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You may want to ask on the PR. I normally would say there is little chance that a feature of that size would be backported, but skimming through the code it doesn't appear to me to have any API breakages that would be blocking a backport to Foxy. Though, it may rely on changes-to-changes that are in the current main branch that are not in foxy making it not backportable.
The main branch is where all development occurs and changes are backported, where appropriate, to currently active distributions. Then syncs are made about once every month or two and the changes are pushed to binaries that you can install to use.
Its the age old issue of "I want the stability of LTS but all the new features of bleeding edge".
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