Is it still necessary to store smoother.cpp file at nav2_smac_planner?

[CihatAltiparmak]

This is just a question, however I saw that there are two nearly same block: one of them is implemented in https://github.com/ros-navigation/navigation2/blob/main/nav2_smac_planner/src/smoother.cpp and other one is implemented in https://github.com/ros-navigation/navigation2/blob/main/nav2_smoother/include/nav2_smoother/smoother_utils.hpp

IMO, these are nearly same and sometimes a little much more confusing, for onw who doesnt know this stack very well. Somebody can run smoother twice blindly. I think We can remove this methods from smac because we can make a use of nav2_smoother package.

If you are interested, I can remove the unnecessary codes.

[SteveMacenski]

Which block, in particular? It looks like updateApproximatePathOrientations is exactly the same and we can use the nav2 smoother implementation in the smac planner, but other functions have smac-specific modifications (though if is_holonomic_ is made into a function argument, then findDirectionalPathSegments it may also be able to be shared). I think that could be done and would be a nice improvement contribution :-)

[CihatAltiparmak]

I think that could be done and would be a nice improvement contribution :-)

I'll handle this once other PR is finished.

[SteveMacenski]

@CihatAltiparmak any update on the PR?