ros-planning/navigation — pull request #154 by contradict (2013-11-21 04:23:15+00:00)
Title: Keep consistent allignment_cost scale

Use the configured alignment cost instead of resetting to 1.0. This
condition (farther from goal than forward_point_distance) is probably
met at the start of navigation, it seems this cost should be obeyed
until the robot gets close, then ignored completely.