@adamd - I'd be happy to sync up and discuss your experiments and how we could help. Message me if you want to have a phone call, or we can spend some time in the Nav2 WG if you don't mind sharing your plans. Our current roadmap is a WIP but you can see a meta-ticket on it here: [Navigation 2 Roadmap](
https://github.com/ros-planning/navigation2/issues/592)
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