This question is related to the issue Dynamical footprint in Nav2.
I am currently trying to get a wheel-loader to drive autonomously indoor. Unfortunately , it differs from the supported kinematic model in Nav2, DiffDrive and Ackermann. As of my knowledge and please correct me if am wrong, is that the current smac-planners (or generally all planners) contains information about x,y and theta (pose). In this case, the wheel-loader have a pivot angle in the middle, which based on its kinematics provide different heading angle for both front and back.
Based on the answer from the related issue, Mike Ferguson came with an solution to add the central pivot angle as one of the lattice state variables. In addition to updating the collision checking to use the pivot angle to define the footprint, and also have to update the motion primitives.
Does someone have experience in doing this procedure? Yes, this will probably be a lot to do, so any guidelines or information is appreciated. I've The idea is also to then be able to create a pipeline to add custom models and still be able use Nav2 in the future instead of creating custom navigation software.