<?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>move_base</name>
    <version>1.17.3</version>
    <description>

        The move_base package provides an implementation of an action (see the <a href="http://www.ros.org/wiki/actionlib">actionlib</a> package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the <a href="http://www.ros.org/wiki/nav_core">nav_core</a> package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the <a href="http://www.ros.org/wiki/nav_core">nav_core</a> package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the <a href="http://www.ros.org/wiki/costmap_2d">costmap_2d</a> package) that are used to accomplish navigation tasks.

    </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/move_base</url>

    <buildtool_depend>catkin</buildtool_depend>

    <build_depend>cmake_modules</build_depend>
    <build_depend>message_generation</build_depend>
    <build_depend>tf2_geometry_msgs</build_depend>

    <depend>actionlib</depend>

    <build_depend>costmap_2d</build_depend>
    <exec_depend>costmap_2d</exec_depend>
    
    <depend>dynamic_reconfigure</depend>
    <depend>geometry_msgs</depend>

    <build_depend>move_base_msgs</build_depend>
    <exec_depend>move_base_msgs</exec_depend>

    <build_depend>nav_core</build_depend>
    <exec_depend>nav_core</exec_depend>

    <build_depend>nav_msgs</build_depend>
    <exec_depend>nav_msgs</exec_depend>
    
    <build_depend>pluginlib</build_depend>
    <exec_depend>pluginlib</exec_depend>

    <depend>roscpp</depend>
    <depend>rospy</depend>
    <depend>std_srvs</depend>

    <build_depend>tf2_ros</build_depend>
    <exec_depend>tf2_ros</exec_depend>

    <depend>visualization_msgs</depend>

    <!--These deps aren't strictly needed, but given the default parameters require them to work, we'll enforce that they build -->
    <build_depend>base_local_planner</build_depend>
    <exec_depend>base_local_planner</exec_depend>

    <build_depend>clear_costmap_recovery</build_depend>
    <exec_depend>clear_costmap_recovery</exec_depend>

    <build_depend>navfn</build_depend>
    <exec_depend>navfn</exec_depend>

    <build_depend>rotate_recovery</build_depend>
    <exec_depend>rotate_recovery</exec_depend>

    <exec_depend>message_runtime</exec_depend>

</package>
