git commit -m "first commit"

navigations/global_planner/cfg/GlobalPlanner.cfg

@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+PACKAGE = "global_planner"
+
+from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t
+
+gen = ParameterGenerator()
+
+gen.add("lethal_cost", int_t, 0, "Lethal Cost", 253, 1, 255)
+gen.add("neutral_cost", int_t, 0, "Neutral Cost", 50, 1, 255)
+gen.add("cost_factor", double_t, 0, "Factor to multiply each cost from costmap by", 3.0, 0.01, 5.0)
+gen.add("publish_potential", bool_t, 0, "Publish Potential Costmap", True)
+
+orientation_enum = gen.enum([
+    gen.const("None", int_t, 0, "No orientations added except goal orientation"),
+    gen.const("Forward", int_t, 1,
+              "Positive x axis points along path, except for the goal orientation"),
+    gen.const("Interpolate", int_t, 2, "Orientations are a linear blend of start and goal pose"),
+    gen.const("ForwardThenInterpolate",
+              int_t, 3, "Forward orientation until last straightaway, then a linear blend until the goal pose"),
+    gen.const("Backward", int_t, 4,
+              "Negative x axis points along the path, except for the goal orientation"),
+    gen.const("Leftward", int_t, 5,
+              "Positive y axis points along the path, except for the goal orientation"),
+    gen.const("Rightward", int_t, 6,
+              "Negative y axis points along the path, except for the goal orientation"),
+], "How to set the orientation of each point")
+
+gen.add("orientation_mode", int_t, 0, "How to set the orientation of each point", 1, 0, 6,
+        edit_method=orientation_enum)
+gen.add("orientation_window_size", int_t, 0, "What window to use to determine the orientation based on the "
+        "position derivative specified by the orientation mode", 1, 1, 255)
+
+exit(gen.generate(PACKAGE, "global_planner", "GlobalPlanner"))