Can I mix packages from foxy and humble?

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Hey Community,

currently i using ROS2 Foxy and ROS1 Noetic on the same PC. In the beginning I wanted to use Humble but it only supports Ubuntu 22.04. In order to use ROS1 noetic and ROS2 distribution, i have to use foxy. Now i have noticed that ros2 foxy only smac planner

My question:

I downloaded the ros2 nav2 stack in my underlay directory /opt/ros/foxy/. So i assume that it is not enough just to download the packages (Controller and planner), add them to the share folder and make changes to the package.xml and cmakelist right? For instance, the folders are named different (Example: Humble -> nav2_smac_planner && Foxy ->smac_planner). Also i think i have to create a overlay workspace for the ros2 nav2.

-->In general, can i add the planners and controllers in my ros2 foxy system or are they only supported for humble?<--

Thank you very much !