PauseResumeController is Available Only in Rolling?

[jardeldyonisio]

Are there any plans to add this feature to other Navigation2 ROS versions, such as Humble or Jazzy?

[SteveMacenski]

Which features is that specifically? The Wait node? That's in every distribution. The PauseResumeController? That isn't an action node so I'm not sure that's what you're referring to. Please be specific.

[jardeldyonisio]

Sorry about that. I was referring to the PauseResumeController, to pause the navigation.

navigation2/nav2_behavior_tree/nav2_tree_nodes.xml

Line 445 in 1779d92

<Control ID="PauseResumeController">

[SteveMacenski]

Yes, it is only available in Rolling right now (which does compile against Jazzy BTW). It could be backported to Jazzy and/or Kilted, but not Humble. It would require manual backporting since the new nav2:: types for ROS 2 interfaces do not exist in anything older than Rolling. If you're open to doing that backport, I'd be happy to review / merge for Jazzy and/or Kilted.

[DeskFanzin]

Hello, it might be a dumb question but this issue interests me. This 'PauseResumeController', and maybe other features that are available on Rolling and on 'main' branch of this repository, will be ported to a new ROS2 version later? Like, after ROS2 Kilted, in a binary nav2 package? I'm curious on how these features are deemed as fit for a new ros2 version. Sorry in advance if my question is not clear!

[SteveMacenski]

The main branch is targeting rolling. Once rolling is frozen to make the new distribution (i.e. Lyrical next May), then we also freeze Nav2's main branch and branch it off into a new distribution which then contains all of the new algorithms and features from the main branch into binaries / officially supported features within that distribution.

Since Nav2 moves quickly and improves things on a regular basis, eventually existing distributions start to diverge from the main branch and over time those compound to make it increasingly difficult to automatically backport features and/or features rely on other features that couldn't be backported due to API/ABI stability policies within existing distribution binaries. That's why some like Humble are so much further behind and its very hard to backport features like this. We try to backport as much as possible for as long as possible, but once a distribution becomes too long in the tooth, we eventually need to cut active new-feature additions and focus only on stability and bug maintenance (i.e. humble). For newer ones, we continue to add features as possible (i.e. Jazzy, Kilted)

[jardeldyonisio]

Thank you @SteveMacenski, for all your suport!