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Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here.

Introduce a new Multi-Robot Bringup Launch
******************************************

`PR #3572 <https://github.com/ros-planning/navigation2/pull/3572>`_ introduces a new way of bringup tb3 multi-robot that names as ``cloned_tb3_simulation_launch.py`` for simulation. ``cloned_tb3_simulation_launch.py`` enables to bring up multiple robots with same parameter that described in ``nav2_multirobot_param_all.yaml``. And multiple robots are separeted by namespaces which are given as a Launch Arguments.
Existing ``multi_tb3_simulation_launch.py`` which was utilized in previous is replaced with ``unique_tb3_simulation_launch.py``, allowing for multiple unique robot instances utilizing ``nav2_multirobot_params_<N>.yaml`` configuration files.


New option for the Voxel and Obstacle Layers
********************************************
`PR #3612 <https://github.com/ros-planning/navigation2/pull/3612>`_ adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
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