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Adding roadmap for Lyrical #774

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SteveMacenski merged 2 commits into from
Sep 23, 2025
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Adding roadmap for Lyrical #774

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Adding roadmap
SteveMacenski Sep 23, 2025
f7dd8a0
Fix formatting of dynamic feasibility entry in roadmap
SteveMacenski Sep 23, 2025
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50 changes: 50 additions & 0 deletions roadmap/roadmap.rst
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Expand Up @@ -8,6 +8,56 @@ This is *not* an exhaustive list of planned features or what changes may be foun
It represents only the items of direct commitment to give insight into commitments for REP-2005 repositories in the `ROS 2 Roadmap <https://docs.ros.org/en/rolling/Roadmap.html>`_.
For a full list of important completed changes in the project, see the Migration Guides :ref:`migration`.


Lyrical Roadmap
***************

+--------------------------------+------------------------+
| Controller Server and Plugin | Large |
| factor for centralized path | |
| handling and crosstrack error | |
| estimation and enforcement. | |
+--------------------------------+------------------------+
| Massive refactor of ``rclcpp`` | Large (in progress) |
| types to ``nav2`` types for | |
| ROS API abstraction | |
+--------------------------------+------------------------+
| Improve dynamic feasibility | Medium (DONE) |
| on approach to goal on all | |
| control and behavior plugins | |
+--------------------------------+------------------------+
| Introduce Vector Object Server | Medium (DONE) |
| to augment Costmap Filters | |
| with polygons rather than | |
| annotated masks | |
+--------------------------------+------------------------+
| `Continued Route Server`_ | Medium |
| | |
| | |
+--------------------------------+------------------------+
| Add Pause and Resume feature | Medium (DONE) |
| to Nav2 behavior tree tasks | |
+--------------------------------+------------------------+
| Use PointCloud Transport for | Medium (DONE) |
| all pointcloud subscriptions | |
+--------------------------------+------------------------+

.. _Continued Route Server: https://github.com/ros-navigation/navigation2/issues/5082


Kilted Roadmap
**************

+--------------------------------+------------------------+
| Release of Route server | Large (DONE) |
+--------------------------------+------------------------+
| Allow non-orientation sp. for | Medium (DONE) |
| smac planner goals | |
+--------------------------------+------------------------+
| Allow docking server to operate| Medium (DONE) |
| forward and backwards | |
+--------------------------------+------------------------+

Jazzy Roadmap
*************

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