We have just made a decision to do some changes to the node itself. We are going to re-structure the python script for the floor follow so that it is more standard for ROS. We will convert over the node so it is an ActionLib based node and will form a new node rather than try to put all this new functionality into the old follow.py python script. This will make it cleaner but more importantly will make it use the standard acceptable actionlib approach and that too will make this node more powerful as well as cleaner in the code.
So if you mess with floor follow right now do so to get the feel for this approach of navigation and keep in mind the ‘engine under the hood’ will be updated very soon. I will shoot for a couple weeks as my timeframe to do the converstion of the node.