git commit -m "first commit"

navigations/move_base_flex/mbf_costmap_nav/cfg/MoveBaseFlex.cfg

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+PACKAGE = 'mbf_costmap_nav'
+
+from mbf_abstract_nav import add_mbf_abstract_nav_params
+from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t
+
+gen = ParameterGenerator()
+
+# include the abstract configuration common to all MBF-based navigation plus costmap navigation specific parameters
+add_mbf_abstract_nav_params(gen)
+
+gen.add("shutdown_costmaps", bool_t, 0,
+        "Determines whether or not to shutdown the costmaps of the node when move_base_flex is in an inactive state",
+        False)
+gen.add("shutdown_costmaps_delay", double_t, 0,
+        "How long in seconds to wait after last action before shutting down the costmaps", 1.0, 0, 60)
+
+gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False)
+
+exit(gen.generate(PACKAGE, "mbf_costmap_nav", "MoveBaseFlex"))