<?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>dwa_local_planner</name>
    <version>1.17.2</version>
    <description>

        This package provides an implementation of the Dynamic Window Approach to
        local robot navigation on a plane. Given a global plan to follow and a
        costmap, the local planner produces velocity commands to send to a mobile
        base. This package supports any robot who's footprint can be represented as
        a convex polygon or cicrle, and exposes its configuration as ROS parameters
        that can be set in a launch file. The parameters for this planner are also
        dynamically reconfigurable. This package's ROS wrapper adheres to the
        BaseLocalPlanner interface specified in the <a href="http://wiki.ros.org/nav_core">nav_core</a> package.

    </description>
    <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/dwa_local_planner</url>

    <buildtool_depend>catkin</buildtool_depend>

    <build_depend>angles</build_depend>
    <build_depend>cmake_modules</build_depend>

    <depend>base_local_planner</depend>
    <depend>costmap_2d</depend>
    <depend>dynamic_reconfigure</depend>
    <depend>eigen</depend>
    <depend>nav_core</depend>
    <depend>nav_msgs</depend>
    <depend>pluginlib</depend>
    <depend>sensor_msgs</depend>
    <depend>roscpp</depend>
    <depend>tf2</depend>
    <depend>tf2_geometry_msgs</depend>
    <depend>tf2_ros</depend>

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

</package>