <depend>nav_core</depend>
    <depend>nav_msgs</depend>
    <depend>pluginlib</depend>
    <depend>rosconsole</depend>
    <depend>roscpp</depend>
    <depend>sensor_msgs</depend>
    <depend>tf2_ros</depend>
    <depend>visualization_msgs</depend>

    <exec_depend>message_runtime</exec_depend>

    <test_depend>rosunit</test_depend>

    <export>
        <nav_core plugin="${prefix}/bgp_plugin.xml" />
    </export>
</package>
