Dose Nav2 support Truck (a tractor with a trailer) Naviagation?
I tried to use nav2 for truck navigation. But after looking into the footprint setting part, I noticed that it seems only supports car-like vehicles because there are no extra parameters for setting up the trailer footprint...
void transformFootprint(
double x, double y, double theta,
const std::vector<geometry_msgs::msg::Point> & footprint_spec,
std::vector<geometry_msgs::msg::Point> & oriented_footprint)
Is it mean that I need to overwrite these functions if using nav2 for truck navigation?
Thank you for your kind suggestion in advance.