Release OMPL For Eloquent and Foxy

[SteveMacenski]

Hi,

Can we get this released for Eloquent and Foxy? It's blocking some releases.

[mamoll]

Thanks for reminding me! It has been on my to-do list. There are a few minor things I'd like to fix before release. Can you confirm that the current master branch works with navigation2?

[SteveMacenski]

@shivaang12 how did you install?

We're looking at adding an initial sampling based planner to it so any updates you make won't break our compatibility (since its not a current dependency). In this respect any notes you have for @shivaang12 on ros-navigation/navigation2#1633 I'm sure we'd both appreciate. This work started as a toy example for a tutorial but frankly we should have some sampling planner solution available. Something useful and production-ready to complement the strengths of search-based planners would be great and long overdue. Navigation hasn't been as good at maintaining multiple complementary plugins as MoveIt.

Things I know we need to work on are probably sampling in the velocity space (correct me if you disagree) to better handle aisles / hallways and to bound the planner to be feasible for some given robot base parameters. Sampling in 2.5D space seems like it may be faster but also be extremely jagged. Seems like an A* / Dijkstra would be better at that point and equally not guaranteed to be feasible but smooth.

edit: actual code is here ros-navigation/navigation2_tutorials#2

[shivaang12]

Initially I installed via debian binaries. But I got current master to work, even the dashing release and melodic works fine.

Also, some notes or feedback would be appreciated for ros-navigation/navigation2_tutorials#2.
Thanks in advance!