Using NavigateThroughPoses in foxy

I am still pretty new to behavior trees and nav2, I am using foxy and would like to use the NavigateThroughPoses BT, currently this is only available for galactic and newer.

Is there anything that necessitates NavigateThroughPoses exists in galactic? I have tried very briefly to backport it but it looks as through the structuring of the code has changed quite a bit in the transition from foxy->galactic.

Asked by morten on 2022-01-03 08:00:50 UTC

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Answers

Precisely, there's too many changes required to be able to backport it to Foxy unfortunately. It will only be available in Galactic and newer.

Asked by stevemacenski on 2022-01-03 13:11:20 UTC

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That was what I had expected, I had considered porting it myself but perhaps this will be relatively laborious given the changes.

Asked by morten on 2022-01-04 03:57:43 UTC