Dynamic footprint support in collision monitor (humble) about navigation2 HOT 5 CLOSED

Hi, I tried to make the rolling branch available for Humble with the help of compiler macros and some conditional execution (dependent from ROS_DISTRO) in Python launch files.
Due to my limited resources (described here #4129) I could not test it much but for me compiling and CollisionMonitor with VelocityPoligon works as expected. May it is worth a try.

from navigation2.

It is not possible to backport, it breaks ABI/API stability policies. That is available in Iron, Rolling (Jazzy) and newer.

from navigation2.

It is not possible to backport, it breaks ABI/API stability policies. That is available in Iron, Rolling (Jazzy) and newer.

Hi @SteveMacenski ,

I haven't looked at the velocity_polygon code in detail yet, but I'm having trouble understanding why it wouldn't be portable to humble.
Indeed, in principle it doesn't require anything more than retrieving cmd_vel_raw and sensor data, or am I being too naive?

from navigation2.

Hi, @robotcopper ,
I also want to use that in Humble and had the idea to make the main branch usable for Humble with some conditional compiling (CPP) and execution (Python). My fork is here https://github.com/MichaelT64/navigation2/tree/rolling-humble. It builds and I can use the CollisionMonitor (my highest priority at the moment). Due to the lack of time and knowledge I a was not able to do a deeper test of navigation yet. But may be it is worth a try and I will be happy to hear about your experience with it.

from navigation2.

Thank you @MichaelT64 for reaching me out, I'll look into it and get back to you as soon as possible.

from navigation2.