On enable/diasble recovery: do not disable recovery but just in place rotations. Aslo recuperate the configured planner freq., not an invented one
Remap from odom to /odom so it doesn't changes to waiterbotx/odom
Reduce inflation_radius to 40 cm to avoid zig-zag on corridor
What is GAJJA?
Dynamic params by calling service
Merge branch 'hydro-devel' of https://github.com/robotics-in-concert/rocon_demos into hydro-devel