ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
1) The holonomic drive trajectory controller makes use of a PID from control_toolbox, which has not been catkinized yet (https://github.com/willowgarage/ros_control/issues/39). To proceed with catkinization and using the hydro-devel branch for navigation, the holonomic part of the trajectory controller has been broken. Once control_toolbox gets catkinized, fix holonomic drive control
2) Additionally, replace the custom PID in the differential controller with the one from control_toolbox
1) The holonomic drive trajectory controller makes use of a PID from control_toolbox, which has not been catkinized yet (https://github.com/willowgarage/ros_control/issues/39). To proceed with catkinization and using the hydro-devel branch for navigation, the holonomic part of the trajectory controller has been broken. Once control_toolbox gets catkinized, fix holonomic drive control 2) Additionally, replace the custom PID in the differential controller with the one from control_toolbox