Foxy Release Feature List

[crdelsey]

This is a list of high-level features being considered for the ROS 2 F release.:

• Reduce the number of outstanding issues
• Support for navigating multi-story buildings Support multi-story buildings #1226
• Behavior tree plugin support Behavior Tree roadmap - meta issue #958
• Improve documentation Website improvements #1228
• Add support for map zones Add Slow / safety zones to map #404, Add support for Keep-out zones on map #401
• Traffic lanes and routes Costmap Filters (keep out, preferred lanes, slow/safety zones) #1263
• Docking support Add support for docking at a charging station #1225
• Voxel layer support [Costmap 2D] Add a system test that includes the voxel layer #955
• Support multiple sensor inputs Test multiple sensor input support #1227
• Support for changing maps map server service to change map #239
• Waypoint follower demo Implement waypoint following #803
• Improve user experience (TBD)
• Ensure a stable, functional SLAM implementation is available for ROS 2 (outside the nav stack)
• Ensure a stable, functional IMU/Odom fusing solution (eg [Robot Localization] (https://github.com/cra-ros-pkg/robot_localization)) is availble for ROS2. (outside the nav stack) Test Navigation integration with robot_localization package (Kalman Filter) #40
• Provide an option/example for launching nav2 using composed nodes Provide option/example to launch nav2 as composed nodes #1244
• Add Auto-localization Action server Add Autolocalization as an action server #1254

Please submit an issue if there is another important feature you'd like to see.

Please give a 👍 on any issues that you feel are most important. We will try to prioritize issues that have a lot of community interest.

[SteveMacenski]

I'd add to the list it is my intention within the next 2 releases to replace navfn entirely for a hybrid approach taking into account robot kinematics and footprint. A special case of that would be a circular holonomic robot which would essentially act as navfn. This is key for ackermann or non-circular robots

[orduno]

I'd add to the list it is my intention within the next 2 releases to replace navfn entirely for a hybrid approach taking into account robot kinematics and footprint. A special case of that would be a circular holonomic robot which would essentially act as navfn. This is key for ackermann or non-circular robots

Cool! Let's chat about this, I'm also interested in doing some work on this area.

[mkhansenbot]

I'd add to the list it is my intention within the next 2 releases to replace navfn entirely for a hybrid approach taking into account robot kinematics and footprint. A special case of that would be a circular holonomic robot which would essentially act as navfn. This is key for ackermann or non-circular robots

Please create an issue for this navfn work if you haven't and let's get it on the list above.

[shivaang12]

I'd add to the list it is my intention within the next 2 releases to replace navfn entirely for a hybrid approach taking into account robot kinematics and footprint. A special case of that would be a circular holonomic robot which would essentially act as navfn. This is key for ackermann or non-circular robots

Do you mean you want to consider non-holonomic constrains?

[SteveMacenski]

Moving tickets into the Foxy milestone, so we don't have redundant lists.

See list here: https://github.com/ros-planning/navigation2/milestone/15