Regular Pure Pursuit : Allow Reversing feature

[kamakshijain]

Hi
I believe based on my question here
https://answers.ros.org/question/375436/smac-planner-is-it-possible-to-make-the-robot-reverse-without-changing-heading/
navigation2 team has worked to bring allow_reverse parameter to RPP.
I was wanting to work with it but Galactic Debian is currently using Galactic Sync 2 from Navigation2 upstream whereas the changes to allow reversing in RPP were made for Galactic Sync 3. #2443

Can you please give a tentative timeline for when we will have Galactic Sync 3 available in the Debian, especially the reversing feature.

Required Info:

• Operating System:
  -Ubuntu 20
• ROS2 Version:
  • Galactic
• Version or commit hash:
  • Feature addition: capability for the RRP to drive the robot backwards  #2443
• DDS implementation:
  • rmw_cyclonedds_cpp

Expected behavior

Robot was able to reverse i.e move backwards without changing its heading.

Actual behavior

Robot turned its heading and navigated towards the goal.

[SteveMacenski]

I plan to do a sync against the distributions sometime this month, I've just been slammed. I would tentatively plan on Sept 15-17 as a timeline I could get one done in.

Thanks for the reminder, it has been quite awhile since I synced the distributions. I added it to my calendar to do it mid-week next week.