Is openvslam still in use?

[METEORITENMAX]

Thanks for your great work with 3D navigation!

I am having issue deploying botanbot with openvslam, but also the vox_nav_openvslam is no more available. Was it just for foxy? I got it from here: https://vox-nav.readthedocs.io/en/latest/openvslam/index.html

Do i need openvslam for running botanbot with vox_nav? Is it in general possible to use vox_nav only with an octomap generated by depth images of a camera and an odometry? I also don't want to use an IMU...

From rqt the button START SELECTED GAZEBO WITH VOX_NAV launches gazebo .etc, but try to SEND ROBOT TO POSE i get this output:

[navigate_to_pose_server_node-10] [1719581420.949]: NavigateWithReplanning    IDLE -> RUNNING
[navigate_to_pose_server_node-10] [1719581420.949]: ComputePathToPose         IDLE -> RUNNING
[planner_server-7] [INFO] [1719581420.949117355] [vox_nav_planner_server_rclcpp_node]: Received goal request in order to compute a path to pose
[planner_server-7] [INFO] [1719581420.949462258] [vox_nav_planner_server_rclcpp_node]: Received a planning request to (3.000, 0.000)
[planner_server-7] [ERROR] [1719581420.949754553] [vox_nav_planner_server_rclcpp_node]: planner OptimalElevationPlanner is not a valid planner. Planner names are: OptimalElevationPlanner 
[planner_server-7] [ERROR] [1719581420.949782587] [vox_nav_planner_server_rclcpp_node]: planner could not find a valid plan
[planner_server-7] [WARN] [1719581420.949793952] [vox_nav_planner_server_rclcpp_node]: Planning algorithm GridBased failed to generate a valid
[navigate_to_pose_server_node-10] [1719581420.969]: ComputePathToPose         RUNNING -> SUCCESS
[navigate_to_pose_server_node-10] [1719581420.969]: FollowPath                IDLE -> RUNNING
[vox_nav_controller_server-8] [INFO] [1719581420.969332993] [vox_nav_controller_server_rclcpp_node]: Received goal request in order to follow a path
[vox_nav_controller_server-8] [WARN] [1719581420.969829011] [vox_nav_controller_server_rclcpp_node]: Recieved an empty path, this was probaly unintended, ignoring the request.
[vox_nav_controller_server-8] [INFO] [1719581420.970019927] [vox_nav_controller_server_rclcpp_node]: Follow Path Succeeded!
[navigate_to_pose_server_node-10] [1719581420.989]: FollowPath                RUNNING -> SUCCESS
[navigate_to_pose_server_node-10] [1719581420.989]: ComputePathToPose         SUCCESS -> IDLE
[navigate_to_pose_server_node-10] [1719581420.989]: FollowPath                SUCCESS -> IDLE
[navigate_to_pose_server_node-10] [1719581420.989]: NavigateWithReplanning    RUNNING -> SUCCESS
[navigate_to_pose_server_node-10] [INFO] [1719581421.022606842] [navigate_to_pose_server_node]: Behavior Tree execution succeeded
[navigate_to_pose_server_node-10] [INFO] [1719581421.022716190] [navigate_to_pose_server_node]: Goal execution ended 
[vox_nav_controller_server-8] [WARN] [1719581635.123927203] [vox_nav_controller_server_rclcpp_node]: New subscription discovered on topic '/supervoxel_clusters', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

is this the problem? [vox_nav_controller_server_rclcpp_node]: Recieved an empty path, this was probaly unintended, ignoring the request.

Or should it work..?

I can see the Elevated Surfels Pointcloud2, but i cannot send a robot to pose.