From 0d76a1c6327ac2803a2d192b47e18f0147763471 Mon Sep 17 00:00:00 2001 From: navigation2-ci Date: Fri, 25 Oct 2024 10:31:36 +0000 Subject: [PATCH] [skip ci] publish latest Signed-off-by: navigation2-ci --- .../projects/assisted_teleop.html | 2 +- .../create_configuration_assistant.html | 2 +- 2021summerOfCode/projects/create_plugins.html | 2 +- 2021summerOfCode/projects/dynamic.html | 4 +- 2021summerOfCode/projects/grid_maps.html | 4 +- 2021summerOfCode/projects/localization.html | 2 +- 2021summerOfCode/projects/multithreading.html | 2 +- .../projects/navigation_rebranding.html | 2 +- 2021summerOfCode/projects/safety_node.html | 2 +- 2021summerOfCode/projects/semantics.html | 4 +- 2021summerOfCode/projects/spinners.html | 4 +- 2021summerOfCode/projects/testing.html | 2 +- 2021summerOfCode/projects/twist_n_config.html | 4 +- .../projects/assisted_teleop.rst.txt | 2 +- .../create_configuration_assistant.rst.txt | 2 +- .../projects/create_plugins.rst.txt | 2 +- .../2021summerOfCode/projects/dynamic.rst.txt | 4 +- .../projects/grid_maps.rst.txt | 4 +- .../projects/localization.rst.txt | 2 +- .../projects/multithreading.rst.txt | 2 +- .../projects/navigation_rebranding.rst.txt | 2 +- .../projects/safety_node.rst.txt | 2 +- .../projects/semantics.rst.txt | 4 +- .../projects/spinners.rst.txt | 4 +- .../2021summerOfCode/projects/testing.rst.txt | 2 +- .../projects/twist_n_config.rst.txt | 4 +- _sources/about/related_projects.rst.txt | 8 +- .../overview/nav2_specific_nodes.rst.txt | 2 +- _sources/commander_api/index.rst.txt | 4 +- .../bt-plugins/actions/AssistedTeleop.rst.txt | 2 +- .../bt-plugins/actions/BackUp.rst.txt | 2 +- .../actions/ComputePathThroughPoses.rst.txt | 2 +- .../actions/ComputePathToPose.rst.txt | 2 +- .../actions/ControllerSelector.rst.txt | 2 +- .../bt-plugins/actions/DriveOnHeading.rst.txt | 2 +- .../actions/GoalCheckerSelector.rst.txt | 2 +- .../actions/NavigateThroughPoses.rst.txt | 2 +- .../bt-plugins/actions/NavigateToPose.rst.txt | 2 +- .../actions/PlannerSelector.rst.txt | 2 +- .../actions/ProgressCheckerSelector.rst.txt | 2 +- .../actions/SmootherSelector.rst.txt | 2 +- .../packages/bt-plugins/actions/Spin.rst.txt | 2 +- .../packages/bt-plugins/actions/Wait.rst.txt | 2 +- .../packages/configuring-amcl.rst.txt | 2 +- .../configuring-behavior-server.rst.txt | 2 +- .../packages/configuring-bt-navigator.rst.txt | 2 +- .../packages/configuring-bt-xml.rst.txt | 2 +- .../configuring-collision-monitor.rst.txt | 2 +- .../configuring-constrained-smoother.rst.txt | 2 +- .../configuring-controller-server.rst.txt | 4 +- .../packages/configuring-costmaps.rst.txt | 2 +- .../configuring-dwb-controller.rst.txt | 2 +- ...iguring-graceful-motion-controller.rst.txt | 2 +- .../packages/configuring-lifecycle.rst.txt | 2 +- .../packages/configuring-map-server.rst.txt | 2 +- .../packages/configuring-mppic.rst.txt | 2 +- .../packages/configuring-navfn.rst.txt | 2 +- .../configuring-planner-server.rst.txt | 2 +- .../packages/configuring-regulated-pp.rst.txt | 2 +- ...nfiguring-rotation-shim-controller.rst.txt | 2 +- ...onfiguring-savitzky-golay-smoother.rst.txt | 2 +- .../configuring-simple-smoother.rst.txt | 2 +- .../packages/configuring-smac-planner.rst.txt | 2 +- .../configuring-smoother-server.rst.txt | 2 +- .../packages/configuring-thetastar.rst.txt | 2 +- .../configuring-velocity-smoother.rst.txt | 2 +- .../configuring-waypoint-follower.rst.txt | 2 +- .../costmap-plugins/binary_filter.rst.txt | 2 +- .../costmap-plugins/keepout_filter.rst.txt | 2 +- .../costmap-plugins/speed_filter.rst.txt | 4 +- .../build_troubleshooting_guide.rst.txt | 6 +- .../build_docs/index.rst.txt | 14 +- _sources/migration/Eloquent.rst.txt | 32 +- _sources/migration/Foxy.rst.txt | 50 +-- _sources/migration/Galactic.rst.txt | 90 ++-- _sources/migration/Humble.rst.txt | 68 +-- _sources/migration/Iron.rst.txt | 60 +-- .../docs/writing_new_behavior_plugin.rst.txt | 2 +- .../docs/writing_new_bt_plugin.rst.txt | 2 +- .../docs/writing_new_costmap2d_plugin.rst.txt | 2 +- .../writing_new_nav2controller_plugin.rst.txt | 4 +- .../writing_new_nav2planner_plugin.rst.txt | 2 +- .../docs/writing_new_navigator_plugin.rst.txt | 2 +- _sources/plugins/index.rst.txt | 239 +++++------ _sources/roadmap/roadmap.rst.txt | 30 +- .../footprint/setup_footprint.rst.txt | 8 +- _sources/setup_guides/odom/setup_odom.rst.txt | 10 +- .../sensors/setup_sensors.rst.txt | 8 +- _sources/setup_guides/urdf/setup_urdf.rst.txt | 2 +- _sources/tuning/index.rst.txt | 2 +- .../docs/adding_a_nav2_task_server.rst.txt | 400 +++++++++--------- _sources/tutorials/docs/docker_dev.rst.txt | 4 +- ...avigation2_dynamic_point_following.rst.txt | 2 +- .../docs/navigation2_with_gps.rst.txt | 18 +- .../navigation2_with_keepout_filter.rst.txt | 10 +- .../navigation2_with_speed_filter.rst.txt | 10 +- _sources/tutorials/docs/using_groot.rst.txt | 2 +- about/related_projects.html | 8 +- .../overview/nav2_specific_nodes.html | 2 +- commander_api/index.html | 4 +- .../bt-plugins/actions/AssistedTeleop.html | 2 +- .../actions/ComputePathThroughPoses.html | 2 +- .../bt-plugins/actions/ComputePathToPose.html | 2 +- .../actions/NavigateThroughPoses.html | 2 +- .../bt-plugins/actions/NavigateToPose.html | 2 +- .../packages/bt-plugins/actions/Spin.html | 2 +- .../packages/bt-plugins/actions/Wait.html | 2 +- configuration/packages/configuring-amcl.html | 2 +- .../packages/configuring-behavior-server.html | 2 +- .../packages/configuring-bt-navigator.html | 2 +- .../packages/configuring-bt-xml.html | 2 +- .../configuring-collision-monitor.html | 2 +- .../configuring-constrained-smoother.html | 2 +- .../configuring-controller-server.html | 4 +- .../packages/configuring-costmaps.html | 2 +- .../packages/configuring-dwb-controller.html | 2 +- ...onfiguring-graceful-motion-controller.html | 2 +- .../packages/configuring-lifecycle.html | 2 +- .../packages/configuring-map-server.html | 2 +- configuration/packages/configuring-mppic.html | 2 +- configuration/packages/configuring-navfn.html | 2 +- .../packages/configuring-planner-server.html | 2 +- .../packages/configuring-regulated-pp.html | 2 +- .../configuring-rotation-shim-controller.html | 2 +- .../configuring-savitzky-golay-smoother.html | 2 +- .../packages/configuring-simple-smoother.html | 2 +- .../packages/configuring-smac-planner.html | 2 +- .../packages/configuring-smoother-server.html | 2 +- .../configuring-velocity-smoother.html | 2 +- .../configuring-waypoint-follower.html | 2 +- .../costmap-plugins/binary_filter.html | 2 +- .../costmap-plugins/keepout_filter.html | 2 +- .../costmap-plugins/speed_filter.html | 4 +- .../build_troubleshooting_guide.html | 6 +- development_guides/build_docs/index.html | 14 +- migration/Eloquent.html | 32 +- migration/Foxy.html | 50 +-- migration/Galactic.html | 90 ++-- migration/Humble.html | 68 +-- migration/Iron.html | 60 +-- .../docs/writing_new_behavior_plugin.html | 2 +- .../docs/writing_new_bt_plugin.html | 2 +- .../docs/writing_new_costmap2d_plugin.html | 2 +- .../writing_new_nav2controller_plugin.html | 4 +- .../docs/writing_new_nav2planner_plugin.html | 2 +- .../docs/writing_new_navigator_plugin.html | 2 +- plugins/index.html | 192 ++++----- roadmap/roadmap.html | 32 +- searchindex.js | 2 +- setup_guides/footprint/setup_footprint.html | 8 +- setup_guides/odom/setup_odom.html | 10 +- setup_guides/sensors/setup_sensors.html | 8 +- setup_guides/urdf/setup_urdf.html | 2 +- tuning/index.html | 2 +- tutorials/docs/adding_a_nav2_task_server.html | 12 +- tutorials/docs/docker_dev.html | 4 +- .../navigation2_dynamic_point_following.html | 2 +- tutorials/docs/navigation2_with_gps.html | 18 +- .../docs/navigation2_with_keepout_filter.html | 10 +- .../docs/navigation2_with_speed_filter.html | 10 +- tutorials/docs/using_groot.html | 2 +- 161 files changed, 985 insertions(+), 998 deletions(-) diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html index 450456844..98f86714d 100644 --- a/2021summerOfCode/projects/assisted_teleop.html +++ b/2021summerOfCode/projects/assisted_teleop.html @@ -1119,7 +1119,7 @@

Licensing diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html index 90af4c8cf..7c7cce522 100644 --- a/2021summerOfCode/projects/create_configuration_assistant.html +++ b/2021summerOfCode/projects/create_configuration_assistant.html @@ -1132,7 +1132,7 @@

Licensing - All contributions will be under the Apache 2.0 license. diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html index 34c7586ef..860b27988 100644 --- a/2021summerOfCode/projects/create_plugins.html +++ b/2021summerOfCode/projects/create_plugins.html @@ -1125,7 +1125,7 @@

Licensing diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html index b6223a1d0..16ae5f6e4 100644 --- a/2021summerOfCode/projects/dynamic.html +++ b/2021summerOfCode/projects/dynamic.html @@ -1118,10 +1118,10 @@

List of relevant open source software repositories and refs

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html index a1f991737..cb64b2622 100644 --- a/2021summerOfCode/projects/grid_maps.html +++ b/2021summerOfCode/projects/grid_maps.html @@ -1121,8 +1121,8 @@

Licensing diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html index 23075c214..6ef4a5761 100644 --- a/2021summerOfCode/projects/localization.html +++ b/2021summerOfCode/projects/localization.html @@ -1123,7 +1123,7 @@

Licensing diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html index 9ca832a11..cf1193999 100644 --- a/2021summerOfCode/projects/multithreading.html +++ b/2021summerOfCode/projects/multithreading.html @@ -1127,7 +1127,7 @@

Licensing diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html index 1117a24bc..2647d9416 100644 --- a/2021summerOfCode/projects/navigation_rebranding.html +++ b/2021summerOfCode/projects/navigation_rebranding.html @@ -1116,7 +1116,7 @@

List of relevant open source software repositories and refs

Licensing diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html index 5a158f21c..dead3949a 100644 --- a/2021summerOfCode/projects/safety_node.html +++ b/2021summerOfCode/projects/safety_node.html @@ -1126,7 +1126,7 @@

Licensing diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html index d8b7850ae..da10d2a39 100644 --- a/2021summerOfCode/projects/semantics.html +++ b/2021summerOfCode/projects/semantics.html @@ -1119,8 +1119,8 @@

Licensing diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html index cb7c3eae2..a52b6011b 100644 --- a/2021summerOfCode/projects/spinners.html +++ b/2021summerOfCode/projects/spinners.html @@ -1118,8 +1118,8 @@

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html index 073920757..e2f48b172 100644 --- a/2021summerOfCode/projects/testing.html +++ b/2021summerOfCode/projects/testing.html @@ -1119,7 +1119,7 @@

  • ROS

  • Gazebo Simulator

  • Navigation2

    • -

  • Navigation2 Repo System Tests

    • +

  • Navigation2 Repo System Tests

    • Licensing - All contributions will be under the Apache 2.0 license. diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html index bc8519b1a..4c750bc42 100644 --- a/2021summerOfCode/projects/twist_n_config.html +++ b/2021summerOfCode/projects/twist_n_config.html @@ -1120,8 +1120,8 @@

    diff --git a/_sources/2021summerOfCode/projects/assisted_teleop.rst.txt b/_sources/2021summerOfCode/projects/assisted_teleop.rst.txt index 00040d284..39ff5f2bf 100644 --- a/_sources/2021summerOfCode/projects/assisted_teleop.rst.txt +++ b/_sources/2021summerOfCode/projects/assisted_teleop.rst.txt @@ -35,7 +35,7 @@ This will be an excellent chance to make a substantial new feature in the Nav2 s - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ +- `Github ticket `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/create_configuration_assistant.rst.txt b/_sources/2021summerOfCode/projects/create_configuration_assistant.rst.txt index fbafe4b55..a0a04f84f 100644 --- a/_sources/2021summerOfCode/projects/create_configuration_assistant.rst.txt +++ b/_sources/2021summerOfCode/projects/create_configuration_assistant.rst.txt @@ -47,7 +47,7 @@ After the items are configured, there should be a preview to see how the paramet - `QT `_ - `Gazebo Simulator `_ -- `Original github issue page `_ +- `Original github issue page `_ **Licensing** - All contributions will be under the Apache 2.0 license. diff --git a/_sources/2021summerOfCode/projects/create_plugins.rst.txt b/_sources/2021summerOfCode/projects/create_plugins.rst.txt index 562b66a46..665452634 100644 --- a/_sources/2021summerOfCode/projects/create_plugins.rst.txt +++ b/_sources/2021summerOfCode/projects/create_plugins.rst.txt @@ -40,7 +40,7 @@ Your task will be to create a high-quality implementation of one of the followin - `ROS `_ - `Gazebo Simulator `_ -- `Github issue page `_ +- `Github issue page `_ - `Nav2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/dynamic.rst.txt b/_sources/2021summerOfCode/projects/dynamic.rst.txt index 4ead28ed6..710dcb1cc 100644 --- a/_sources/2021summerOfCode/projects/dynamic.rst.txt +++ b/_sources/2021summerOfCode/projects/dynamic.rst.txt @@ -35,10 +35,10 @@ If time permits, you may also work to also integrate this dynamic information in **List of relevant open source software repositories and refs** -- `Starting project `_ +- `Starting project `_ - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ +- `Github ticket `_ - `Navigation2 `_ - `Some related works `_ diff --git a/_sources/2021summerOfCode/projects/grid_maps.rst.txt b/_sources/2021summerOfCode/projects/grid_maps.rst.txt index 330875479..d74baf075 100644 --- a/_sources/2021summerOfCode/projects/grid_maps.rst.txt +++ b/_sources/2021summerOfCode/projects/grid_maps.rst.txt @@ -37,8 +37,8 @@ This will involve porting code from ROS 1 to ROS 2, analyzing uses of the enviro - `ROS `_ - `Gazebo Simulator `_ -- `Original github issue 1 `_ -- `Original github issue 2 `_ +- `Original github issue 1 `_ +- `Original github issue 2 `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/localization.rst.txt b/_sources/2021summerOfCode/projects/localization.rst.txt index 8cc1f3efc..cf5e9b117 100644 --- a/_sources/2021summerOfCode/projects/localization.rst.txt +++ b/_sources/2021summerOfCode/projects/localization.rst.txt @@ -42,7 +42,7 @@ An optional but recommended feature of this work would be to also accept the inp - `ROS `_ - `Gazebo Simulator `_ -- `Original Github Issue `_ +- `Original Github Issue `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/multithreading.rst.txt b/_sources/2021summerOfCode/projects/multithreading.rst.txt index 89f8d878a..dd078ae41 100644 --- a/_sources/2021summerOfCode/projects/multithreading.rst.txt +++ b/_sources/2021summerOfCode/projects/multithreading.rst.txt @@ -43,7 +43,7 @@ This will be an excellent chance to apply (or obtain) C++ parallel computing ski - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ +- `Github ticket `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/navigation_rebranding.rst.txt b/_sources/2021summerOfCode/projects/navigation_rebranding.rst.txt index 6ae0dcc08..69da387de 100644 --- a/_sources/2021summerOfCode/projects/navigation_rebranding.rst.txt +++ b/_sources/2021summerOfCode/projects/navigation_rebranding.rst.txt @@ -32,7 +32,7 @@ As such, we would like to initiate a re-branding effort to help differentiate it **List of relevant open source software repositories and refs** -- `Github issue `_ +- `Github issue `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/safety_node.rst.txt b/_sources/2021summerOfCode/projects/safety_node.rst.txt index 9a744862c..4dbd49ad2 100644 --- a/_sources/2021summerOfCode/projects/safety_node.rst.txt +++ b/_sources/2021summerOfCode/projects/safety_node.rst.txt @@ -40,7 +40,7 @@ This will be an excellent chance to make mobile robots and Nav2 users significan - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ +- `Github ticket `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/semantics.rst.txt b/_sources/2021summerOfCode/projects/semantics.rst.txt index 7de827f95..b4201ddf2 100644 --- a/_sources/2021summerOfCode/projects/semantics.rst.txt +++ b/_sources/2021summerOfCode/projects/semantics.rst.txt @@ -33,8 +33,8 @@ After creating the generic representation, your project will be to create demons - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ -- `Github ticket2 `_ +- `Github ticket `_ +- `Github ticket2 `_ - `Navigation2 `_ **Licensing** diff --git a/_sources/2021summerOfCode/projects/spinners.rst.txt b/_sources/2021summerOfCode/projects/spinners.rst.txt index 5ebb2e134..e4d7ff803 100644 --- a/_sources/2021summerOfCode/projects/spinners.rst.txt +++ b/_sources/2021summerOfCode/projects/spinners.rst.txt @@ -36,8 +36,8 @@ More details about this project can be supplied if interested, but the tickets l - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ -- `Github ticket2 `_ +- `Github ticket `_ +- `Github ticket2 `_ - `Navigation2 `_ - `Some related works `_ diff --git a/_sources/2021summerOfCode/projects/testing.rst.txt b/_sources/2021summerOfCode/projects/testing.rst.txt index 294aece00..0d351f8fd 100644 --- a/_sources/2021summerOfCode/projects/testing.rst.txt +++ b/_sources/2021summerOfCode/projects/testing.rst.txt @@ -32,7 +32,7 @@ The ROS 2 Navigation Stack has had a focus on testing and reliability as a chara - `ROS `_ - `Gazebo Simulator `_ - `Navigation2 `_ -- `Navigation2 Repo System Tests `_ +- `Navigation2 Repo System Tests `_ **Licensing** - All contributions will be under the Apache 2.0 license. diff --git a/_sources/2021summerOfCode/projects/twist_n_config.rst.txt b/_sources/2021summerOfCode/projects/twist_n_config.rst.txt index 67f273036..7623153b6 100644 --- a/_sources/2021summerOfCode/projects/twist_n_config.rst.txt +++ b/_sources/2021summerOfCode/projects/twist_n_config.rst.txt @@ -41,8 +41,8 @@ In the meantime while you're waiting for PRs to be merged or blocked by reviews - `ROS `_ - `Gazebo Simulator `_ -- `Github ticket `_ -- `Github ticket2 `_ +- `Github ticket `_ +- `Github ticket2 `_ - `Navigation2 `_ - `Some related works `_ diff --git a/_sources/about/related_projects.rst.txt b/_sources/about/related_projects.rst.txt index 50fd6c617..32b09d847 100644 --- a/_sources/about/related_projects.rst.txt +++ b/_sources/about/related_projects.rst.txt @@ -27,9 +27,9 @@ This is a community maintained list of related repositories and projects to Navi | `slam_toolbox`_ | Steve Macenski | Default 2D SLAM library | +--------------------------------+------------------------+----------------------------------+ -.. _Navigation2: https://github.com/ros-planning/navigation2 -.. _docs.nav2.org: https://github.com/ros-planning/docs.nav2.org -.. _navigation2_tutorials: https://github.com/ros-planning/navigation2_tutorials -.. _navigation2_dynamic: https://github.com/ros-planning/navigation2_dynamic +.. _Navigation2: https://github.com/ros-navigation/navigation2 +.. _docs.nav2.org: https://github.com/ros-navigation/docs.nav2.org +.. _navigation2_tutorials: https://github.com/ros-navigation/navigation2_tutorials +.. _navigation2_dynamic: https://github.com/ros-navigation/navigation2_dynamic .. _robot_localization: https://github.com/cra-ros-pkg/robot_localization .. _slam_toolbox: https://github.com/SteveMacenski/slam_toolbox diff --git a/_sources/behavior_trees/overview/nav2_specific_nodes.rst.txt b/_sources/behavior_trees/overview/nav2_specific_nodes.rst.txt index 91a26f283..85276795b 100644 --- a/_sources/behavior_trees/overview/nav2_specific_nodes.rst.txt +++ b/_sources/behavior_trees/overview/nav2_specific_nodes.rst.txt @@ -9,7 +9,7 @@ Introduction To Nav2 Specific Nodes - An ``ActionNode`` in the context of BTs is not necessarily connected to an Action Server in the ROS 2 context (but often it is) There are quite a few custom Nav2 BT nodes that are provided to be used in the Nav2 specific fashion. Some commonly used Nav2 nodes will be described below. -The full list of custom BT nodes can be found in the `nav2_behavior_tree plugins folder `_. +The full list of custom BT nodes can be found in the `nav2_behavior_tree plugins folder `_. The `configuration guide <../../configuration/packages/configuring-bt-xml.html>`_ can also be quite useful. Action Nodes diff --git a/_sources/commander_api/index.rst.txt b/_sources/commander_api/index.rst.txt index f87c3197f..f895985e7 100644 --- a/_sources/commander_api/index.rst.txt +++ b/_sources/commander_api/index.rst.txt @@ -6,7 +6,7 @@ Simple Commander API Overview ******** -The goal of the Nav2 Simple (Python3) Commander is to provide a "navigation as a library" capability to Python3 users. We provide an API that handles all the ROS 2 and Action Server tasks for you such that you can focus on building an application leveraging the capabilities of Nav2 (after you've configured it to your liking with your plugins of choice). `We also provide you with demos and examples of API usage `_ to build common basic capabilities in autonomous mobile robotics in the ``nav2_simple_commander`` package. +The goal of the Nav2 Simple (Python3) Commander is to provide a "navigation as a library" capability to Python3 users. We provide an API that handles all the ROS 2 and Action Server tasks for you such that you can focus on building an application leveraging the capabilities of Nav2 (after you've configured it to your liking with your plugins of choice). `We also provide you with demos and examples of API usage `_ to build common basic capabilities in autonomous mobile robotics in the ``nav2_simple_commander`` package. A simple demonstration is shown below. Note: ``goToPose()``, ``goThroughPoses()``, ``followWaypoints()`` and similar are **non-blocking** such that you can receive and process feedback in a single-threaded application. As such while waiting for a task to be completed, the ``while not nav.isTaskComplete()`` design is necessary to poll for changes in the navigation completion, and if not complete some tasks of interest to your application (like processing feedback, doing something with the data the robot is collecting, or checking for faults). @@ -214,7 +214,7 @@ and calculate the cost of a Footprint in a given map. Examples and Demos ****************** -All of these can be found in the `package `_. +All of these can be found in the `package `_. .. image:: readme.gif :width: 800 diff --git a/_sources/configuration/packages/bt-plugins/actions/AssistedTeleop.rst.txt b/_sources/configuration/packages/bt-plugins/actions/AssistedTeleop.rst.txt index 8f9effa22..8e24e4ccf 100644 --- a/_sources/configuration/packages/bt-plugins/actions/AssistedTeleop.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/AssistedTeleop.rst.txt @@ -7,7 +7,7 @@ Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist comma collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior. The nav2_behaviors_ module implements the AssistedTeleop action server. -.. _nav2_behaviors: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. _nav2_behaviors: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors Input Ports diff --git a/_sources/configuration/packages/bt-plugins/actions/BackUp.rst.txt b/_sources/configuration/packages/bt-plugins/actions/BackUp.rst.txt index c3b66c4da..67ea2125d 100644 --- a/_sources/configuration/packages/bt-plugins/actions/BackUp.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/BackUp.rst.txt @@ -7,7 +7,7 @@ Invokes the BackUp ROS 2 action server, which causes the robot to back up by a s It performs an linear translation by a given distance. This is used in nav2 Behavior Trees as a recovery behavior. The nav2_behaviors module implements the BackUp action server. -.. nav2_behaviors_: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. nav2_behaviors_: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors Input Ports *********** diff --git a/_sources/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst.txt b/_sources/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst.txt index beb384c1e..4e7527e61 100644 --- a/_sources/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst.txt @@ -6,7 +6,7 @@ ComputePathThroughPoses Invokes the ComputePathThroughPoses ROS 2 action server, which is implemented by the nav2_planner_ module. The server address can be remapped using the ``server_name`` input port. -.. _nav2_planner: https://github.com/ros-planning/navigation2/tree/main/nav2_planner +.. _nav2_planner: https://github.com/ros-navigation/navigation2/tree/main/nav2_planner Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/ComputePathToPose.rst.txt b/_sources/configuration/packages/bt-plugins/actions/ComputePathToPose.rst.txt index 7117273d1..9f5dad0a2 100644 --- a/_sources/configuration/packages/bt-plugins/actions/ComputePathToPose.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/ComputePathToPose.rst.txt @@ -6,7 +6,7 @@ ComputePathToPose Invokes the ComputePathToPose ROS 2 action server, which is implemented by the nav2_planner_ module. The server address can be remapped using the ``server_name`` input port. -.. _nav2_planner: https://github.com/ros-planning/navigation2/tree/main/nav2_planner +.. _nav2_planner: https://github.com/ros-navigation/navigation2/tree/main/nav2_planner Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/ControllerSelector.rst.txt b/_sources/configuration/packages/bt-plugins/actions/ControllerSelector.rst.txt index a14b21b44..150633637 100644 --- a/_sources/configuration/packages/bt-plugins/actions/ControllerSelector.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/ControllerSelector.rst.txt @@ -7,7 +7,7 @@ It is used to select the Controller that will be used by the Controller server. Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/DriveOnHeading.rst.txt b/_sources/configuration/packages/bt-plugins/actions/DriveOnHeading.rst.txt index 0f66028f0..79c6fcc4e 100644 --- a/_sources/configuration/packages/bt-plugins/actions/DriveOnHeading.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/DriveOnHeading.rst.txt @@ -6,7 +6,7 @@ DriveOnHeading Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance. The nav2_behaviors module implements the DriveOnHeading action server. -.. nav2_behaviors_: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. nav2_behaviors_: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors Input Ports *********** diff --git a/_sources/configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst.txt b/_sources/configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst.txt index 4c0436fc4..8ac7c0a45 100644 --- a/_sources/configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst.txt @@ -7,7 +7,7 @@ It is used to select the GoalChecker that will be used by the goal_checker serve Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst.txt b/_sources/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst.txt index 6adcb00ec..a45d100d3 100644 --- a/_sources/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst.txt @@ -5,7 +5,7 @@ NavigateThroughPoses Invokes the NavigateThroughPoses ROS 2 action server, which is implemented by the bt_navigator_ module. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/NavigateToPose.rst.txt b/_sources/configuration/packages/bt-plugins/actions/NavigateToPose.rst.txt index 1d51a7a27..b9a57f392 100644 --- a/_sources/configuration/packages/bt-plugins/actions/NavigateToPose.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/NavigateToPose.rst.txt @@ -5,7 +5,7 @@ NavigateToPose Invokes the NavigateToPose ROS 2 action server, which is implemented by the bt_navigator_ module. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/PlannerSelector.rst.txt b/_sources/configuration/packages/bt-plugins/actions/PlannerSelector.rst.txt index 0c4501d89..0e2019609 100644 --- a/_sources/configuration/packages/bt-plugins/actions/PlannerSelector.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/PlannerSelector.rst.txt @@ -7,7 +7,7 @@ It is used to select the planner that will be used by the planner server. It sub Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst.txt b/_sources/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst.txt index a0ba4039d..b91c4696a 100644 --- a/_sources/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst.txt @@ -7,7 +7,7 @@ It is used to select the ProgressChecker that will be used by the progress_check Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/SmootherSelector.rst.txt b/_sources/configuration/packages/bt-plugins/actions/SmootherSelector.rst.txt index c465f0d23..9736d9816 100644 --- a/_sources/configuration/packages/bt-plugins/actions/SmootherSelector.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/SmootherSelector.rst.txt @@ -7,7 +7,7 @@ It is used to select the Smoother that will be used by the Smoother server. It s Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``. -.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _bt_navigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/Spin.rst.txt b/_sources/configuration/packages/bt-plugins/actions/Spin.rst.txt index ed382943a..df89009d0 100644 --- a/_sources/configuration/packages/bt-plugins/actions/Spin.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/Spin.rst.txt @@ -7,7 +7,7 @@ Invokes the Spin ROS 2 action server, which is implemented by the nav2_behaviors It performs an in-place rotation by a given angle. This action is used in nav2 Behavior Trees as a recovery behavior. -.. _nav2_behaviors: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. _nav2_behaviors: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors Input Ports ----------- diff --git a/_sources/configuration/packages/bt-plugins/actions/Wait.rst.txt b/_sources/configuration/packages/bt-plugins/actions/Wait.rst.txt index dbcbda864..824cc37d8 100644 --- a/_sources/configuration/packages/bt-plugins/actions/Wait.rst.txt +++ b/_sources/configuration/packages/bt-plugins/actions/Wait.rst.txt @@ -6,7 +6,7 @@ Wait Invokes the Wait ROS 2 action server, which is implemented by the nav2_behaviors_ module. This action is used in nav2 Behavior Trees as a recovery behavior. -.. _nav2_behaviors: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. _nav2_behaviors: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors Input Ports ----------- diff --git a/_sources/configuration/packages/configuring-amcl.rst.txt b/_sources/configuration/packages/configuring-amcl.rst.txt index c4a1fa782..e43e47f17 100644 --- a/_sources/configuration/packages/configuring-amcl.rst.txt +++ b/_sources/configuration/packages/configuring-amcl.rst.txt @@ -5,7 +5,7 @@ AMCL Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_amcl +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_amcl AMCL implements the server for taking a static map and localizing the robot within it using an Adaptive Monte-Carlo Localizer. diff --git a/_sources/configuration/packages/configuring-behavior-server.rst.txt b/_sources/configuration/packages/configuring-behavior-server.rst.txt index 7a6852da2..80cac712a 100644 --- a/_sources/configuration/packages/configuring-behavior-server.rst.txt +++ b/_sources/configuration/packages/configuring-behavior-server.rst.txt @@ -5,7 +5,7 @@ Behavior Server Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors The Behavior Server implements the server for handling various behavior, such as recoveries and docking, requests and hosting a vector of plugins implementing various C++ behaviors. It is also possible to implement independent behavior servers for each custom behavior, but this server will allow multiple behaviors to share resources such as costmaps and TF buffers to lower incremental costs for new behaviors. diff --git a/_sources/configuration/packages/configuring-bt-navigator.rst.txt b/_sources/configuration/packages/configuring-bt-navigator.rst.txt index 7f50fbcea..f60b5fe79 100644 --- a/_sources/configuration/packages/configuring-bt-navigator.rst.txt +++ b/_sources/configuration/packages/configuring-bt-navigator.rst.txt @@ -5,7 +5,7 @@ Behavior-Tree Navigator Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose, NavigateThroughPoses, and other task interfaces. It is a Behavior Tree-based implementation of navigation that is intended to allow for flexibility diff --git a/_sources/configuration/packages/configuring-bt-xml.rst.txt b/_sources/configuration/packages/configuring-bt-xml.rst.txt index fd6213695..4f4982d5b 100644 --- a/_sources/configuration/packages/configuring-bt-xml.rst.txt +++ b/_sources/configuration/packages/configuring-bt-xml.rst.txt @@ -5,7 +5,7 @@ Behavior Tree XML Nodes The nav2_behavior_tree_ package provides several navigation-specific nodes that are pre-registered and can be included in Behavior Trees. -.. _nav2_behavior_tree: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree +.. _nav2_behavior_tree: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree Check this introduction_ to learn how behavior trees work and the difference between actions, conditions, controls and decorators. diff --git a/_sources/configuration/packages/configuring-collision-monitor.rst.txt b/_sources/configuration/packages/configuring-collision-monitor.rst.txt index 3caed6033..f943297f9 100644 --- a/_sources/configuration/packages/configuring-collision-monitor.rst.txt +++ b/_sources/configuration/packages/configuring-collision-monitor.rst.txt @@ -5,7 +5,7 @@ Collision Monitor Source code and ``README`` with design, explanations, and metrics can be found on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_collision_monitor +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_collision_monitor The ``nav2_collision_monitor`` package contains nodes providing an additional level of robot safety, namely the Collision Monitor and the Collision Detector. The Collision Monitor is a node providing an additional level of robot safety. It performs several collision avoidance related tasks using incoming data from the sensors, bypassing the costmap and trajectory planners, to monitor for and prevent potential collisions at the emergency-stop level. diff --git a/_sources/configuration/packages/configuring-constrained-smoother.rst.txt b/_sources/configuration/packages/configuring-constrained-smoother.rst.txt index 941b67dfb..48f732f7a 100644 --- a/_sources/configuration/packages/configuring-constrained-smoother.rst.txt +++ b/_sources/configuration/packages/configuring-constrained-smoother.rst.txt @@ -5,7 +5,7 @@ Constrained smoother Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_constrained_smoother +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_constrained_smoother .. _`RoboTech Vision`: https://robotechvision.com/ diff --git a/_sources/configuration/packages/configuring-controller-server.rst.txt b/_sources/configuration/packages/configuring-controller-server.rst.txt index f4fa0d4fc..f3f0b780e 100644 --- a/_sources/configuration/packages/configuring-controller-server.rst.txt +++ b/_sources/configuration/packages/configuring-controller-server.rst.txt @@ -5,7 +5,7 @@ Controller Server Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_controller The Controller Server implements the server for handling the controller requests for the stack and host a map of plugin implementations. It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins. @@ -192,7 +192,7 @@ Parameters ============== ============================= Description - Speed limiting topic name to subscribe. This could be published by Speed Filter (please refer to :ref:`speed_filter` configuration page). You can also use this without the Speed Filter as well if you provide an external server to publish `these messages `_. + Speed limiting topic name to subscribe. This could be published by Speed Filter (please refer to :ref:`speed_filter` configuration page). You can also use this without the Speed Filter as well if you provide an external server to publish `these messages `_. :odom_topic: diff --git a/_sources/configuration/packages/configuring-costmaps.rst.txt b/_sources/configuration/packages/configuring-costmaps.rst.txt index cd87d5fbc..1576ce620 100644 --- a/_sources/configuration/packages/configuring-costmaps.rst.txt +++ b/_sources/configuration/packages/configuring-costmaps.rst.txt @@ -5,7 +5,7 @@ Costmap 2D Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d The Costmap 2D package implements a 2D grid-based costmap for environmental representations and a number of sensor processing plugins (AI outputs, depth sensor obstacle buffering, semantic information, etc). It is used in the planner and controller servers for creating the space to check for collisions or higher cost areas to negotiate around. diff --git a/_sources/configuration/packages/configuring-dwb-controller.rst.txt b/_sources/configuration/packages/configuring-dwb-controller.rst.txt index 2e0c9dc81..b3fb7a896 100644 --- a/_sources/configuration/packages/configuring-dwb-controller.rst.txt +++ b/_sources/configuration/packages/configuring-dwb-controller.rst.txt @@ -5,7 +5,7 @@ DWB Controller Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_dwb_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_dwb_controller The DWB controller is the default controller. It is a fork of `David Lu's controller `_ diff --git a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt index 0e7d74552..e6b1f56d3 100644 --- a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt +++ b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt @@ -5,7 +5,7 @@ Graceful Controller Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_graceful_controller The graceful controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment" (ICRA 2011). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow. diff --git a/_sources/configuration/packages/configuring-lifecycle.rst.txt b/_sources/configuration/packages/configuring-lifecycle.rst.txt index 42049e977..23afd5b6f 100644 --- a/_sources/configuration/packages/configuring-lifecycle.rst.txt +++ b/_sources/configuration/packages/configuring-lifecycle.rst.txt @@ -5,7 +5,7 @@ Lifecycle Manager Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_lifecycle_manager +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_lifecycle_manager The Lifecycle Manager module implements the method for handling the lifecycle transition states for the stack in a deterministic way. It will take in a set of ordered nodes to transition one-by-one into the configuration and activate states to run the stack. diff --git a/_sources/configuration/packages/configuring-map-server.rst.txt b/_sources/configuration/packages/configuring-map-server.rst.txt index 3ee507da2..fec595bc5 100644 --- a/_sources/configuration/packages/configuring-map-server.rst.txt +++ b/_sources/configuration/packages/configuring-map-server.rst.txt @@ -5,7 +5,7 @@ Map Server / Saver Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_map_server +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_map_server The Map Server implements the server for handling the map load requests for the stack and host a map topic. It also implements a map saver server which will run in the background and save maps based on service requests. There exists a map saver CLI similar to ROS 1 as well for a single map save. diff --git a/_sources/configuration/packages/configuring-mppic.rst.txt b/_sources/configuration/packages/configuring-mppic.rst.txt index 48fad3980..2e405ce18 100644 --- a/_sources/configuration/packages/configuring-mppic.rst.txt +++ b/_sources/configuration/packages/configuring-mppic.rst.txt @@ -5,7 +5,7 @@ Model Predictive Path Integral Controller Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_mppi_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_mppi_controller .. image:: images/mppi_demo.gif diff --git a/_sources/configuration/packages/configuring-navfn.rst.txt b/_sources/configuration/packages/configuring-navfn.rst.txt index 517fad4e4..3835f9b7d 100644 --- a/_sources/configuration/packages/configuring-navfn.rst.txt +++ b/_sources/configuration/packages/configuring-navfn.rst.txt @@ -5,7 +5,7 @@ NavFn Planner Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_navfn_planner +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_navfn_planner The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded holonomic planner. diff --git a/_sources/configuration/packages/configuring-planner-server.rst.txt b/_sources/configuration/packages/configuring-planner-server.rst.txt index 5059dfece..81042ed30 100644 --- a/_sources/configuration/packages/configuring-planner-server.rst.txt +++ b/_sources/configuration/packages/configuring-planner-server.rst.txt @@ -5,7 +5,7 @@ Planner Server Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_planner +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_planner The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations. It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal. diff --git a/_sources/configuration/packages/configuring-regulated-pp.rst.txt b/_sources/configuration/packages/configuring-regulated-pp.rst.txt index ceb45cdda..38a726997 100644 --- a/_sources/configuration/packages/configuring-regulated-pp.rst.txt +++ b/_sources/configuration/packages/configuring-regulated-pp.rst.txt @@ -5,7 +5,7 @@ Regulated Pure Pursuit Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_regulated_pure_pursuit_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_regulated_pure_pursuit_controller The Regulated Pure Pursuit controller implements a variation on the Pure Pursuit controller that specifically targeting service / industrial robot needs. It regulates the linear velocities by curvature of the path to help reduce overshoot at high speeds around blind corners allowing operations to be much more safe. diff --git a/_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt b/_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt index 3b70e7854..3186199aa 100644 --- a/_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt +++ b/_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt @@ -5,7 +5,7 @@ Rotation Shim Controller Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_rotation_shim_controller +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_rotation_shim_controller The ``nav2_rotation_shim_controller`` will check the rough heading difference with respect to the robot and a newly received path. If within a threshold, it will pass the request onto the ``primary_controller`` to execute the task. If it is outside of the threshold, this controller will rotate the robot in place towards that path heading. Once it is within the tolerance, it will then pass off control-execution from this rotation shim controller onto the primary controller plugin. At this point, the robot's main plugin will take control for a smooth hand off into the task. diff --git a/_sources/configuration/packages/configuring-savitzky-golay-smoother.rst.txt b/_sources/configuration/packages/configuring-savitzky-golay-smoother.rst.txt index a09d6f081..a45880081 100644 --- a/_sources/configuration/packages/configuring-savitzky-golay-smoother.rst.txt +++ b/_sources/configuration/packages/configuring-savitzky-golay-smoother.rst.txt @@ -5,7 +5,7 @@ Savitzky-Golay Smoother Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_smoother The Savitzky-Golay Smoother is a Smoother Server plugin that will take in an input path and smooth it using a simple and fast smoothing technique based on `Savitzky Golay Filters `_. It uses a digital signal processing technique designed to reduce noise distorting a reference signal, in this case, a path. diff --git a/_sources/configuration/packages/configuring-simple-smoother.rst.txt b/_sources/configuration/packages/configuring-simple-smoother.rst.txt index 0acf6584f..41f926ab9 100644 --- a/_sources/configuration/packages/configuring-simple-smoother.rst.txt +++ b/_sources/configuration/packages/configuring-simple-smoother.rst.txt @@ -5,7 +5,7 @@ Simple Smoother Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_smoother The Simple Smoother is a Smoother Server plugin that will take in an input path and smooth it using a simple and fast smoothing technique. It weights the initial path points and the smoothed path points to create a balanced result where the path retains its high level characteristics but reduces oscillations or jagged features. diff --git a/_sources/configuration/packages/configuring-smac-planner.rst.txt b/_sources/configuration/packages/configuring-smac-planner.rst.txt index 853ebcf77..136d7cb3b 100644 --- a/_sources/configuration/packages/configuring-smac-planner.rst.txt +++ b/_sources/configuration/packages/configuring-smac-planner.rst.txt @@ -5,7 +5,7 @@ Smac Planner Source code and ``README`` with design, explanations, and metrics can be found on Github_. A brief explanation can be found below, but the ``README`` contains the most detailed overview of the framework and planner implementations. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_smac_planner +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_smac_planner The Smac Planner plugin implements three A* based planning algorithms: 2D A*, Hybrid-A*, and State Lattice path planners. It is important to know that in June 2021 and December 2021, the package received a several **major** updates both improving path quality and run-times by 2-3x. diff --git a/_sources/configuration/packages/configuring-smoother-server.rst.txt b/_sources/configuration/packages/configuring-smoother-server.rst.txt index ac7477de1..532dc41a6 100644 --- a/_sources/configuration/packages/configuring-smoother-server.rst.txt +++ b/_sources/configuration/packages/configuring-smoother-server.rst.txt @@ -5,7 +5,7 @@ Smoother Server Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_smoother The Smoother Server implements the server for handling smooth path requests and hosting a vector of plugins implementing various C++ smoothers. The server exposes an action interface for smoothing with multiple smoothers that share resources such as costmaps and TF buffers. diff --git a/_sources/configuration/packages/configuring-thetastar.rst.txt b/_sources/configuration/packages/configuring-thetastar.rst.txt index 1e8405fbe..5bf01797d 100644 --- a/_sources/configuration/packages/configuring-thetastar.rst.txt +++ b/_sources/configuration/packages/configuring-thetastar.rst.txt @@ -5,7 +5,7 @@ Theta Star Planner .. The source code and README with design, explanations, metrics and usage tips can be found on Github_. -.. .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_theta_star_planner +.. .. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_theta_star_planner Theta Star Planner implements the Theta* path planner meant to plan any-angled line-segment focused paths using A*. diff --git a/_sources/configuration/packages/configuring-velocity-smoother.rst.txt b/_sources/configuration/packages/configuring-velocity-smoother.rst.txt index 536613bc2..36a9ab3aa 100644 --- a/_sources/configuration/packages/configuring-velocity-smoother.rst.txt +++ b/_sources/configuration/packages/configuring-velocity-smoother.rst.txt @@ -5,7 +5,7 @@ Velocity Smoother Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_velocity_smoother +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_velocity_smoother The ``nav2_velocity_smoother`` is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers. The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners' control efforts. diff --git a/_sources/configuration/packages/configuring-waypoint-follower.rst.txt b/_sources/configuration/packages/configuring-waypoint-follower.rst.txt index d9a856782..ac113d764 100644 --- a/_sources/configuration/packages/configuring-waypoint-follower.rst.txt +++ b/_sources/configuration/packages/configuring-waypoint-follower.rst.txt @@ -5,7 +5,7 @@ Waypoint Follower Source code on Github_. -.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower +.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower The Waypoint Follower module implements a way of doing waypoint following using the NavigateToPose action server. It will take in a set of ordered waypoints to follow and then try to navigate to them in order. diff --git a/_sources/configuration/packages/costmap-plugins/binary_filter.rst.txt b/_sources/configuration/packages/costmap-plugins/binary_filter.rst.txt index 5deecf3c5..38b36a731 100644 --- a/_sources/configuration/packages/costmap-plugins/binary_filter.rst.txt +++ b/_sources/configuration/packages/costmap-plugins/binary_filter.rst.txt @@ -32,7 +32,7 @@ Filter space value is being calculated as: ``Fv = base + multiplier * mask_value ====== ======= Description - Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. + Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. :````.transform_tolerance: diff --git a/_sources/configuration/packages/costmap-plugins/keepout_filter.rst.txt b/_sources/configuration/packages/costmap-plugins/keepout_filter.rst.txt index 4b95ac0eb..eb6746ec3 100644 --- a/_sources/configuration/packages/costmap-plugins/keepout_filter.rst.txt +++ b/_sources/configuration/packages/costmap-plugins/keepout_filter.rst.txt @@ -29,7 +29,7 @@ Note: As Costmap Filters does not have the inflation layer applied to them (sinc ====== ======= Description - Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. + Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. :````.transform_tolerance: diff --git a/_sources/configuration/packages/costmap-plugins/speed_filter.rst.txt b/_sources/configuration/packages/costmap-plugins/speed_filter.rst.txt index f23978de7..a3b6383ef 100644 --- a/_sources/configuration/packages/costmap-plugins/speed_filter.rst.txt +++ b/_sources/configuration/packages/costmap-plugins/speed_filter.rst.txt @@ -35,7 +35,7 @@ Speed Filter - is a Costmap Filter that restricting maximum velocity of robot. T ====== ======= Description - Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. + Name of the incoming `CostmapFilterInfo `_ topic having filter-related information. Published by Costmap Filter Info Server along with filter mask topic. For more details about Map and Costmap Filter Info servers configuration please refer to the :ref:`configuring_map_server` configuration page. :````.speed_limit_topic: @@ -46,7 +46,7 @@ Speed Filter - is a Costmap Filter that restricting maximum velocity of robot. T ====== ============= Description - Topic to publish speed limit to. The `messages `_ have the following fields' meaning: + Topic to publish speed limit to. The `messages `_ have the following fields' meaning: - ``percentage``: speed limit is expressed in percentage if ``true`` or in absolute values in ``false`` case. This parameter is set depending on ``type`` field of ``CostmapFilterInfo`` message. diff --git a/_sources/development_guides/build_docs/build_troubleshooting_guide.rst.txt b/_sources/development_guides/build_docs/build_troubleshooting_guide.rst.txt index 0e143d3bb..c4f72c914 100644 --- a/_sources/development_guides/build_docs/build_troubleshooting_guide.rst.txt +++ b/_sources/development_guides/build_docs/build_troubleshooting_guide.rst.txt @@ -21,13 +21,13 @@ Common Nav2 Dependencies Build Failures * Make sure you've activated the lifecycle nodes if you're not seeing transforms or servers running. -* Search `GitHub Issues `_ +* Search `GitHub Issues `_ * Make sure you're using the correct branch for your distribution. There is no cross support from branch for ``DistroA`` in ``DistroB``. The main development branch uses the rolling distribution. -Still can't solve it? Let us know about your issue. `Open a ticket `_. +Still can't solve it? Let us know about your issue. `Open a ticket `_. Reporting Issue =============== -- If you run into any issues when building Navigation2, you can use the search tool in the issues tab on `GitHub `_ and always feel free to `open a ticket `_. +- If you run into any issues when building Navigation2, you can use the search tool in the issues tab on `GitHub `_ and always feel free to `open a ticket `_. diff --git a/_sources/development_guides/build_docs/index.rst.txt b/_sources/development_guides/build_docs/index.rst.txt index 39719f4db..2f3859b49 100644 --- a/_sources/development_guides/build_docs/index.rst.txt +++ b/_sources/development_guides/build_docs/index.rst.txt @@ -59,7 +59,7 @@ Once your environment is setup, clone the repo, install all dependencies, and bu source /opt/ros//setup.bash mkdir -p ~/nav2_ws/src && cd ~/nav2_ws - git clone https://github.com/ros-planning/navigation2.git --branch $ROS_DISTRO ./src/navigation2 + git clone https://github.com/ros-navigation/navigation2.git --branch $ROS_DISTRO ./src/navigation2 rosdep install -y \ --from-paths ./src \ --ignore-src @@ -69,7 +69,7 @@ Once your environment is setup, clone the repo, install all dependencies, and bu You can then ``source ~/nav2_ws/install/setup.bash`` to get ready for demonstrations! .. hint:: - For more examples on building Nav2 from released distribution binaries, checkout `distro.Dockerfile `_. + For more examples on building Nav2 from released distribution binaries, checkout `distro.Dockerfile `_. .. rst-class:: content-collapse @@ -90,7 +90,7 @@ Once your environment is setup, clone the repo and build the workspace: source /install/setup.bash mkdir -p ~/nav2_ws/src && cd ~/nav2_ws - git clone https://github.com/ros-planning/navigation2.git --branch main ./src/navigation2 + git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2 rosdep install -r -y \ --from-paths ./src \ --ignore-src @@ -101,7 +101,7 @@ You can then ``source ~/nav2_ws/install/setup.bash`` to get ready for demonstrat to ignore the rosdep error of from the missing ``slam_toolbox`` key. .. hint:: - For more examples on building Nav2 from rolling development source, checkout `source.Dockerfile `_. + For more examples on building Nav2 from rolling development source, checkout `source.Dockerfile `_. .. rst-class:: content-collapse @@ -121,14 +121,14 @@ Once your system is setup, you can build the Nav2 Dockerfile from the root of th .. code:: bash export ROS_DISTRO=rolling - git clone https://github.com/ros-planning/navigation2.git --branch main + git clone https://github.com/ros-navigation/navigation2.git --branch main docker build --tag navigation2:$ROS_DISTRO \ --build-arg FROM_IMAGE=ros:$ROS_DISTRO \ --build-arg OVERLAY_MIXINS="release ccache lld" \ - --cache-from ghcr.io/ros-planning/navigation2:main \ + --cache-from ghcr.io/ros-navigation/navigation2:main \ ./navigation2 -The `docker build `_ command above creates a tagged image using the `Dockerfile` from the context specified using the path to the repo, where build-time variables are set using additional arguments, e.g. passing a set of `colcon mixins `_ to configure the workspace build. Check the ``ARG`` directives in the `Dockerfile` to discover all build-time variables available. The command also specifies an `external cache source `_ to pull the latest cached image from Nav2's `Container Registry `_ to speed up the build process. +The `docker build `_ command above creates a tagged image using the `Dockerfile` from the context specified using the path to the repo, where build-time variables are set using additional arguments, e.g. passing a set of `colcon mixins `_ to configure the workspace build. Check the ``ARG`` directives in the `Dockerfile` to discover all build-time variables available. The command also specifies an `external cache source `_ to pull the latest cached image from Nav2's `Container Registry `_ to speed up the build process. .. tip:: The images cached from above are used for Nav2 CI, but can also be used with Nav2 :ref:`devcontainers`! diff --git a/_sources/migration/Eloquent.rst.txt b/_sources/migration/Eloquent.rst.txt index f22b8085e..f07bf336b 100644 --- a/_sources/migration/Eloquent.rst.txt +++ b/_sources/migration/Eloquent.rst.txt @@ -18,7 +18,7 @@ It also reduces the redundant code in ``nav2_bringup``. The lifecycle manager also now contains ``Bond`` connections to each lifecycle server. This means that if a server crashes or exits, the lifecycle manager will be constantly checking and transition down its lifecycle nodes for safety. -This acts as a watchdog during run-time to complement the lifecycle manager's transitioning up and down from active states. See `this PR for details `_. +This acts as a watchdog during run-time to complement the lifecycle manager's transitioning up and down from active states. See `this PR for details `_. A fix to the BT navigator was added to remove a rare issue where it may crash due to asynchronous issues. As a result, a behavior tree is created for each navigation request rather than resetting an existing tree. @@ -69,7 +69,7 @@ An example: ``controller_server`` defines the parameter ``controller_plugins`` w Each plugin will load the parameters in their namespace, e.g. ``FollowPath.max_vel_x``, rather than globally in the server namespace. This will allow multiple plugins of the same type with different parameters and reduce conflicting parameter names. -DWB Contains new parameters as an update relative to the ROS 1 updates, `see here for more information `_. +DWB Contains new parameters as an update relative to the ROS 1 updates, `see here for more information `_. Additionally, the controller and planner interfaces were updated to include a ``std::string name`` parameter on initialization. This was added to the interfaces to allow the plugins to know the namespace it should load its parameters in. E.g. for a controller to find the parameter ``FollowPath.max_vel_x``, it must be given its name, ``FollowPath`` to get this parameter. @@ -86,16 +86,16 @@ These plugins are set as default in the ``nav2_bt_navigator`` but may be overrid Original GitHub tickets: -- `DistanceController `_ -- `SpeedController `_ -- `GoalUpdatedCondition `_ -- `DistanceTraveledCondition `_ -- `TimeExpiredCondition `_ -- `UpdateGoal `_ -- `TruncatePath `_ -- `IsBatteryLowCondition `_ -- `ProgressChecker `_ -- `GoalChecker `_ +- `DistanceController `_ +- `SpeedController `_ +- `GoalUpdatedCondition `_ +- `DistanceTraveledCondition `_ +- `TimeExpiredCondition `_ +- `UpdateGoal `_ +- `TruncatePath `_ +- `IsBatteryLowCondition `_ +- `ProgressChecker `_ +- `GoalChecker `_ Map Server Re-Work ****************** @@ -110,7 +110,7 @@ Map Server now has new ``map_io`` dynamic library. All functions saving/loading ``map_loader`` was completely removed from ``nav2_util``. All its functionality already present in ``map_io``. Please use it in your code instead. -Please refer to the `original GitHub ticket `_ and `Map Server README `_ for more information. +Please refer to the `original GitHub ticket `_ and `Map Server README `_ for more information. New Particle Filter Messages @@ -122,7 +122,7 @@ New particle filter messages for particle clouds were added to include the parti ``AMCL`` now publishes its particle cloud as a ``nav2_msgs/ParticleCloud`` instead of a ``geometry_msgs/PoseArray``. -`See here for more information. `_ +`See here for more information. `_ Selection of Behavior Tree in each navigation action @@ -130,7 +130,7 @@ Selection of Behavior Tree in each navigation action The ``NavigateToPose`` action allows now to select in the action request the behavior tree to be used by ``bt_navigator`` for carrying out the navigation action through the ``string behavior_tree`` field. This field indicates the absolute path of the xml file that will be used to use to carry out the action. If no file is specified, leaving this field empty, the default behavior tree specified in the ``default_bt_xml_filename parameter`` will be used. -This functionality has been discussed in `the ticket #1780 `_, and carried out in `the pull request #1784 `_. +This functionality has been discussed in `the ticket #1780 `_, and carried out in `the pull request #1784 `_. FollowPoint Capability @@ -138,7 +138,7 @@ FollowPoint Capability A new behavior tree ``followpoint.xml`` has added. This behavior tree makes a robot follow a dynamically generated point, keeping a certain distance from the target. This can be used for moving target following maneuvers. -This functionality has been discussed in `the ticket #1660 `_, and carried out in `the pull request #1859 `_. +This functionality has been discussed in `the ticket #1660 `_, and carried out in `the pull request #1859 `_. New Costmap Layer ***************** diff --git a/_sources/migration/Foxy.rst.txt b/_sources/migration/Foxy.rst.txt index 1fb9302b0..169b822c8 100644 --- a/_sources/migration/Foxy.rst.txt +++ b/_sources/migration/Foxy.rst.txt @@ -61,7 +61,7 @@ In both cases negative values are silently inverted. Nav2 Controllers and Goal Checker Plugin Interface Changes ********************************************************** -As of `this PR 2247 `_, the ``controller`` plugins will now be given a pointer to the current goal checker in use of the navigation task in ``computeAndPublishVelocity()``. This is geared to enabling controllers to have access to predictive checks for goal completion as well as access to the state information of the goal checker plugin. +As of `this PR 2247 `_, the ``controller`` plugins will now be given a pointer to the current goal checker in use of the navigation task in ``computeAndPublishVelocity()``. This is geared to enabling controllers to have access to predictive checks for goal completion as well as access to the state information of the goal checker plugin. The ``goal_checker`` plugins also have the change of including a ``getTolerances()`` method. This method allows a goal checker holder to access the tolerance information of the goal checker to consider at the goal. Each field of the ``pose`` and ``velocity`` represents the maximum allowable error in each dimension for a goal to be considered completed. In the case of a translational tolerance (combined X and Y components), each the X and Y will be populated with the tolerance value because it is the **maximum** tolerance in the dimension (assuming the other has no error). If the goal checker does not contain any tolerances for a dimension, the ``numeric_limits lowest()`` value is utilized in its place. @@ -132,10 +132,10 @@ Loading a plugin of this type is done through ``nav2_bringup/params/nav2_param.y Original GitHub tickets: -- `WaypointTaskExecutor `_ -- `WaitAtWaypoint `_ -- `PhotoAtWaypoint `_ -- `InputAtWaypoint `_ +- `WaypointTaskExecutor `_ +- `WaitAtWaypoint `_ +- `PhotoAtWaypoint `_ +- `InputAtWaypoint `_ Costmap Filters *************** @@ -146,12 +146,12 @@ Architecturally, costmap filters consists from ``CostmapFilter`` class which is - ``KeepoutFilter``: keep-out/safety zones filter plugin. - ``SpeedFilter``: slow/speed-restricted areas filter. -- Preferred lanes in industries. This plugin is covered by ``KeepoutFilter`` (see discussion in `corresponding PR `_ for more details). +- Preferred lanes in industries. This plugin is covered by ``KeepoutFilter`` (see discussion in `corresponding PR `_ for more details). -Each costmap filter subscribes to filter info topic (publishing by `Costmap Filter Info Publisher Server `_) having all necessary information for loaded costmap filter and filter mask topic. -``SpeedFilter`` additionally publishes maximum speed restricting `messages `_ targeted for a Controller to enforce robot won't exceed given limit. +Each costmap filter subscribes to filter info topic (publishing by `Costmap Filter Info Publisher Server `_) having all necessary information for loaded costmap filter and filter mask topic. +``SpeedFilter`` additionally publishes maximum speed restricting `messages `_ targeted for a Controller to enforce robot won't exceed given limit. -High-level design of this concept could be found `here `_. The functionality of costmap filters is being discussed in `the ticket #1263 `_ and carried out by `PR #1882 `_. The following tutorials: :ref:`navigation2_with_keepout_filter` and :ref:`navigation2_with_speed_filter` will help to easily get involved with ``KeepoutFilter`` and ``SpeedFilter`` functionalities. +High-level design of this concept could be found `here `_. The functionality of costmap filters is being discussed in `the ticket #1263 `_ and carried out by `PR #1882 `_. The following tutorials: :ref:`navigation2_with_keepout_filter` and :ref:`navigation2_with_speed_filter` will help to easily get involved with ``KeepoutFilter`` and ``SpeedFilter`` functionalities. SmacPlanner *********** @@ -207,7 +207,7 @@ To follow the SI units outlined in REP-103 to the "T" nodes below were modified Ray Tracing Parameters ********************** -Raytracing functionality was modified to include a minimum range parameter from which ray tracing starts to clear obstacles to avoid incorrectly clearing obstacles too close to the robot. This issue was mentioned in `ROS Answers `_. An existing parameter ``raytrace_range`` was renamed to ``raytrace_max_range`` to reflect the functionality it affects. The renamed parameters and the plugins that they belong to are mentioned below. The changes were introduced in this `pull request `_. +Raytracing functionality was modified to include a minimum range parameter from which ray tracing starts to clear obstacles to avoid incorrectly clearing obstacles too close to the robot. This issue was mentioned in `ROS Answers `_. An existing parameter ``raytrace_range`` was renamed to ``raytrace_max_range`` to reflect the functionality it affects. The renamed parameters and the plugins that they belong to are mentioned below. The changes were introduced in this `pull request `_. - obstacle_layer plugin @@ -239,19 +239,19 @@ Obstacle marking was modified to include a minimum range parameter from which ob Recovery Action Changes *********************** -The recovery actions, ``Spin`` and ``BackUp`` were modified to correctly return ``FAILURE`` if the recovery action is aborted due to a potential collision. Previously, these actions incorrectly always returned ``SUCCESS``. Changes to this resulted in downstream action clients, such as the default behavior tree. The changes were introduced in this `pull request 1855 `_. +The recovery actions, ``Spin`` and ``BackUp`` were modified to correctly return ``FAILURE`` if the recovery action is aborted due to a potential collision. Previously, these actions incorrectly always returned ``SUCCESS``. Changes to this resulted in downstream action clients, such as the default behavior tree. The changes were introduced in this `pull request 1855 `_. Default Behavior Tree Changes ***************************** -The default behavior tree (BT) ``navigate_w_replanning_and_recovery.xml`` has been updated to allow for replanning in between recoveries. The changes were introduced in this `PR 1855 `_. Additionally, an alternative BT ``navigate_w_replanning_and_round_robin_recovery.xml`` was removed due to similarity with the updated default BT. +The default behavior tree (BT) ``navigate_w_replanning_and_recovery.xml`` has been updated to allow for replanning in between recoveries. The changes were introduced in this `PR 1855 `_. Additionally, an alternative BT ``navigate_w_replanning_and_round_robin_recovery.xml`` was removed due to similarity with the updated default BT. NavFn Planner Parameters ************************ -The NavFn Planner has now its 3 parameters reconfigurable at runtime (``tolerance``, ``use_astar`` and ``allow_unknown``). The changes were introduced in this `pull request 2181 `_. +The NavFn Planner has now its 3 parameters reconfigurable at runtime (``tolerance``, ``use_astar`` and ``allow_unknown``). The changes were introduced in this `pull request 2181 `_. New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes ***************************************************************** -The ClearEntireCostmap action node was already implemented but the ClearCostmapExceptRegion and ClearCostmapAroundRobot BT nodes calling the sister services ``(local_or_global)_costmap/clear_except_(local_or_global)_costmap`` and ``clear_around_(local_or_global)_costmap`` of Costmap 2D were missing, they are now implemented in a similar way. They both expose a ``reset_distance`` input port. See :ref:`bt_clear_costmap_except_region_action` and :ref:`bt_clear_entire_costmap_around_robot_action` for more. The changes were introduced in this `pull request 2204 `_. +The ClearEntireCostmap action node was already implemented but the ClearCostmapExceptRegion and ClearCostmapAroundRobot BT nodes calling the sister services ``(local_or_global)_costmap/clear_except_(local_or_global)_costmap`` and ``clear_around_(local_or_global)_costmap`` of Costmap 2D were missing, they are now implemented in a similar way. They both expose a ``reset_distance`` input port. See :ref:`bt_clear_costmap_except_region_action` and :ref:`bt_clear_entire_costmap_around_robot_action` for more. The changes were introduced in this `pull request 2204 `_. New Behavior Tree Nodes *********************** @@ -261,13 +261,13 @@ These plugins are set as default in the ``nav2_bt_navigator`` but may be overrid Original GitHub tickets: -- `SingleTrigger `_ -- `PlannerSelector `_ -- `ControllerSelector `_ -- `GoalCheckerSelector `_ -- `NavigateThroughPoses `_ -- `RemovePassedGoals `_ -- `ComputePathThroughPoses `_ +- `SingleTrigger `_ +- `PlannerSelector `_ +- `ControllerSelector `_ +- `GoalCheckerSelector `_ +- `NavigateThroughPoses `_ +- `RemovePassedGoals `_ +- `ComputePathThroughPoses `_ Additionally, behavior tree nodes were modified to contain their own local executors to spin for actions, topics, services, etc to ensure that each behavior tree node is independent of each other (e.g. spinning in one BT node doesn't trigger a callback in another). @@ -279,25 +279,25 @@ Due to deprecation of `sensor_msgs/PointCloud `_. +These changes were introduced in `pull request 2263 `_. ControllerServer New Parameter failure_tolerance ************************************************ A new parameter :code:`failure_tolerance` was added to the Controller Server for tolerating controller plugin exceptions without failing immediately. It is analogous to ``controller_patience`` in ROS(1) Nav. See :ref:`configuring_controller_server` for description. -This change was introduced in this `pull request 2264 `_. +This change was introduced in this `pull request 2264 `_. Removed BT XML Launch Configurations ************************************ The launch python configurations for CLI setting of the behavior tree XML file has been removed. Instead, you should use the yaml files to set this value. If you, however, have a ``path`` to the yaml file that is inconsistent in a larger deployment, you can use the ``RewrittenYaml`` tool in your parent launch file to remap the default XML paths utilizing the ``get_shared_package_path()`` directory finder (or as you were before in python3). The use of map subscription QoS launch configuration was also removed, use parameter file. -This change was introduced in this `pull request 2295 `_. +This change was introduced in this `pull request 2295 `_. Nav2 RViz Panel Action Feedback Information ******************************************* The Nav2 RViz Panel now displays the action feedback published by ``nav2_msgs/NavigateToPose`` and ``nav2_msgs/NavigateThroughPoses`` actions. Users can find information like the estimated time of arrival, distance remaining to goal, time elapsed since navigation started, and number of recoveries performed during a navigation action directly through the RViz panel. -This feature was introduced in this `pull request 2338 `_. +This feature was introduced in this `pull request 2338 `_. .. image:: /images/rviz/panel-feedback.gif :width: 600px diff --git a/_sources/migration/Galactic.rst.txt b/_sources/migration/Galactic.rst.txt index a25b623ed..71e1021d2 100644 --- a/_sources/migration/Galactic.rst.txt +++ b/_sources/migration/Galactic.rst.txt @@ -48,7 +48,7 @@ Further, the traversal cost and heuristic cost computations were updated **requi Simple (Python) Commander ************************* -`This PR 2411 `_ introduces a new package to Nav2, called the ``nav2_simple_commander``. It is a set of functions in an object, ``BasicNavigator``, which can be used to build Nav2-powered autonomy tasks in Python3 without concerning yourself with the Nav2, ROS 2, or Action server details. It contains a simple API taking common types (primarily ``PoseStamped``) and handles all of the implementation details behind the hood. For example, this is a simple navigation task using this API: +`This PR 2411 `_ introduces a new package to Nav2, called the ``nav2_simple_commander``. It is a set of functions in an object, ``BasicNavigator``, which can be used to build Nav2-powered autonomy tasks in Python3 without concerning yourself with the Nav2, ROS 2, or Action server details. It contains a simple API taking common types (primarily ``PoseStamped``) and handles all of the implementation details behind the hood. For example, this is a simple navigation task using this API: .. code-block:: python3 @@ -85,7 +85,7 @@ Simple (Python) Commander elif result == TaskResult.FAILED: print('Goal failed!') -`The full API can be found in the README of the package `_. A number of well commented examples and demos can also be found in the package's source code at the link prior. +`The full API can be found in the README of the package `_. A number of well commented examples and demos can also be found in the package's source code at the link prior. Reduce Nodes and Executors @@ -93,33 +93,33 @@ Reduce Nodes and Executors In order for nav2 to make the best use of ROS 2, we need minimize the number of nodes and executors in nav2, which can improve performance. -This functionality has been discussed in `the ticket #816 `_, and carried out in +This functionality has been discussed in `the ticket #816 `_, and carried out in - - Remove ``client_node_`` in ``class WaypointFollower`` : `PR2441 `_ - - Remove ``rclcpp_node_`` in ``class MapSaver`` : `PR2454 `_ - - Remove ``bond_client_node_`` in ``class LifecycleManager`` : `PR2456 `_ - - Remove ``node_`` in ``class LifecycleManagerClient`` : `PR2469 `_ - - Remove ``rclcpp_node_`` in ``class ControllerServer`` : `PR2459 `_, `PR2479 `_ - - Remove ``rclcpp_node_`` in ``class PlannerServer`` : `PR2459 `_, `PR2480 `_ - - Remove ``rclcpp_node_`` in ``class AmclNode`` : `PR2483 `_ - - Remove ``rclcpp_node_`` and ``clinet_node_`` in ``class Costmap2DROS`` : `PR2489 `_ - - Remove ``rclcpp_node_`` in ``class LifecycleNode`` : `PR2993 `_ + - Remove ``client_node_`` in ``class WaypointFollower`` : `PR2441 `_ + - Remove ``rclcpp_node_`` in ``class MapSaver`` : `PR2454 `_ + - Remove ``bond_client_node_`` in ``class LifecycleManager`` : `PR2456 `_ + - Remove ``node_`` in ``class LifecycleManagerClient`` : `PR2469 `_ + - Remove ``rclcpp_node_`` in ``class ControllerServer`` : `PR2459 `_, `PR2479 `_ + - Remove ``rclcpp_node_`` in ``class PlannerServer`` : `PR2459 `_, `PR2480 `_ + - Remove ``rclcpp_node_`` in ``class AmclNode`` : `PR2483 `_ + - Remove ``rclcpp_node_`` and ``clinet_node_`` in ``class Costmap2DROS`` : `PR2489 `_ + - Remove ``rclcpp_node_`` in ``class LifecycleNode`` : `PR2993 `_ some APIs are changed in these PRs: - - `PR2489 `_ removes arguments ``client_node``, ``rclcpp_node`` and adds argument ``callback_group`` in the initialize function of class ``nav2_costmap_2d::Layer``. ``callback_group`` is used to replace ``rclcpp_node``. - - `PR2993 `_ removes argument ``use_rclcpp_node `` in the constructor of class ``nav2_util::LifecycleNode``. + - `PR2489 `_ removes arguments ``client_node``, ``rclcpp_node`` and adds argument ``callback_group`` in the initialize function of class ``nav2_costmap_2d::Layer``. ``callback_group`` is used to replace ``rclcpp_node``. + - `PR2993 `_ removes argument ``use_rclcpp_node `` in the constructor of class ``nav2_util::LifecycleNode``. API Change for nav2_core ************************ -`PR 2976 `_ changes the API for ``nav2_core::Controller`` and ``nav2_core::Smoother`` by replacing the use of shared pointer references ``(const shared_ptr<> &)`` to shared pointers ``(shared_ptr<>)``. +`PR 2976 `_ changes the API for ``nav2_core::Controller`` and ``nav2_core::Smoother`` by replacing the use of shared pointer references ``(const shared_ptr<> &)`` to shared pointers ``(shared_ptr<>)``. Use of shared pointer references meant that the shared pointer counter was never incremented. Extending the BtServiceNode to process Service-Results ****************************************************** -`This PR 2481 `_ and `PR 2992 `_ address `the ticket `_ and `this ticket `_ and adds a virtual ``on_completion()`` function to the ``BtServiceNode`` class (`can be found here `_). +`This PR 2481 `_ and `PR 2992 `_ address `the ticket `_ and `this ticket `_ and adds a virtual ``on_completion()`` function to the ``BtServiceNode`` class (`can be found here `_). Similar to the already existing virtual ``on_wait_for_result()`` function, it can be overwritten in the child class to react to a respective event with some user-defined operation. The added ``on_completion()`` function will be called after the service interaction of the ``BtServiceNode`` has been successfully completed. @@ -142,7 +142,7 @@ The normal behavior of the ``BtServiceNode`` is not affected by introducing the Including new Rotation Shim Controller Plugin ********************************************* -`This PR 2718 `_ introduces the new ``nav2_rotation_shim_controller``. This controller will check the rough heading difference with respect to the robot and a newly received path. If within a threshold, it will pass the request onto the primary controller to execute. If it is outside of the threshold, this controller will rotate the robot towards that path heading. Once it is within the tolerance, it will then pass off control-execution from this rotation shim controller onto the primary controller plugin. At this point, the robot is still going to be rotating, allowing the current plugin to take control for a smooth hand off into path tracking. +`This PR 2718 `_ introduces the new ``nav2_rotation_shim_controller``. This controller will check the rough heading difference with respect to the robot and a newly received path. If within a threshold, it will pass the request onto the primary controller to execute. If it is outside of the threshold, this controller will rotate the robot towards that path heading. Once it is within the tolerance, it will then pass off control-execution from this rotation shim controller onto the primary controller plugin. At this point, the robot is still going to be rotating, allowing the current plugin to take control for a smooth hand off into path tracking. The Rotation Shim Controller is suitable for: @@ -154,7 +154,7 @@ The Rotation Shim Controller is suitable for: Spawning the robot in Gazebo **************************** -`This PR 2473 `_ deletes the pkg ``nav2_gazebo_spawner`` inside nav2_bringup directory. Instead of ``nav2_gazebo_spawner`` the Node `spawn_entity.py `_ of ``gazebo_ros`` is recommended to spawn the robot in gazebo. +`This PR 2473 `_ deletes the pkg ``nav2_gazebo_spawner`` inside nav2_bringup directory. Instead of ``nav2_gazebo_spawner`` the Node `spawn_entity.py `_ of ``gazebo_ros`` is recommended to spawn the robot in gazebo. Note that * gazebo should be started with both ``libgazebo_ros_init.so`` and ``libgazebo_ros_factory.so`` to work correctly. @@ -169,7 +169,7 @@ Recoveries in Nav2, spin and backup, now have ``time_allowance`` ports in their New parameter ``use_final_approach_orientation`` for the 3 2D planners ********************************************************************** -`Pull request 2488 `_ adds a new parameter ``use_final_approach_orientation`` to the 3 2D planners (Theta*, SmacPlanner2D and NavFn), ``false`` by default. If ``true``, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path. It allows sending the robot to a position (x,y) instead of a pose (x,y,theta) by effectively ignoring the goal orientation. +`Pull request 2488 `_ adds a new parameter ``use_final_approach_orientation`` to the 3 2D planners (Theta*, SmacPlanner2D and NavFn), ``false`` by default. If ``true``, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path. It allows sending the robot to a position (x,y) instead of a pose (x,y,theta) by effectively ignoring the goal orientation. For example, below, for the same goal with an orientaton pointed left of the screen, ``use_final_approach_orientation=false`` (left) and ``use_final_approach_orientation=true`` (right) .. image:: images/use_final_approach_orientation_false.gif @@ -181,27 +181,27 @@ For example, below, for the same goal with an orientaton pointed left of the scr SmacPlanner2D and Theta*: fix goal orientation being ignored ************************************************************ -`This pull request 2488 `_ fixes `the issue `_ of the goal pose orientation being ignored (the end path pose orientation was always set to 0). +`This pull request 2488 `_ fixes `the issue `_ of the goal pose orientation being ignored (the end path pose orientation was always set to 0). SmacPlanner2D, NavFn and Theta*: fix small path corner cases ************************************************************ -`This PR 2488 `_ ensures the planners are not failing when the distance between the start and the goal is small (i.e. when they are on the same costmap cell), and in that case the output path is constructed with a single pose. +`This PR 2488 `_ ensures the planners are not failing when the distance between the start and the goal is small (i.e. when they are on the same costmap cell), and in that case the output path is constructed with a single pose. Change and fix behavior of dynamic parameter change detection ************************************************************* -`This `_ and `this PR `_ modify the method used to catch the changes of dynamic parameters. The motivation was to fix the issue that ``void on_parameter_event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)`` was called for every parameter change of every node leading to unwanted parameter changes if 2 different nodes had the same parameter name. +`This `_ and `this PR `_ modify the method used to catch the changes of dynamic parameters. The motivation was to fix the issue that ``void on_parameter_event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)`` was called for every parameter change of every node leading to unwanted parameter changes if 2 different nodes had the same parameter name. Dynamic Parameters ****************** Newly added dynamic parameters to: -- `This PR 2592 `_ makes most of the Costmap2DROS parameters dynamic -- `This PR 2607 `_ makes most of the Regulated Pure Pursuit parameters dynamic -- `This PR 2665 `_ makes most of the Theta * Planner parameters dynamic -- `This PR 2704 `_ makes Waypoint Follower, Planner Server, and Controller Server's params reconfigurable +- `This PR 2592 `_ makes most of the Costmap2DROS parameters dynamic +- `This PR 2607 `_ makes most of the Regulated Pure Pursuit parameters dynamic +- `This PR 2665 `_ makes most of the Theta * Planner parameters dynamic +- `This PR 2704 `_ makes Waypoint Follower, Planner Server, and Controller Server's params reconfigurable BT Action Nodes Exception Changes @@ -212,7 +212,7 @@ When BT action nodes throw exceptions due to networking or action server failure BT Navigator Groot Multiple Navigators ************************************** -`This PR 2627 `_ creates separate parameters for groot monitoring for the NavToPose and NavThroughPoses navigator types so you can individually track the state of each behavior tree through the ZMQ publisher. This resolves a long-standing problem after we added multiple navigator types to BT Navigator that you could only view the nav to poses BT execution live. BT.CPP and Groot only support one static ZMQ stream at a time, so there is a bit of a quirk where you must locally reset Groot after switching trees in order to view the live stream of the Nav Through Poses BT, if in use. This is a state of the BT.CPP and Groot libraries and not something we can resolve within Nav2. +`This PR 2627 `_ creates separate parameters for groot monitoring for the NavToPose and NavThroughPoses navigator types so you can individually track the state of each behavior tree through the ZMQ publisher. This resolves a long-standing problem after we added multiple navigator types to BT Navigator that you could only view the nav to poses BT execution live. BT.CPP and Groot only support one static ZMQ stream at a time, so there is a bit of a quirk where you must locally reset Groot after switching trees in order to view the live stream of the Nav Through Poses BT, if in use. This is a state of the BT.CPP and Groot libraries and not something we can resolve within Nav2. There is some thought into the future regarding complete deprecation of live BT monitoring using Groot due to this quirk and the almost-certain infux of tickets on the topic. Groot will however always be supported for visualizing behavior tree XML files and modifications, simply not visualizing the BT execution live during robot navigation. @@ -224,23 +224,23 @@ The parameters ``max_linear_accel`` and ``max_linear_decel`` were removed along Added Smoother Task Server ************************** -A new task server was added which loads smoother plugins and executes them to improve quality of an existing planned path. Smoothing action can be called from a behavior tree using SmoothPath action node. `PR 2569 `_ implements and `PR 2875 `_ adds in the first of the plugins using it with a simple smoother. Other smoothers are in development and will be added in the future. +A new task server was added which loads smoother plugins and executes them to improve quality of an existing planned path. Smoothing action can be called from a behavior tree using SmoothPath action node. `PR 2569 `_ implements and `PR 2875 `_ adds in the first of the plugins using it with a simple smoother. Other smoothers are in development and will be added in the future. Removed Use Approach Velocity Scaling Param in RPP ************************************************** -The parameter ``use_approach_linear_velocity_scaling`` is removed in favor of always on to help in smooth transitions to the goal. `This PR 2701 `_ implements. +The parameter ``use_approach_linear_velocity_scaling`` is removed in favor of always on to help in smooth transitions to the goal. `This PR 2701 `_ implements. Refactored AMCL motion models as plugins **************************************** -`This PR 2642 `_ creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code. +`This PR 2642 `_ creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code. Dropping Support for Live Groot Monitoring of Nav2 ************************************************** -- https://github.com/ros-planning/navigation2/pull/2696 +- https://github.com/ros-navigation/navigation2/pull/2696 It was a great feature idea but never quite panned out, especially after we introduced multiple navigator types in the BT Navigator server. The issue we run into primarily is that Zero-MQ prevents users from producing multiple logger types in the same process. Since BT nav has multiple servers, the swapping between them for viewing has never had a clean hand off causing folks to file tickets or have nasty logs appear or ZMQ crashes in the background. The BT.CPP client for this doesn't allow us to have a clean shutdown process so we're left with hoping that ZMQ properly handles the situation, which it rarely does. Further, Groot only supports visualizing one type of tree at a time so for applications often switching between navigator types, its not possible to use a single groot client, causing great frustration. @@ -249,16 +249,16 @@ So, what I propose here is to remove live monitoring of the BT from Nav2. **We c Replanning Only if Path is Invalid ********************************** -`This PR 2591 `_ creates two new condition BT node to facilitate replanning only if path becomes invalid rather than constantly replanning. These new nodes were integrated into the default BT. +`This PR 2591 `_ creates two new condition BT node to facilitate replanning only if path becomes invalid rather than constantly replanning. These new nodes were integrated into the default BT. Fix CostmapLayer clearArea invert param logic ********************************************* -`This PR 2772 `_ fixes the invert paramlogic of the CostmapLayer clearArea function. Hence correcting the behavior of the clearAroundRobot and clearExceptRegion services and their corresponding BT actions. +`This PR 2772 `_ fixes the invert paramlogic of the CostmapLayer clearArea function. Hence correcting the behavior of the clearAroundRobot and clearExceptRegion services and their corresponding BT actions. Dynamic Composition ******************* -`This PR 2750 `_ provides a optional bringup based on ROS2 dynamic composition for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. it's used by default, but can be disabled by using the launch argument ``use_composition:=False``. +`This PR 2750 `_ provides a optional bringup based on ROS2 dynamic composition for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. it's used by default, but can be disabled by using the launch argument ``use_composition:=False``. Some experiments to show performance improvement of dynamic composition, and the cpu and memory are captured by ``psutil`` : @@ -273,12 +273,12 @@ The way of dynamic composition consumes lower memory(saves ~70%), and lower cpu BT Cancel Node ************** -`This PR 2787 `_ caters the users with an abstract node to develop cancel behaviors for different servers present in the Nav2 stack such as the controller_server, recovery_server and so on. As a start, this PR also provides the ``CancelControl`` behavior to cancel the goal given to the controller_server. As an addition to the ``CancelControl`` `This PR 2856 `_ provides the users with the option to cancel the recoveries such as the ``backup``, ``spin`` and ``wait``. +`This PR 2787 `_ caters the users with an abstract node to develop cancel behaviors for different servers present in the Nav2 stack such as the controller_server, recovery_server and so on. As a start, this PR also provides the ``CancelControl`` behavior to cancel the goal given to the controller_server. As an addition to the ``CancelControl`` `This PR 2856 `_ provides the users with the option to cancel the recoveries such as the ``backup``, ``spin`` and ``wait``. BT PathLongerOnApproach Node **************************** -In the `PR `_, a new Decorator BT node known as ``PathLongerOnApproach`` has been added to provide with the functionality to check and potentially handle longer path generated due to an obstacle in the given goal proximity. To demonstrate this functionality, a new BT ``navigate_to_pose_w_replanning_goal_patience_and_recovery.xml`` would serve both as an example and ready-to-use BT for a specific application that wishes to optimize their process cycle time. Demo of the developed BT can be seen below, where the robot pauses when close to a goal to see if the dynamic obstacle moves out of the way. Else, it executes the replan: +In the `PR `_, a new Decorator BT node known as ``PathLongerOnApproach`` has been added to provide with the functionality to check and potentially handle longer path generated due to an obstacle in the given goal proximity. To demonstrate this functionality, a new BT ``navigate_to_pose_w_replanning_goal_patience_and_recovery.xml`` would serve both as an example and ready-to-use BT for a specific application that wishes to optimize their process cycle time. Demo of the developed BT can be seen below, where the robot pauses when close to a goal to see if the dynamic obstacle moves out of the way. Else, it executes the replan: Obstacle does not clear at all, with `obstacle_clearance_time` to be 3 seconds: @@ -291,28 +291,28 @@ Obstacle clears and you can see the robot pass through the (could have been idea BT TruncatePathLocal Node ************************* -In the `PR 2753 `_, a new Action BT node named ``TruncatePathLocal`` has been added to extract a bounded-length path section near robot to be used e.g. for collision checking or computationally expensive smoothers +In the `PR 2753 `_, a new Action BT node named ``TruncatePathLocal`` has been added to extract a bounded-length path section near robot to be used e.g. for collision checking or computationally expensive smoothers Constrained Smoother ******************** -In `the PR 2753 `_, a new Smoother named ``nav2_constrained_smoother::ConstrainedSmoother`` has been added to optimize various path criteria such as smoothness or distance from obstacles, maintaining minimum turning radius +In `the PR 2753 `_, a new Smoother named ``nav2_constrained_smoother::ConstrainedSmoother`` has been added to optimize various path criteria such as smoothness or distance from obstacles, maintaining minimum turning radius Replanning at a Constant Rate and if the Path is Invalid ******************************************************** -`This PR 2804 `_ introduces a new behavior tree that navigates to pose with consistent replanning and if the path becomes invalid. +`This PR 2804 `_ introduces a new behavior tree that navigates to pose with consistent replanning and if the path becomes invalid. To facilitate the new behavior tree a new condition node PathExpiringTimer was introduced to trigger replanning at a consistent rate. Euclidean Distance 2D ********************* -`This PR 2865 `_ changes Euclidean distance calculation throughout nav2 to project on to the XY plane (i.e. discard any information related to components in Z). +`This PR 2865 `_ changes Euclidean distance calculation throughout nav2 to project on to the XY plane (i.e. discard any information related to components in Z). This may potentially subtly change the way certain BT nodes, BT Navigators, controller servers, planner servers, and RPP behave if using custom plugins outside the Nav2 ecosystem. Recovery To Behavior ******************** -`This PR 2867 `_ renames the nav2_recoveries to nav2_behaviors. +`This PR 2867 `_ renames the nav2_recoveries to nav2_behaviors. In navigation_launch.py recoveries_server -> behavior_server and nav2_recoveries -> nav2_behaviors. In nav2_params.yaml recovery_plugins -> behavior_plugins and nav2_recoveries -> nav2_behaviors. @@ -320,20 +320,20 @@ In nav2_params.yaml recovery_plugins -> behavior_plugins and nav2_recoveries -> Respawn Support in Launch and Lifecycle Manager *********************************************** -`PR 2752 `_ enables respawn support in Nav2. In the launch files, you may set ``use_respawn`` to ``true`` to enable respawning of servers that crash. This is only available in non-composed systems, since in composed systems, all of the nodes are under a single process and a crash anywhere will bring everything down (including the lifecycle manager itself). Even if the container was set to respawn, it would only respawn the empty container, not with all of the components loaded into it. +`PR 2752 `_ enables respawn support in Nav2. In the launch files, you may set ``use_respawn`` to ``true`` to enable respawning of servers that crash. This is only available in non-composed systems, since in composed systems, all of the nodes are under a single process and a crash anywhere will bring everything down (including the lifecycle manager itself). Even if the container was set to respawn, it would only respawn the empty container, not with all of the components loaded into it. That PR also enables the lifecycle manager to check if a system goes down due to a crash. If so, it allows the manager to check if the server comes back online within a given timeout period. If it does, it will automatically retransition the system back up to active to continue on its task automatically. New Nav2 Velocity Smoother ************************** -`PR 2964 `_ introduces the ``nav2_velocity_smoother`` for smoothing velocity commands from Nav2 to a robot controller by velocity, acceleration, and deadband constraints. See :ref:`configuring_velocity_smoother` for more details. It is not included in the default bringup batteries included from ``nav2_bringup``. +`PR 2964 `_ introduces the ``nav2_velocity_smoother`` for smoothing velocity commands from Nav2 to a robot controller by velocity, acceleration, and deadband constraints. See :ref:`configuring_velocity_smoother` for more details. It is not included in the default bringup batteries included from ``nav2_bringup``. Goal Checker API Changed ************************ -`PR 2965 `_ adds an extra argument in the initialize function of the `nav2_core::GoalChecker` class. +`PR 2965 `_ adds an extra argument in the initialize function of the `nav2_core::GoalChecker` class. The extra argument is a costmap_ros pointer. This is used to check if the goal is in collision, so that we can avoid moving towards the goal and replanning can be initiates using some BT plugin. Added Assisted Teleop ********************* -`PR 2904 `_ adds a new behavior for assisted teleop along with two new BT nodes AssistedTeleop and CancelAssistedTeleop. +`PR 2904 `_ adds a new behavior for assisted teleop along with two new BT nodes AssistedTeleop and CancelAssistedTeleop. diff --git a/_sources/migration/Humble.rst.txt b/_sources/migration/Humble.rst.txt index 550bf9966..a71561db9 100644 --- a/_sources/migration/Humble.rst.txt +++ b/_sources/migration/Humble.rst.txt @@ -8,21 +8,21 @@ Moving from ROS 2 Humble to Iron, a number of stability improvements were added New Behavior-Tree Navigator Plugins *********************************** -New in `PR 3345 `_, the navigator types are exposed to users as plugins that can be replaced or new navigator types added. The default behaviors of navigate to pose and navigate through poses continue to be default behavior but are now customizable with new action interface definitions. These plugins implement the ``nav2_core::BehaviorTreeNavigator`` base class, which must process the action request, feedback, and completion messages. The behavior tree is handled by this base class with as much general logic as possible abstracted away from users to minimize repetition. +New in `PR 3345 `_, the navigator types are exposed to users as plugins that can be replaced or new navigator types added. The default behaviors of navigate to pose and navigate through poses continue to be default behavior but are now customizable with new action interface definitions. These plugins implement the ``nav2_core::BehaviorTreeNavigator`` base class, which must process the action request, feedback, and completion messages. The behavior tree is handled by this base class with as much general logic as possible abstracted away from users to minimize repetition. See :ref:`writing_new_nav2navigator_plugin` for a tutorial about writing new navigator plugins. Added Collision Monitor *********************** -`PR 2982 `_ adds new safety layer operating independently of Nav2 stack which ensures the robot to control the collisions with near obstacles, obtained from different sensors (LaserScan, PointCloud, IR, Sonars, etc...). See :ref:`configuring_collision_monitor` for more details. It is not included in the default bringup batteries included from ``nav2_bringup``. +`PR 2982 `_ adds new safety layer operating independently of Nav2 stack which ensures the robot to control the collisions with near obstacles, obtained from different sensors (LaserScan, PointCloud, IR, Sonars, etc...). See :ref:`configuring_collision_monitor` for more details. It is not included in the default bringup batteries included from ``nav2_bringup``. Removed use_sim_time from yaml ****************************** -`PR #3131 `_ makes it possible to set the use_sim_time parameter from the launch file for multiple nodes instead of individually via the yaml files. If using the Nav2 launch files, you can optionally remove the use_sim_time parameter from your yaml files and set it via a launch argument. +`PR #3131 `_ makes it possible to set the use_sim_time parameter from the launch file for multiple nodes instead of individually via the yaml files. If using the Nav2 launch files, you can optionally remove the use_sim_time parameter from your yaml files and set it via a launch argument. Run-time Speed up of Smac Planner ********************************* -The core data structure of the graph implementation in the Smac Planner framework was swapped out in `PR 3201 `_ to using a specialized unordered map implementation. This speeds up the planner by 10% on trivial requests and reports up to 30% on complex plans that involve numerous rehashings. +The core data structure of the graph implementation in the Smac Planner framework was swapped out in `PR 3201 `_ to using a specialized unordered map implementation. This speeds up the planner by 10% on trivial requests and reports up to 30% on complex plans that involve numerous rehashings. Recursive Refinement of Smac and Simple Smoothers ************************************************* @@ -31,49 +31,49 @@ The number of recursive refinements for the Simple and Smac Planner Smoothers ha Simple Commander Python API *************************** -`PR 3159 `_ and follow-up PRs add in Costmap API in Python3 simple commander to receive ``OccupancyGrid`` messages from Nav2 and be able to work with them natively in Python3, analog to the C++ Costmap API. It also includes a line iterator and collision checking object to perform footprint or other collision checking in Python3. See the Simple Commander API for more details. +`PR 3159 `_ and follow-up PRs add in Costmap API in Python3 simple commander to receive ``OccupancyGrid`` messages from Nav2 and be able to work with them natively in Python3, analog to the C++ Costmap API. It also includes a line iterator and collision checking object to perform footprint or other collision checking in Python3. See the Simple Commander API for more details. Smac Planner Start Pose Included in Path **************************************** -`PR 3168 `_ adds the starting pose to the Smac Planners that was previously excluded during backtracing. +`PR 3168 `_ adds the starting pose to the Smac Planners that was previously excluded during backtracing. Parameterizable Collision Checking in RPP ***************************************** -`PR 3204 `_ adds makes collision checking for RPP optional (default on). +`PR 3204 `_ adds makes collision checking for RPP optional (default on). Expanded Planner Benchmark Tests ******************************** -`PR 3218 `_ adds launch files and updated scripts for performing objective random planning tests across the planners in Nav2 for benchmarking and metric computation. +`PR 3218 `_ adds launch files and updated scripts for performing objective random planning tests across the planners in Nav2 for benchmarking and metric computation. Smac Planner Path Tolerances **************************** -`PR 3219 `_ adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance aroun the goal pose. +`PR 3219 `_ adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance aroun the goal pose. costmap_2d_node default constructor *********************************** -`PR #3222 `_ changes the constructor used by the standalone costmap node. The new constructor does not set a name and namespace internally so it can be set via the launch file. +`PR #3222 `_ changes the constructor used by the standalone costmap node. The new constructor does not set a name and namespace internally so it can be set via the launch file. Feedback for Navigation Failures ******************************** -`PR #3146 `_ updates the global planners to throw exceptions on planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application. +`PR #3146 `_ updates the global planners to throw exceptions on planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application. The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, or No Valid Path Found. -`PR #3248 `_ updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application. +`PR #3248 `_ updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application. The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, No Valid Path Found and No Waypoints given. -`PR #3227 `_ updates the controllers to throw exceptions on failures. These exceptions get reported back to the controller server which in turn places a error code on the Behavior Tree Navigatior's blackboard for use in contextual error handling in the autonomy application. +`PR #3227 `_ updates the controllers to throw exceptions on failures. These exceptions get reported back to the controller server which in turn places a error code on the Behavior Tree Navigatior's blackboard for use in contextual error handling in the autonomy application. The following error codes are supported (with more to come as necessary): Unknown, TF Error, Invalid Path, Patience Exceeded, Failed To Make Progress, or No Valid Control. -`PR #3251 `_ pipes the highest priority error code through the bt_navigator and defines the error code structure. +`PR #3251 `_ pipes the highest priority error code through the bt_navigator and defines the error code structure. A new parameter for the the BT Navigator called "error_code_id_names" was added to the nav2_params.yaml to define the error codes to compare. The lowest error in the "error_code_id_names" is then returned in the action request (navigate to pose, navigate through poses waypoint follower), whereas the code enums increase the higher up in the software stack - giving higher priority to lower-level failures. @@ -97,9 +97,9 @@ See :ref:`adding_a_nav2_task_server` and the PR for additional information. Costmap Filters *************** -Costmap Filters now are have an ability to be enabled/disabled in run-time by calling ``toggle_filter`` service for appropriate filter (`PR #3229 `_). +Costmap Filters now are have an ability to be enabled/disabled in run-time by calling ``toggle_filter`` service for appropriate filter (`PR #3229 `_). -Added new binary flip filter, allowing e.g. to turn off camera in sensitive areas, turn on headlights/leds/other safety things or switch operating mode when robot is inside marked on mask areas (`PR #3228 `_). +Added new binary flip filter, allowing e.g. to turn off camera in sensitive areas, turn on headlights/leds/other safety things or switch operating mode when robot is inside marked on mask areas (`PR #3228 `_). Savitzky-Golay Smoother *********************** @@ -108,20 +108,20 @@ Adding a new smoother algorithm, the Savitzky-Golay smoother to the smoother ser Changes to Map yaml file path for map_server node in Launch *********************************************************** -`PR #3174 `_ adds a way to set the path to map yaml file for the map_server node either from the yaml file or using the launch configuration parameter ``map`` giving priority to the launch configuration parameter. ``yaml_filename`` is no longer strictly required to be present in ``nav2_params.yaml``. +`PR #3174 `_ adds a way to set the path to map yaml file for the map_server node either from the yaml file or using the launch configuration parameter ``map`` giving priority to the launch configuration parameter. ``yaml_filename`` is no longer strictly required to be present in ``nav2_params.yaml``. SmootherSelector BT Node ************************ -`PR #3283 `_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`configuring_simple_smoother` for more details. +`PR #3283 `_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`configuring_simple_smoother` for more details. Publish Costmap Layers ********************** -`PR #3320 `_ adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer. +`PR #3320 `_ adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer. Give Behavior Server Access to Both Costmaps ******************************************** -`PR #3255 `_ adds the ability for a behavior to access the local and global costmap. +`PR #3255 `_ adds the ability for a behavior to access the local and global costmap. To update behaviors, any reference to the global_frame must be updated to the local_frame parameter along with the ``configuration`` method which now takes in the local and global collision checkers. @@ -137,7 +137,7 @@ See the README.md and :ref:`configuring_mppic` page for more detail. Behavior Tree Uses Error Codes ****************************** -`PR #3324 `_ adds three new condition nodes to check for error codes on the blackboard set by action BT nodes which contain them. +`PR #3324 `_ adds three new condition nodes to check for error codes on the blackboard set by action BT nodes which contain them. The ``AreErrorCodesPresent`` condition node allows the user to specify the error code from the server along with the error codes to match against. The ``WouldAControllerRecoveryHelp`` checks if the active error code is UNKNOWN, PATIENCE_EXCEEDED, FAILED_TO_MAKE_PROGRESS or NO_VALID_CONTROL. @@ -155,7 +155,7 @@ These error code are potentially able to be cleared by a smoother recovery. Load, Save and Loop Waypoints from the Nav2 Panel in RViz ********************************************************* -`PR #3165 `_ provides three new functionalities for the nav2 panel in RViz, they are: +`PR #3165 `_ provides three new functionalities for the nav2 panel in RViz, they are: - load and save waypoints in a yaml file for waypoint following (initial pose can also be stored if required) - loop functionality to revisit the waypoints @@ -166,48 +166,48 @@ Looping functionality is not specific to the nav2 panel in RViz. Users utilizing DWB Forward vs Reverse Pruning ****************************** -`PR #3374 `_ adds a new ``forward_prune_distance`` parameter in the DWB controller. It replaces the ``prune_distance`` for forward path shortening, enabled through the ``shorten_transformed_plan`` boolean parameter. This change allows to use different values for forward and backward path shortening. +`PR #3374 `_ adds a new ``forward_prune_distance`` parameter in the DWB controller. It replaces the ``prune_distance`` for forward path shortening, enabled through the ``shorten_transformed_plan`` boolean parameter. This change allows to use different values for forward and backward path shortening. More stable regulation on curves for long lookahead distances ************************************************************* -`PR #3414 `_ adds a new ``use_fixed_curvature_lookahead`` parameter to the RPP controller. This makes slowing down on curve not dependent on the instantaneous lookahead point, but instead on a fixed distance set by the parameter ``curvature_lookahead_dist``. +`PR #3414 `_ adds a new ``use_fixed_curvature_lookahead`` parameter to the RPP controller. This makes slowing down on curve not dependent on the instantaneous lookahead point, but instead on a fixed distance set by the parameter ``curvature_lookahead_dist``. Publish Collision Monitor State ******************************* -`PR #3504 `_ adds a new ``state_topic`` parameter to the CollisionMonitor. If specified, this optional parameter enables the state topic publisher. The topic reports the currently activated polygon action type and name. +`PR #3504 `_ adds a new ``state_topic`` parameter to the CollisionMonitor. If specified, this optional parameter enables the state topic publisher. The topic reports the currently activated polygon action type and name. Renamed ROS-parameter in Collision Monitor ****************************************** -`PR #3513 `_ renames ``max_points`` parameter to ``min_points`` and changes its meaning. Formerly ``max_points`` meant the maximum number of points inside the area still not triggering the action, while ``min_points`` - is a minimal number of points starting from the action to be initiated. In other words ``min_points`` now should be adjusted as ``max_points + 1``. +`PR #3513 `_ renames ``max_points`` parameter to ``min_points`` and changes its meaning. Formerly ``max_points`` meant the maximum number of points inside the area still not triggering the action, while ``min_points`` - is a minimal number of points starting from the action to be initiated. In other words ``min_points`` now should be adjusted as ``max_points + 1``. New safety behavior model "limit" in Collision Monitor ****************************************************** -`PR #3519 `_ adds a new collision monitor behavior model ``limit`` that restricts maximum linear and angular speed to specific values (``linear_limit`` and ``angular_limit``) if enough points are in the given shape. +`PR #3519 `_ adds a new collision monitor behavior model ``limit`` that restricts maximum linear and angular speed to specific values (``linear_limit`` and ``angular_limit``) if enough points are in the given shape. Velocity smoother applies deceleration when timeout *************************************************** -`PR #3512 `_ makes the VelocitySmoother apply the deceleration when the input command timeout. +`PR #3512 `_ makes the VelocitySmoother apply the deceleration when the input command timeout. PoseProgressChecker plugin ************************** -`PR #3530 `_ adds a new ``nav2_controller::PoseProgressChecker`` plugin. It builds on the behavior of the ``SimpleProgressChecker`` by adding a new parameter ``required_movement_angle``, allowing the plugin to considers that there is still progress when there is no translation movement, from the moment there is a rotation movement superior to ``required_movement_angle`` within the ``movement_time_allowance``. +`PR #3530 `_ adds a new ``nav2_controller::PoseProgressChecker`` plugin. It builds on the behavior of the ``SimpleProgressChecker`` by adding a new parameter ``required_movement_angle``, allowing the plugin to considers that there is still progress when there is no translation movement, from the moment there is a rotation movement superior to ``required_movement_angle`` within the ``movement_time_allowance``. Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type ****************************************************************************************** -`PR #3555 `_ initializes the progress checker plugin(s) in the same way as for the goal checker and controller plugins: it is now a list of string and was renamed from ``progress_checker_plugin`` to ``progress_checker_plugins``, and the type changed from ``string`` to ``vector``. This allows the initialization of multiple progress checkers that can be chosen from the added ``progress_checker_id field`` of the ``FollowPath`` action. +`PR #3555 `_ initializes the progress checker plugin(s) in the same way as for the goal checker and controller plugins: it is now a list of string and was renamed from ``progress_checker_plugin`` to ``progress_checker_plugins``, and the type changed from ``string`` to ``vector``. This allows the initialization of multiple progress checkers that can be chosen from the added ``progress_checker_id field`` of the ``FollowPath`` action. Beware that it is a breaking change and that configuration files will need to be updated. IsBatteryChargingCondition BT Node ********************************** -`PR #3553 `_ adds a BT node to check if the battery is charging. See the configuration guide :ref:`bt_is_battery_charging_condition` for more details. +`PR #3553 `_ adds a BT node to check if the battery is charging. See the configuration guide :ref:`bt_is_battery_charging_condition` for more details. Behavior Server Error Codes *************************** -`PR #3569 `_ updates the behavior server plugins to provide error codes on failure. +`PR #3569 `_ updates the behavior server plugins to provide error codes on failure. - Spin: NONE: 0, UNKNOWN: 701, server error codes: 701-709 - BackUp: NONE: 0, UNKNOWN: 801, server error codes: 710-719 @@ -216,7 +216,7 @@ Behavior Server Error Codes New Denoise Costmap Layer Plugin ******************************** -`PR #2567 `_ adds the new plugin for filtering noise on the costmap. +`PR #2567 `_ adds the new plugin for filtering noise on the costmap. Due to errors in ``Voxel Layer`` or ``Obstacle Layer`` measurements, salt and pepper noise may appear on the :ref:`costmap `. This noise creates false obstacles that prevent the robot from finding the best path on the map. The new ``Denoise Layer`` plugin is designed to filter out noise-induced standalone obstacles or small obstacles groups. This plugin allows you to add layer that will filter local or global costmap. @@ -224,4 +224,4 @@ More information about ``Denoise Layer`` plugin and how it works could be found SmacPlannerHybrid viz_expansions parameter ****************************************** -`PR #3577 `_ adds a new parameter for visualising SmacPlannerHybrid expansions for debug purpose. +`PR #3577 `_ adds a new parameter for visualising SmacPlannerHybrid expansions for debug purpose. diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt index efec22d43..55c97af34 100644 --- a/_sources/migration/Iron.rst.txt +++ b/_sources/migration/Iron.rst.txt @@ -25,13 +25,13 @@ A new parameter ``enable_stamped_cmd_vel`` has been added to all of the publishe Add VelocityPolygon in Collision Monitor **************************************** -`PR #3708 `_ adds ``VelocityPolgon`` type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot's velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot's velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the :ref:`Configuring Collision Monitor with VelocityPolygon ` section. +`PR #3708 `_ adds ``VelocityPolgon`` type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot's velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot's velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the :ref:`Configuring Collision Monitor with VelocityPolygon ` section. Change polygon points parameter format in Collision Monitor *********************************************************** -`PR #4020 `_ changes the format of the Polygon points parameter from ``vector`` to ``string``. This makes the polygon description more uniform across the Collision Monitor and Costmap_2D. +`PR #4020 `_ changes the format of the Polygon points parameter from ``vector`` to ``string``. This makes the polygon description more uniform across the Collision Monitor and Costmap_2D. Now we can define a polygon's points in string that has a ``vector>`` structure like this ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y],...]"`` with a minimum of 4 points described. An example of a Square polygon will be written as follows. @@ -49,7 +49,7 @@ Now we can define a polygon's points in string that has a ``vector`_ adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary. +`PR #3914 `_ adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary. .. code-block:: text @@ -77,13 +77,13 @@ See :ref:`docking_tutorial` for a tutorial on using this new capability! Thanks Introduce a new Multi-Robot Bringup Launch ****************************************** -`PR #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 separated by namespaces which are given as a Launch Arguments. +`PR #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 separated 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_.yaml`` configuration files. New option for the Voxel and Obstacle Layers ******************************************** -`PR #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 +`PR #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 easily prevent the robot to go through places that are not present in the static map. use_interpolation RPP Parameter Depreciated @@ -127,7 +127,7 @@ New to Jazzy, MPPI is 45% faster due to a weeks long optimization campaign. Enjo Move Error Code Enumerations **************************** -`PR #3693 `_ moves the enumeration codes from the goal to the result section. +`PR #3693 `_ moves the enumeration codes from the goal to the result section. Substitution in parameter file ****************************** @@ -145,7 +145,7 @@ For more information about substitutions syntax, see `here `_ allows behavior servers plugins to access and modify the action result. +`PR #3704 `_ allows behavior servers plugins to access and modify the action result. Smac Planner Debug Param Name Change ************************************ @@ -162,7 +162,7 @@ This PR also introduces additional analytic expansion scoring logic and edge cas Added GPS Waypoint Follower Server ********************************** -`This PR 2814 `_ adds the ``follow_gps_waypoints`` action server in ``nav2_waypoint_follower``. This server accepts a set of GPS goals instead of cartesian goals and provides all the other functionalities available on ``nav2_waypoint_follower``. A new tutorial demonstrating its functionality was also added on `PR 70 on navigation2_tutorials `_ and can be found on the General Tutorials directory on this website. +`This PR 2814 `_ adds the ``follow_gps_waypoints`` action server in ``nav2_waypoint_follower``. This server accepts a set of GPS goals instead of cartesian goals and provides all the other functionalities available on ``nav2_waypoint_follower``. A new tutorial demonstrating its functionality was also added on `PR 70 on navigation2_tutorials `_ and can be found on the General Tutorials directory on this website. Smac Planner Hybrid-A* New Features *********************************** @@ -172,18 +172,18 @@ New features ``allow_primitive_interpolation`` which allows for more primitives New node in nav2_collision_monitor: Collision Detector ****************************************************** -In this `PR #3693 `_ A new node was introduced in the nav2_collision_monitor: Collision Detector. +In this `PR #3693 `_ A new node was introduced in the nav2_collision_monitor: Collision Detector. It works similarly to the Collision Monitor, but does not affect the robot's velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the ``collision_detector_state`` topic that might be used by any external module (e.g. switching LED or sound alarm in case of collision). Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector **************************************************************************** -In this `PR #3825 `_ we added the ability to dynamically enable/disable sources and polygons in the Collision Monitor/Detector. +In this `PR #3825 `_ we added the ability to dynamically enable/disable sources and polygons in the Collision Monitor/Detector. Expose action server's result timeout ************************************* -In this `PR #3787 `_ the timeout for action server's result was exposed in all nodes having action servers. +In this `PR #3787 `_ the timeout for action server's result was exposed in all nodes having action servers. This is because in this `PR #1012 `_ in rcl a change was introduced which makes action servers discard a goal handle if the result is not produced within 10 seconds, when the default was set to 15 minutes before. Since some actions in Nav2 may take more than 10 seconds to complete, the user has now the ability to set this value through the ``action_server_result_timeout`` parameter, which defaults to 15 minutes in the ``bt_navigators`` and ``waypoint_follower`` and to 10 seconds in all other nodes. @@ -192,40 +192,40 @@ RewrittenYaml could add new parameters to YAMLs *********************************************** Now ``RewrittenYaml`` widely used in Nav2 launch-scripts, could do not only substitutions of ROS-parameters existing in original YAML, but rather additions of new parameters, that did not exist in the YAML. Certainly, these parameters should be declared for target ROS-nodes, otherwise they won't be processed in run-time. In such functionality, they should be expressed in absolute values, separated by a dot. For example, the rewrite for a ``prune_distance`` parameter of a ``FollowPath`` node will look like ``'controller_server.ros__parameters.FollowPath.prune_distance': '1.0'`` in a ``param_rewrites`` dictionary of ``RewrittenYaml()`` argument. -The change was intoroduced in the scope of `PR #3785 `_ fix. +The change was intoroduced in the scope of `PR #3785 `_ fix. Simple Commander API Allows Multi-Robot Namespacing *************************************************** -The Simple Navigator API now allows multi-robot namespacing by exposing a ``namespace`` field in the constructor to allow you to specify the Nav2 stacks' namespace for a robot or system. See `this PR for details `_. +The Simple Navigator API now allows multi-robot namespacing by exposing a ``namespace`` field in the constructor to allow you to specify the Nav2 stacks' namespace for a robot or system. See `this PR for details `_. Change duration type in wait_action node **************************************** -In this `PR #3871 `_ the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action. +In this `PR #3871 `_ the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action. The costmap activation fails when required transforms are not available *********************************************************************** -In this `PR #3866 `_ the parameter ``initial_transform_timeout`` is added to the costmap. The activation of the costmap now fails, +In this `PR #3866 `_ the parameter ``initial_transform_timeout`` is added to the costmap. The activation of the costmap now fails, if the transformation from the robot base frame to the global frame does not become available during this timeout. Subtrees Obtain Shared Resources ******************************** -`PR #3911 `_ gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc). +`PR #3911 `_ gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc). Collision Monitor: added watchdog mechanism based on ``source_timeout`` parameter with default blocking behavior **************************************************************************************************************** -`PR #3880 `_ adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the `source_timeout`` parameter, or if impossible to transform data to base frame. ``source_timeout`` parameter can now be set per source: if ``source_timeout`` is not set for a source, the value of the node ``source_timeout`` parameter is used. +`PR #3880 `_ adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the `source_timeout`` parameter, or if impossible to transform data to base frame. ``source_timeout`` parameter can now be set per source: if ``source_timeout`` is not set for a source, the value of the node ``source_timeout`` parameter is used. Additionally, this watchdog mechanism can be disabled by setting ``source_timeout: 0.0``. BtActionServer: use native library haltTree() ********************************************* -`PR #3950 `_ changes the method used by `BehaviorTreeEngine::haltAllActions` to halt the BT nodes to the bt.cpp native method `haltTree()`. +`PR #3950 `_ changes the method used by `BehaviorTreeEngine::haltAllActions` to halt the BT nodes to the bt.cpp native method `haltTree()`. Before this change, only the active BT node was halted when finishing the action. After this change, all BT nodes halt() methods are called. This is very convenient to handle cleaning operation (switch off your lights when leaving) in halt(). @@ -239,7 +239,7 @@ The Global Frame was removed from ``RemovePassedGoals`` and ``GoalReached`` BT n Introduction of ``CostmapUpdate.msg`` ************************************* -`PR #3965 `_ introduces a new type of message - ``CostmapUpdate.msg``. It is the update message related to the ``Costmap.msg``. Now instead of sending the whole costmap in every message, such as with ``Costmap.msg``, the ``CostmapUpdate.msg`` includes only the area of the costmap that has changed since the previous update message. The ``Costmap.msg`` is sent only once at the beginning, followed by the messages of the ``CostmapUpdate.msg`` type. The idea is to mimic the ``OccupancyGrid.msg`` and ``OccupancyGridUpdate.msg`` behavior. +`PR #3965 `_ introduces a new type of message - ``CostmapUpdate.msg``. It is the update message related to the ``Costmap.msg``. Now instead of sending the whole costmap in every message, such as with ``Costmap.msg``, the ``CostmapUpdate.msg`` includes only the area of the costmap that has changed since the previous update message. The ``Costmap.msg`` is sent only once at the beginning, followed by the messages of the ``CostmapUpdate.msg`` type. The idea is to mimic the ``OccupancyGrid.msg`` and ``OccupancyGridUpdate.msg`` behavior. To activate this feature, the Costmap2D ROS parameter ``always_send_full_costmap`` has to be set to ``false``. @@ -253,7 +253,7 @@ The stack no longer contains wall timers or wall rates. It will now use the node New Graceful Motion Controller ****************************** -`PR #4021 `_ introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and comfortable trajectory. +`PR #4021 `_ introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and comfortable trajectory. See :ref:`configuring_graceful_motion_controller` for more information. @@ -265,7 +265,7 @@ New to Jazzy, the ``plugin_lib_names`` parameter implicitly includes all Nav2 BT New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers *************************************************************************************************** -`In PR #4091 `_ a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly. +`In PR #4091 `_ a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly. The primary goal of this plugin is to facilitate the developers and easy integration testing of their configuration before deploying the robot in the intended application. @@ -284,7 +284,7 @@ In this case, the `FollowPath` is the default controller_id. The difference betw RPP new optional ``interpolate_curvature_after_goal`` behavior and fix conflict between ``use_rotate_to_heading`` and ``allow_reversing`` ***************************************************************************************************************************************** -`In PR #4140 `_ a new optional ``interpolate_curvature_after_goal`` parameter (default ``false``) was added that activates the interpolation of a carrot after the goal in order to maintain a constant curvature lookahead distance. This is to avoid instabilities at the end of the path on the generation of the angular speed. The carrot used for the linear speed computation stays the same. +`In PR #4140 `_ a new optional ``interpolate_curvature_after_goal`` parameter (default ``false``) was added that activates the interpolation of a carrot after the goal in order to maintain a constant curvature lookahead distance. This is to avoid instabilities at the end of the path on the generation of the angular speed. The carrot used for the linear speed computation stays the same. Interpolation is based on the orientation of the vector formed by the last 2 poses of the path. Hence paths of length 1 are rejected when ``interpolate_curvature_after_goal`` is ``true``. It can be used only when ``use_fixed_curvature_lookahead: true``. @@ -295,7 +295,7 @@ Additionally, the conflict between ``use_rotate_to_heading`` and ``allow_reversi Cancel Checker Interface For GlobalPlanner ******************************************* -`PR #4148 `_ introduces a new interface for the ``GlobalPlanner`` to allow for the cancellation of the current planning task. +`PR #4148 `_ introduces a new interface for the ``GlobalPlanner`` to allow for the cancellation of the current planning task. Before the planners would continue to plan even if the goal was cancelled, now they can check it and stop planning if the goal is cancelled. New interface for ``GlobalPlanner::createPlan``: @@ -313,19 +313,19 @@ Smac and Theta* planners have a new parameter ``terminal_checking_interval`` whi New BtActionServer/BtNavigator parameter **************************************** -`PR #4209 `_ introduces a new boolean parameter ``always_reload_bt_xml``, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description. +`PR #4209 `_ introduces a new boolean parameter ``always_reload_bt_xml``, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description. New collision monitor parameter ******************************* -`PR #4207 `_ introduces a new boolean parameter ``polygon_subscribe_transient_local`` (value is false by default), which set the QoS durability for polygon topic or footprint topic subscription. +`PR #4207 `_ introduces a new boolean parameter ``polygon_subscribe_transient_local`` (value is false by default), which set the QoS durability for polygon topic or footprint topic subscription. New graceful cancellation API for Controllers ********************************************* -`PR #4136 `_ introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the ``RegulatedPurePursuitController`` by adding a new parameter ``cancel_deceleration``. So when the goal is canceled, a constant deceleration will be used while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits. +`PR #4136 `_ introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the ``RegulatedPurePursuitController`` by adding a new parameter ``cancel_deceleration``. So when the goal is canceled, a constant deceleration will be used while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits. Standardization of Plugin Naming with Double Colons (::) @@ -341,21 +341,21 @@ Standardization of Plugin Naming with Double Colons (::) Collision monitor: dynamic radius for circle type polygons ********************************************************** -`PR #4226 `_ introduces usage of parameter ``.polygon_sub_topic`` for circle type polygons. If parameter ``.radius`` is not set, collision monitor node subscribes to topic ``.polygon_sub_topic`` (subscription type is ``std_msgs/msg/Float32``), and the current circle polygon radius will be updating accordingly to received messages on topic. +`PR #4226 `_ introduces usage of parameter ``.polygon_sub_topic`` for circle type polygons. If parameter ``.radius`` is not set, collision monitor node subscribes to topic ``.polygon_sub_topic`` (subscription type is ``std_msgs/msg/Float32``), and the current circle polygon radius will be updating accordingly to received messages on topic. Static Layer: new parameter ``footprint_clearing_enabled`` ********************************************************** -`PR #4282 `_ introduces usage of parameter ``footprint_clearing_enabled`` for the static layer. It works similarly to the ``footprint_clearing_enabled`` parameter in the obstacle and voxel layer. If set to ``true``, the static layer will clear the costmap cells that are within the robot's footprint. It is ``false`` by default to keep the previous behavior. +`PR #4282 `_ introduces usage of parameter ``footprint_clearing_enabled`` for the static layer. It works similarly to the ``footprint_clearing_enabled`` parameter in the obstacle and voxel layer. If set to ``true``, the static layer will clear the costmap cells that are within the robot's footprint. It is ``false`` by default to keep the previous behavior. Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism) ********************************************************************************************** -`PR #4342 `_ adds the parameter ``bond_heartbeat_period`` to the lifecycle nodes to customize the bond mechanism publishing period (on the ``/bond`` topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0. +`PR #4342 `_ adds the parameter ``bond_heartbeat_period`` to the lifecycle nodes to customize the bond mechanism publishing period (on the ``/bond`` topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0. Rotation Shim Controller: new parameter ``rotate_to_goal_heading`` ****************************************************************** -`PR #4332 `_ introduces usage of parameter ``rotate_to_goal_heading`` for the rotation shim controller. It allows the rotation shim controller to take back control when reaching the XY goal tolerance to perform a clean rotation towards the goal heading. Some controllers will do this internally, but it is a useful option for others. +`PR #4332 `_ introduces usage of parameter ``rotate_to_goal_heading`` for the rotation shim controller. It allows the rotation shim controller to take back control when reaching the XY goal tolerance to perform a clean rotation towards the goal heading. Some controllers will do this internally, but it is a useful option for others. MPPI Controller: Addition of acceleration constraints ****************************************************** diff --git a/_sources/plugin_tutorials/docs/writing_new_behavior_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_behavior_plugin.rst.txt index e4a9c374b..045e381e4 100644 --- a/_sources/plugin_tutorials/docs/writing_new_behavior_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_behavior_plugin.rst.txt @@ -33,7 +33,7 @@ Tutorial Steps We will create a simple send sms behavior. It will use Twilio to send a message via SMS to a remote operations center. -The code in this tutorial can be found in `navigation_tutorials `_ repository as ``nav2_sms_behavior``. +The code in this tutorial can be found in `navigation_tutorials `_ repository as ``nav2_sms_behavior``. This package can be a considered as a reference for writing Behavior Plugin. Our example plugin implements the plugin class of ``nav2_core::Behavior``. diff --git a/_sources/plugin_tutorials/docs/writing_new_bt_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_bt_plugin.rst.txt index 978d9877b..7388d8bd2 100644 --- a/_sources/plugin_tutorials/docs/writing_new_bt_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_bt_plugin.rst.txt @@ -32,7 +32,7 @@ For this example, we're going to analyze the simplest behavior tree action node Beyond this example of an action BT node, you can also create custom decorator, condition, and control nodes. Each node type has a unique role in the behavior tree to perform actions like planning, control the flow of the BT, check the status of a condition, or modify the output of other BT nodes. -The code in this tutorial can be found in `nav2_behavior_tree `_ package as the ``wait_action`` node. +The code in this tutorial can be found in `nav2_behavior_tree `_ package as the ``wait_action`` node. This action node can be considered as a reference for writing other action node plugins. Our example plugin inherits from the base class ``nav2_behavior_tree::BtActionNode``. diff --git a/_sources/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst.txt index d74926636..609e11d01 100644 --- a/_sources/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst.txt @@ -31,7 +31,7 @@ Tutorial Steps ------------------------------- For a demonstration, this example will create a costmap plugin that puts repeating cost gradients in the costmap. -The annotated code for this tutorial can be found in `navigation2_tutorials `_ repository as the ``nav2_gradient_costmap_plugin`` ROS 2-package. +The annotated code for this tutorial can be found in `navigation2_tutorials `_ repository as the ``nav2_gradient_costmap_plugin`` ROS 2-package. Please refer to it when making your own layer plugin for Costmap2D. The plugin class ``nav2_gradient_costmap_plugin::GradientLayer`` is inherited from basic class ``nav2_costmap_2d::Layer``: diff --git a/_sources/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst.txt index 8750f9280..52c7e27b0 100644 --- a/_sources/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst.txt @@ -22,7 +22,7 @@ In this tutorial, we will be implementing the pure pursuit path tracking algorit It is recommended you go through it. Note: This tutorial is based on a previously existing simplified version of the Regulated Pure Pursuit controller now in the Nav2 stack. -You can find the source code matching this tutorial `here `_. +You can find the source code matching this tutorial `here `_. Requirements ============ @@ -38,7 +38,7 @@ Tutorial Steps 1- Create a new Controller Plugin --------------------------------- -We will be implementing the pure pursuit controller. The annotated code in this tutorial can be found in `navigation_tutorials `_ repository +We will be implementing the pure pursuit controller. The annotated code in this tutorial can be found in `navigation_tutorials `_ repository as the ``nav2_pure_pursuit_controller``. This package can be considered as a reference for writing your own controller plugin. Our example plugin class ``nav2_pure_pursuit_controller::PurePursuitController`` inherits from the base class ``nav2_core::Controller``. The base class provides a diff --git a/_sources/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst.txt index ae4d1ada7..9dd5a1762 100644 --- a/_sources/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst.txt @@ -32,7 +32,7 @@ Tutorial Steps -------------------------------- We will create a simple straight-line planner. -The annotated code in this tutorial can be found in `navigation_tutorials `_ repository as the ``nav2_straightline_planner``. +The annotated code in this tutorial can be found in `navigation_tutorials `_ repository as the ``nav2_straightline_planner``. This package can be considered as a reference for writing planner plugin. Our example plugin inherits from the base class ``nav2_core::GlobalPlanner``. The base class provides 5 pure virtual methods to implement a planner plugin. The plugin will be used by the planner server to compute trajectories. diff --git a/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt index 3eaeda37a..29c3a36cf 100644 --- a/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt +++ b/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt @@ -30,7 +30,7 @@ Tutorial Steps 1- Create a new Navigator Plugin -------------------------------- -We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in `Nav2's BT Navigator package `_ as the ``NavigateToPoseNavigator``. This package can be considered as a reference for writing your own plugin. +We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in `Nav2's BT Navigator package `_ as the ``NavigateToPoseNavigator``. This package can be considered as a reference for writing your own plugin. Our example plugin class ``nav2_bt_navigator::NavigateToPoseNavigator`` inherits from the base class ``nav2_core::BehaviorTreeNavigator``. The base class provides a set of virtual methods to implement a navigator plugin. These methods are called at runtime by the BT Navigator server or as a response to ROS 2 actions to process a navigation request. diff --git a/_sources/plugins/index.rst.txt b/_sources/plugins/index.rst.txt index a4cc31669..6940557f6 100644 --- a/_sources/plugins/index.rst.txt +++ b/_sources/plugins/index.rst.txt @@ -27,8 +27,8 @@ Behavior-Tree Navigators | | | (Cartesian or GPS) via a BTs | +----------------------------------+--------------------+-----------------------------------+ -.. _NavigateToPoseNavigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator/src/navigators -.. _NavigateThroughPosesNavigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator/src/navigators +.. _NavigateToPoseNavigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator/src/navigators +.. _NavigateThroughPosesNavigator: https://github.com/ros-navigation/navigation2/tree/main/nav2_bt_navigator/src/navigators .. _CoverageNavigator: https://github.com/open-navigation/opennav_coverage/tree/main/opennav_coverage_navigator @@ -71,11 +71,11 @@ Costmap Layers | | | obstacles groups | +--------------------------------+------------------------+----------------------------------+ -.. _Voxel Layer: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/voxel_layer.cpp -.. _Static Layer: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/static_layer.cpp -.. _Range Layer: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/range_sensor_layer.cpp -.. _Inflation Layer: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/inflation_layer.cpp -.. _Obstacle Layer: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/obstacle_layer.cpp +.. _Voxel Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/voxel_layer.cpp +.. _Static Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/static_layer.cpp +.. _Range Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/range_sensor_layer.cpp +.. _Inflation Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/inflation_layer.cpp +.. _Obstacle Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/obstacle_layer.cpp .. _Spatio-Temporal Voxel Layer: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/ .. _Non-Persistent Voxel Layer: https://github.com/SteveMacenski/nonpersistent_voxel_layer .. _Denoise Layer: https://github.com/ryzhikovas/navigation2/tree/feature-costmap2d-denoise/nav2_costmap_2d/plugins/denoise_layer.cpp @@ -96,52 +96,47 @@ Costmap Filters | | | behavior to trigger actions. | +--------------------+--------------------+-----------------------------------+ -.. _Keepout Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp -.. _Speed Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp -.. _Binary Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp +.. _Keepout Filter: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp +.. _Speed Filter: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp +.. _Binary Filter: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp Controllers =========== -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| Plugin Name | Creator | Description | Drivetrain support | -+================================+=======================+====================================+=======================+ -| `DWB Controller`_ | David Lu!! | A highly configurable DWA | Differential, | -| | | implementation with plugin | Omnidirectional, | -| | | interfaces | Legged | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `TEB Controller`_ | Christoph Rösmann | A MPC-like controller suitable | **Ackermann**, Legged,| -| | | for ackermann, differential, and | Omnidirectional, | -| | | holonomic robots. | Differential | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `Regulated Pure Pursuit`_ | Steve Macenski | A service / industrial robot | **Ackermann**, Legged,| -| | | variation on the pure pursuit | Differential | -| | | algorithm with adaptive features. | | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `MPPI Controller`_ | Steve Macenski | A predictive MPC controller with | Differential, Omni, | -| | Aleksei Budyakov | modular & custom cost functions | **Ackermann** | -| | | that can accomplish many tasks. | | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `Rotation Shim Controller`_ | Steve Macenski | A "shim" controller to rotate | Differential, Omni, | -| | | to path heading before passing | model rotate in place | -| | | to main controller for tracking. | | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential | -| | | pose-following control law to | | -| | | generate smooth trajectories. | | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `Vector Pursuit Controller`_ | Black Coffee Robotics | A controller based on the vector | Differential, | -| | | pursuit algorithm useful for | Ackermann, Legged, | -| | | high speed accurate path tracking. | | -+--------------------------------+-----------------------+------------------------------------+-----------------------+ - -.. _Vector Pursuit Controller: https://github.com/blackcoffeerobotics/vector_pursuit_controller -.. _DWB Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_dwb_controller ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| Plugin Name | Creator | Description | Drivetrain support | ++================================+====================+==================================+=======================+ +| `DWB Controller`_ | David Lu!! | A highly configurable DWA | Differential, | +| | | implementation with plugin | Omnidirectional, | +| | | interfaces | Legged | ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| `TEB Controller`_ | Christoph Rösmann | A MPC-like controller suitable | **Ackermann**, Legged,| +| | | for ackermann, differential, and | Omnidirectional, | +| | | holonomic robots. | Differential | ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| `Regulated Pure Pursuit`_ | Steve Macenski | A service / industrial robot | **Ackermann**, Legged,| +| | | variation on the pure pursuit | Differential | +| | | algorithm with adaptive features.| | ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| `MPPI Controller`_ | Steve Macenski | A predictive MPC controller with | Differential, Omni, | +| | Aleksei Budyakov | modular & custom cost functions | **Ackermann** | +| | | that can accomplish many tasks. | | ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| `Rotation Shim Controller`_ | Steve Macenski | A "shim" controller to rotate | Differential, Omni, | +| | | to path heading before passing | model rotate in place | +| | | to main controller for tracking.| | ++--------------------------------+--------------------+----------------------------------+-----------------------+ +| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential | +| | | pose-following control law to | | +| | | generate smooth trajectories. | | ++--------------------------------+--------------------+----------------------------------+-----------------------+ + +.. _DWB Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_dwb_controller .. _TEB Controller: https://github.com/rst-tu-dortmund/teb_local_planner -.. _Regulated Pure Pursuit: https://github.com/ros-planning/navigation2/tree/main/nav2_regulated_pure_pursuit_controller -.. _Rotation Shim Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_rotation_shim_controller -.. _MPPI Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_mppi_controller -.. _Graceful Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller +.. _Regulated Pure Pursuit: https://github.com/ros-navigation/navigation2/tree/main/nav2_regulated_pure_pursuit_controller +.. _Rotation Shim Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_rotation_shim_controller +.. _MPPI Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_mppi_controller +.. _Graceful Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_graceful_controller Planners ======== @@ -186,11 +181,11 @@ Planners | | | 2D holonomic particle | | +---------------------------+---------------------------------------+------------------------------+---------------------+ -.. _NavFn Planner: https://github.com/ros-planning/navigation2/tree/main/nav2_navfn_planner -.. _SmacPlannerHybrid: https://github.com/ros-planning/navigation2/tree/main/nav2_smac_planner -.. _SmacPlanner2D: https://github.com/ros-planning/navigation2/tree/main/nav2_smac_planner -.. _ThetaStarPlanner: https://github.com/ros-planning/navigation2/tree/main/nav2_theta_star_planner -.. _SmacPlannerLattice: https://github.com/ros-planning/navigation2/tree/main/nav2_smac_planner +.. _NavFn Planner: https://github.com/ros-navigation/navigation2/tree/main/nav2_navfn_planner +.. _SmacPlannerHybrid: https://github.com/ros-navigation/navigation2/tree/main/nav2_smac_planner +.. _SmacPlanner2D: https://github.com/ros-navigation/navigation2/tree/main/nav2_smac_planner +.. _ThetaStarPlanner: https://github.com/ros-navigation/navigation2/tree/main/nav2_theta_star_planner +.. _SmacPlannerLattice: https://github.com/ros-navigation/navigation2/tree/main/nav2_smac_planner Smoothers @@ -219,9 +214,9 @@ Smoothers | | | path. | +---------------------------+---------------------------------------+------------------------------+ -.. _Simple Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother -.. _Constrained Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_constrained_smoother -.. _Savitzky-Golay Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother +.. _Simple Smoother: https://github.com/ros-navigation/navigation2/tree/main/nav2_smoother +.. _Constrained Smoother: https://github.com/ros-navigation/navigation2/tree/main/nav2_constrained_smoother +.. _Savitzky-Golay Smoother: https://github.com/ros-navigation/navigation2/tree/main/nav2_smoother Behaviors ========= @@ -256,12 +251,12 @@ Behaviors | | | prevent collisions. | +----------------------+------------------------+----------------------------------+ -.. _Back Up: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins -.. _Spin: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins -.. _Wait: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins -.. _Drive On Heading: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins -.. _Clear Costmap: https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/src/clear_costmap_service.cpp -.. _Assisted Teleop: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins +.. _Back Up: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors/plugins +.. _Spin: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors/plugins +.. _Wait: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors/plugins +.. _Drive On Heading: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors/plugins +.. _Clear Costmap: https://github.com/ros-navigation/navigation2/blob/main/nav2_costmap_2d/src/clear_costmap_service.cpp +.. _Assisted Teleop: https://github.com/ros-navigation/navigation2/tree/main/nav2_behaviors/plugins Waypoint Task Executors ======================= @@ -284,9 +279,9 @@ Waypoint Task Executors | | | waypoint. | +---------------------------------+------------------------+----------------------------------+ -.. _WaitAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp -.. _PhotoAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp -.. _InputAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/input_at_waypoint.cpp +.. _WaitAtWaypoint: https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp +.. _PhotoAtWaypoint: https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp +.. _InputAtWaypoint: https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower/plugins/input_at_waypoint.cpp Goal Checkers ============= @@ -305,8 +300,8 @@ Goal Checkers | | | and velocity threshold. | +---------------------------------+------------------------+----------------------------------+ -.. _SimpleGoalChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/simple_goal_checker.cpp -.. _StoppedGoalChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/stopped_goal_checker.cpp +.. _SimpleGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/simple_goal_checker.cpp +.. _StoppedGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/stopped_goal_checker.cpp Progress Checkers ================= @@ -325,8 +320,8 @@ Progress Checkers | | | to make progress towards a goal | +---------------------------------+------------------------+----------------------------------+ -.. _SimpleProgressChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/simple_progress_checker.cpp -.. _PoseProgressChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/pose_progress_checker.cpp +.. _SimpleProgressChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/simple_progress_checker.cpp +.. _PoseProgressChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/pose_progress_checker.cpp Behavior Tree Nodes @@ -425,36 +420,36 @@ Behavior Tree Nodes | `Undock Robot Action`_ | Steve Macenski | Calls undock robot action | +---------------------------------------------+---------------------+------------------------------------------+ -.. _Back Up Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp -.. _Drive On Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp -.. _Assisted Teleop Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp -.. _Clear Entire Costmap Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp -.. _Clear Costmap Except Region Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp -.. _Clear Costmap Around Robot Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp -.. _Compute Path to Pose Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp -.. _Smooth Path Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/smooth_path_action.cpp -.. _Follow Path Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/follow_path_action.cpp -.. _Navigate to Pose Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp -.. _Reinitalize Global Localization Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp -.. _Spin Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/spin_action.cpp -.. _Wait Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/wait_action.cpp -.. _Truncate Path: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/truncate_path_action.cpp -.. _Truncate Path Local: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp -.. _Planner Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/planner_selector_node.cpp -.. _Controller Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_selector_node.cpp -.. _Goal Checker Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp -.. _Smoother Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp -.. _Progress Checker Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp -.. _Navigate Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp -.. _Remove Passed Goals: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp -.. _Remove In Collision Goals: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp -.. _Compute Path Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp -.. _Cancel Control Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp -.. _Cancel BackUp Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp -.. _Cancel Spin Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp -.. _Cancel Wait Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp -.. _Cancel Drive on Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp -.. _Cancel Assisted Teleop Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp +.. _Back Up Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp +.. _Drive On Heading Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp +.. _Assisted Teleop Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp +.. _Clear Entire Costmap Service: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp +.. _Clear Costmap Except Region Service: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp +.. _Clear Costmap Around Robot Service: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp +.. _Compute Path to Pose Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp +.. _Smooth Path Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/smooth_path_action.cpp +.. _Follow Path Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/follow_path_action.cpp +.. _Navigate to Pose Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp +.. _Reinitalize Global Localization Service: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp +.. _Spin Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/spin_action.cpp +.. _Wait Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/wait_action.cpp +.. _Truncate Path: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/truncate_path_action.cpp +.. _Truncate Path Local: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp +.. _Planner Selector: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/planner_selector_node.cpp +.. _Controller Selector: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_selector_node.cpp +.. _Goal Checker Selector: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp +.. _Smoother Selector: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp +.. _Progress Checker Selector: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp +.. _Navigate Through Poses: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp +.. _Remove Passed Goals: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp +.. _Remove In Collision Goals: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp +.. _Compute Path Through Poses: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp +.. _Cancel Control Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp +.. _Cancel BackUp Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp +.. _Cancel Spin Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp +.. _Cancel Wait Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp +.. _Cancel Drive on Heading Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp +.. _Cancel Assisted Teleop Action: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp .. _Cancel Complete Coverage Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp .. _Compute Complete Coverage Path Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/compute_complete_coverage_path.cpp .. _Get Pose From Path Action: https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp @@ -535,22 +530,22 @@ Behavior Tree Nodes | | | is charging. | +------------------------------------+--------------------+------------------------+ -.. _Goal Reached Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp -.. _Goal Updated Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp +.. _Goal Reached Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp +.. _Goal Updated Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp .. _Globally Updated Goal Condition: https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp -.. _Initial Pose received Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp -.. _Is Stuck Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp -.. _Transform Available Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp -.. _Distance Traveled Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp -.. _Time Expired Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp -.. _Is Battery Low Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp +.. _Initial Pose received Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp +.. _Is Stuck Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp +.. _Transform Available Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp +.. _Distance Traveled Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp +.. _Time Expired Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp +.. _Is Battery Low Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp .. _Is Path Valid Condition: https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp -.. _Path Expiring Timer: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp -.. _Are Error Codes Present: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp -.. _Would A Controller Recovery Help: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help.cpp -.. _Would A Planner Recovery Help: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help.cpp -.. _Would A Smoother Recovery Help: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help.cpp -.. _Is Battery Charging Condition: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp +.. _Path Expiring Timer: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp +.. _Are Error Codes Present: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp +.. _Would A Controller Recovery Help: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help.cpp +.. _Would A Planner Recovery Help: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help.cpp +.. _Would A Smoother Recovery Help: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help.cpp +.. _Is Battery Charging Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp +--------------------------+---------------------+----------------------------------+ | Decorator Plugin Name | Creator | Description | @@ -576,12 +571,12 @@ Behavior Tree Nodes | | | on approach to the goal | +--------------------------+---------------------+----------------------------------+ -.. _Rate Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/rate_controller.cpp -.. _Distance Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/distance_controller.cpp -.. _Speed Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/speed_controller.cpp -.. _Goal Updater: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp -.. _Single Trigger: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp -.. _PathLongerOnApproach: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp +.. _Rate Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/rate_controller.cpp +.. _Distance Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/distance_controller.cpp +.. _Speed Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/speed_controller.cpp +.. _Goal Updater: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp +.. _Single Trigger: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp +.. _PathLongerOnApproach: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp +-----------------------+------------------------+----------------------------------+ | Control Plugin Name | Creator | Description | @@ -601,6 +596,6 @@ Behavior Tree Nodes | | | a result and move on to ``i+1`` | +-----------------------+------------------------+----------------------------------+ -.. _Pipeline Sequence: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp -.. _Recovery: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/recovery_node.cpp -.. _Round Robin: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/round_robin_node.cpp +.. _Pipeline Sequence: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp +.. _Recovery: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/control/recovery_node.cpp +.. _Round Robin: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/control/round_robin_node.cpp diff --git a/_sources/roadmap/roadmap.rst.txt b/_sources/roadmap/roadmap.rst.txt index f4a5aec28..bc0205341 100644 --- a/_sources/roadmap/roadmap.rst.txt +++ b/_sources/roadmap/roadmap.rst.txt @@ -85,13 +85,13 @@ Iron Roadmap | | | +--------------------------------+------------------------+ -.. _Smac Planner Improvements: https://github.com/ros-planning/navigation2/issues/3172 -.. _Pluginize Navigators: https://github.com/ros-planning/navigation2/issues/3335 -.. _MPPI Controller: https://github.com/ros-planning/navigation2/pull/3350 -.. _Route Graph Planner: https://github.com/ros-planning/navigation2/issues/2229 -.. _Velocity Smoother: https://github.com/ros-planning/navigation2/pull/2964 -.. _Fuse Migration: https://github.com/ros-planning/navigation2/issues/2598 -.. _Ignition Migration: https://github.com/ros-planning/navigation2/issues/2997 +.. _Smac Planner Improvements: https://github.com/ros-navigation/navigation2/issues/3172 +.. _Pluginize Navigators: https://github.com/ros-navigation/navigation2/issues/3335 +.. _MPPI Controller: https://github.com/ros-navigation/navigation2/pull/3350 +.. _Route Graph Planner: https://github.com/ros-navigation/navigation2/issues/2229 +.. _Velocity Smoother: https://github.com/ros-navigation/navigation2/pull/2964 +.. _Fuse Migration: https://github.com/ros-navigation/navigation2/issues/2598 +.. _Ignition Migration: https://github.com/ros-navigation/navigation2/issues/2997 Humble Roadmap ************** @@ -136,11 +136,11 @@ Humble Roadmap | | | +--------------------------------+------------------------+ -.. _Smac Lattice Planner: https://github.com/ros-planning/navigation2/issues/1710 -.. _Nav2 1 Node Per Server: https://github.com/ros-planning/navigation2/issues/816 -.. _Safety Collision Nodes: https://github.com/ros-planning/navigation2/issues/1899 -.. _Fix Min Range Bug: https://github.com/ros-planning/navigation2/pull/2460 -.. _Complete First Time Guide: https://github.com/ros-planning/navigation2/issues/1589 -.. _Rotation Shim Controller: https://github.com/ros-planning/navigation2/pull/2718 -.. _Move Development from Master to Rolling: https://github.com/ros-planning/navigation2/issues/2337 -.. _Dynamic Composition: https://github.com/ros-planning/navigation2/issues/2147 +.. _Smac Lattice Planner: https://github.com/ros-navigation/navigation2/issues/1710 +.. _Nav2 1 Node Per Server: https://github.com/ros-navigation/navigation2/issues/816 +.. _Safety Collision Nodes: https://github.com/ros-navigation/navigation2/issues/1899 +.. _Fix Min Range Bug: https://github.com/ros-navigation/navigation2/pull/2460 +.. _Complete First Time Guide: https://github.com/ros-navigation/navigation2/issues/1589 +.. _Rotation Shim Controller: https://github.com/ros-navigation/navigation2/pull/2718 +.. _Move Development from Master to Rolling: https://github.com/ros-navigation/navigation2/issues/2337 +.. _Dynamic Composition: https://github.com/ros-navigation/navigation2/issues/2147 diff --git a/_sources/setup_guides/footprint/setup_footprint.rst.txt b/_sources/setup_guides/footprint/setup_footprint.rst.txt index 36dcfa1eb..00d1daa75 100644 --- a/_sources/setup_guides/footprint/setup_footprint.rst.txt +++ b/_sources/setup_guides/footprint/setup_footprint.rst.txt @@ -25,12 +25,12 @@ Configuring the Robot's Footprint ********************************* In this section, we will configure the footprint of ``sam_bot`` such that ``footprint`` (polygon) is used for the local costmap and ``robot_radius`` (circular) is used for the global costmap. We will utilize the default configuration file of Nav2 with a modified footprint parameter for the global and local costmaps. -.. note:: The complete source code for ``sam_bot`` can be found in `navigation2_tutorials `_ repository. +.. note:: The complete source code for ``sam_bot`` can be found in `navigation2_tutorials `_ repository. -Under the ``config`` directory, create a new file named ``nav2_params.yaml``. Next, copy the contents of `config/nav2_params.yaml `_ and paste them into the newly created file. The contents of `config/nav2_params.yaml `_ are copied from the default configuration file of Nav2 but with changes in the ``footprint`` and ``robot_radius`` parameters to match the shape of ``sam_bot``. +Under the ``config`` directory, create a new file named ``nav2_params.yaml``. Next, copy the contents of `config/nav2_params.yaml `_ and paste them into the newly created file. The contents of `config/nav2_params.yaml `_ are copied from the default configuration file of Nav2 but with changes in the ``footprint`` and ``robot_radius`` parameters to match the shape of ``sam_bot``. .. seealso:: - The default configuration file for Nav2 can be found in the official `Navigation2 repository `_. + The default configuration file for Nav2 can be found in the official `Navigation2 repository `_. Below is the code snippet from ``nav2_params.yaml`` defining the local costmap footprint. In this configuration file, the ``footprint`` parameter of the local costmap has already been set with a rectangular-shaped footprint. This box is centered at the ``base_link`` frame of ``sam_bot``. @@ -54,7 +54,7 @@ Build, Run and Verification *************************** We will now confirm that we have properly set up ``sam_bot``'s footprint. -First, we launch `launch/display.launch.py `_ to launch the robot state publisher, spawn ``sam_bot`` in Gazebo, and visualize ``sam_bot`` and its footprint in Rviz. The robot state publisher publishes the ``base_link`` => ``sensors`` transforms defined in ``sam_bot``'s URDF, while Gazebo's differential drive plugin publishes the ``odom`` => ``base_link`` transform. Open a new terminal and execute the lines below. +First, we launch `launch/display.launch.py `_ to launch the robot state publisher, spawn ``sam_bot`` in Gazebo, and visualize ``sam_bot`` and its footprint in Rviz. The robot state publisher publishes the ``base_link`` => ``sensors`` transforms defined in ``sam_bot``'s URDF, while Gazebo's differential drive plugin publishes the ``odom`` => ``base_link`` transform. Open a new terminal and execute the lines below. .. code-block:: shell diff --git a/_sources/setup_guides/odom/setup_odom.rst.txt b/_sources/setup_guides/odom/setup_odom.rst.txt index 2b4d7a007..2f49c54df 100644 --- a/_sources/setup_guides/odom/setup_odom.rst.txt +++ b/_sources/setup_guides/odom/setup_odom.rst.txt @@ -4,7 +4,7 @@ Setting Up Odometry In this guide, we will be looking at how to integrate our robot's odometry system with Nav2. First we will provide a brief introduction on odometry, plus the necessary messages and transforms that need to be published for Nav2 to function correctly. Next, we will show how to setup odometry with two different cases. In the first case, we will show how to setup an odometry system for a robot with already available wheel encoders. In the second case, we will build a demo that simulates a functioning odometry system on ``sam_bot`` (the robot that we built in the previous section) using Gazebo. Afterwards, we will discuss how various sources of odometry can be fused to provide a smoothed odometry using the ``robot_localization`` package. Lastly, we will also show how to publish the ``odom`` => ``base_link`` transform using ``robot_localization``. .. seealso:: - The complete source code in this tutorial can be found in `navigation2_tutorials `_ repository under the ``sam_bot_description`` package. Note that the repository contains the full code after accomplishing all the tutorials in this guide. + The complete source code in this tutorial can be found in `navigation2_tutorials `_ repository under the ``sam_bot_description`` package. Note that the repository contains the full code after accomplishing all the tutorials in this guide. Odometry Introduction ********************* @@ -62,7 +62,7 @@ For other types of sensors such as IMU, VIO, etc, their respective ROS drivers s Simulating an Odometry System using Gazebo ****************************************** -In this section, we will be using Gazebo to simulate the odometry system of ``sam_bot``, the robot that we built in the previous section of this tutorial series. You may go through that guide first or grab the `complete source here `_. +In this section, we will be using Gazebo to simulate the odometry system of ``sam_bot``, the robot that we built in the previous section of this tutorial series. You may go through that guide first or grab the `complete source here `_. .. note:: If you are working on your own physical robot and have already set up your odometry sensors, you may opt to skip this section and head onto the next one where we fuse IMU and odometry messages to provide a smooth ``odom`` => ``base_link`` transformation. @@ -228,7 +228,7 @@ To include this plugin in our URDF, add the following lines after the ```_, to spawn ``sam_bot`` in Gazebo. Since we will be simulating our robot, we can remove the GUI for the joint state publisher by deleting the following lines inside the ``generate_launch_description()``: +We will now edit our launch file, `launch/display.launch.py `_, to spawn ``sam_bot`` in Gazebo. Since we will be simulating our robot, we can remove the GUI for the joint state publisher by deleting the following lines inside the ``generate_launch_description()``: .. code-block:: shell @@ -259,7 +259,7 @@ Remove the condition and parameters. Add arguments to the `joint_state_publisher condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')) # Remove this line ) -Next, open `package.xml `_ and delete the line: +Next, open `package.xml `_ and delete the line: .. code-block:: shell @@ -271,7 +271,7 @@ To launch Gazebo, add the following before the ``joint_state_publisher_node,`` l launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], output='screen'), -We will now add a node that spawns ``sam_bot`` in Gazebo. Open `launch/display.launch.py `_ again and paste the following lines before the ``return launch.LaunchDescription([`` line. +We will now add a node that spawns ``sam_bot`` in Gazebo. Open `launch/display.launch.py `_ again and paste the following lines before the ``return launch.LaunchDescription([`` line. .. code-block:: shell diff --git a/_sources/setup_guides/sensors/setup_sensors.rst.txt b/_sources/setup_guides/sensors/setup_sensors.rst.txt index 25ad203cd..54dd68c66 100644 --- a/_sources/setup_guides/sensors/setup_sensors.rst.txt +++ b/_sources/setup_guides/sensors/setup_sensors.rst.txt @@ -65,7 +65,7 @@ To be able to follow the rest of this section, make sure that you have properly Adding Gazebo Plugins to a URDF =============================== -Let us first add a lidar sensor to ``sam_bot``. Open the URDF file, `src/description/sam_bot_description.urdf `_ and paste the following lines before the ```` tag. +Let us first add a lidar sensor to ``sam_bot``. Open the URDF file, `src/description/sam_bot_description.urdf `_ and paste the following lines before the ```` tag. .. code-block:: xml :lineno-start: 251 @@ -221,9 +221,9 @@ Launch and Build Files To verify that the sensors are set up properly and that they can see objects in our environment, let us launch ``sam_bot`` in a Gazebo world with objects. Let us create a Gazebo world with a single cube and a single sphere that are within the range of ``sam_bot``'s sensors so we can verify if it can see the objects correctly. -To create the world, create a directory named ``world`` at the root of your project and create a file named ``my_world.sdf`` inside the ``world`` folder . Then copy the contents of `world/my_world.sdf `_ and paste them inside ``my_world.sdf``. +To create the world, create a directory named ``world`` at the root of your project and create a file named ``my_world.sdf`` inside the ``world`` folder . Then copy the contents of `world/my_world.sdf `_ and paste them inside ``my_world.sdf``. -Now, let us edit our launch file, `launch/display.launch.py `_, to launch Gazebo with the world we just created. First, add the path of ``my_world.sdf`` by adding the following lines inside the ``generate_launch_description()``: +Now, let us edit our launch file, `launch/display.launch.py `_, to launch Gazebo with the world we just created. First, add the path of ``my_world.sdf`` by adding the following lines inside the ``generate_launch_description()``: .. code-block:: shell @@ -235,7 +235,7 @@ Lastly, add the world path in the ``launch.actions.ExecuteProcess(cmd=['gazebo', launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world_path], output='screen'), -We also have to add the ``world`` directory to our ``CMakeLists.txt`` file. Open `CmakeLists.txt `_ and append the ``world`` directory inside the install(DIRECTORY...), as shown in the snippet below. +We also have to add the ``world`` directory to our ``CMakeLists.txt`` file. Open `CmakeLists.txt `_ and append the ``world`` directory inside the install(DIRECTORY...), as shown in the snippet below. .. code-block:: shell diff --git a/_sources/setup_guides/urdf/setup_urdf.rst.txt b/_sources/setup_guides/urdf/setup_urdf.rst.txt index 9eec74054..882d982e9 100644 --- a/_sources/setup_guides/urdf/setup_urdf.rst.txt +++ b/_sources/setup_guides/urdf/setup_urdf.rst.txt @@ -6,7 +6,7 @@ Setting Up The URDF For this guide, we will be creating the Unified Robot Description Format (URDF) file for a simple differential drive robot to give you hands-on experience on working with URDF. We will also setup the robot state publisher and visualize our model in RVIZ. Lastly, we will be adding some kinematic properties to our robot URDF to prepare it for simulation purposes. These steps are necessary to represent all the sensor, hardware, and robot transforms of your robot for use in navigation. .. seealso:: - The complete source code in this tutorial can be found in `navigation2_tutorials `_ repository under the ``sam_bot_description`` package. Note that the repository contains the full code after accomplishing all the tutorials in this guide. + The complete source code in this tutorial can be found in `navigation2_tutorials `_ repository under the ``sam_bot_description`` package. Note that the repository contains the full code after accomplishing all the tutorials in this guide. URDF and the Robot State Publisher ================================== diff --git a/_sources/tuning/index.rst.txt b/_sources/tuning/index.rst.txt index 5e9495e89..2bdd1adce 100644 --- a/_sources/tuning/index.rst.txt +++ b/_sources/tuning/index.rst.txt @@ -171,4 +171,4 @@ Within ``nav2_bringup``, there is a main entryfile ``tb3_simulation_launch.py``. Other Pages We'd Love To Offer ============================== -If you are willing to chip in, some ideas are in https://github.com/ros-planning/docs.nav2.org/issues/204, but we'd be open to anything you think would be insightful! +If you are willing to chip in, some ideas are in https://github.com/ros-navigation/docs.nav2.org/issues/204, but we'd be open to anything you think would be insightful! diff --git a/_sources/tutorials/docs/adding_a_nav2_task_server.rst.txt b/_sources/tutorials/docs/adding_a_nav2_task_server.rst.txt index 9f8e78e9a..1161215bc 100644 --- a/_sources/tutorials/docs/adding_a_nav2_task_server.rst.txt +++ b/_sources/tutorials/docs/adding_a_nav2_task_server.rst.txt @@ -1,200 +1,200 @@ -.. _adding_a_nav2_task_server: - -Adding a New Nav2 Task Server -############################# - -A nav2 task server consists of server side logic to complete different types of requests, usually called by the autonomy system or through the Behavior Tree Navigator. In this guide, we will discuss the core components needed to add a new task server to Nav2 (ex. Controller, Behavior, Smoother, Planner Servers). Namely, how to set up your new Lifecycle-Component Node for launch and state management and the communication of semantically meaningful error codes (if necessary). - -While this tutorial does not cover how to add the complementary Behavior Tree Node to interact with this new Task Server, that is covered at length in :ref:`writing_new_nbt_plugin` so this Task Server can be invoked in the BTs in BT Navigator. - -If you've created a new Task Server that may have general reuse for the community, consider contacting the maintainers to add it to the Nav2 project! Nav2 gets better by contributions by users like you! - - - -Lifecycle Nodes -*************** - -The Lifecycle node is the first key component of a nav2 task server. Lifecycle nodes were introduced in ROS 2 to systematically manage the bringup and shutdown of the different nodes involved in the robot's operation. The use of Lifecycle nodes ensures that all nodes are successfully instantiated before they begin their execution and Nav2 shuts down all nodes if there is any unresponsive node. - - -Lifecycle nodes contain state machine transitions that enable deterministic behavior in ROS 2 servers. The Lifecycle node transitions in Nav2 are handled by the ``Lifecycle Manager``. The Lifecycle Manager transitions the states of the Lifecycle nodes and provides greater control over the state of a system. - - -The primary states of a Lifecycle node are ``Unconfigured``, ``Inactive``, ``Active``, and ``Finalized``. A Lifecycle node starts in an ``Unconfigured`` state after being instantiated. The Lifecycle Manager transitions a node from ``Unconfigured`` to ``Inactive`` by implementing the ``Configurating`` transition. The ``Configurating`` transition sets up all configuration parameters and prepares any required setup such as memory allocation and the set up of the static publication and subscription topics. A node in the ``Inactive`` state is allowed to reconfigure its parameters and but cannot perform any processing. From the ``Inactive`` state, the Lifecycle Manager implements the ``Activating`` transition state to transition the node from ``Inactive`` to ``Active``, which is the main state. A node in the ``Active`` state is allowed to perform any processing operation. In case a node crashes, the Lifecycle Manager shuts down the system to prevent any critical failures. On shutdown, the necessary cleanup operations are performed and the nodes are transitioned to the ``Finalized`` state via ``Deactivating``, ``CleaningUp``, and ``ShuttingDown`` transition states. - -.. seealso:: - For more information on Lifecycle management, see the article on `Managed Nodes `_. - -You may wish to integrate your own nodes into the Nav2 framework or add new lifecycle nodes to your system. As an example, we will add a new notional lifecycle node ``sensor_driver``, and have it be controlled via the Nav2 Lifecycle Manager to ensure sensor feeds are available before activating navigation. You can do so by adding a ``sensor_driver`` node in your launch file and adding it to the list of nodes to be activated by the ``lifecycle_manager`` before navigation, as shown in the example below. - -.. code-block:: python - - lifecycle_nodes = ['sensor_driver', - 'controller_server', - 'smoother_server', - 'planner_server', - 'behavior_server', - 'bt_navigator', - 'waypoint_follower'] - - ... - - Node( - package='nav2_sensor_driver', - executable='sensor_driver', - name='sensor_driver', - output='screen', - parameters=[configured_params], - remappings=remappings), - - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_navigation', - output='screen', - parameters=[{'autostart': autostart}, - {'node_names': lifecycle_nodes}]), - - -In the snippet above, the nodes to be handled by the Lifecycle Manager are set using the ``node_names`` parameter. The ``node_names`` parameter takes in an ordered list of nodes to bringup through the Lifecycle transition. As shown in the snippet, the ``node_names`` parameter takes in ``lifecycle_nodes`` which contains the list of nodes to be added to the Lifecycle Manager. The Lifecycle Manager implements bringup transitions (``Configuring`` and ``Activating``) to the nodes one-by-one and in order, while the nodes are processed in reverse order for shutdown transitions. Hence, the ``sensor_driver`` is listed first before the other navigation servers so that the sensor data is available before the navigation servers are activated. - - - -Two other parameters of the Lifecycle Manager are ``autostart`` and ``bond_timeout``. Set ``autostart`` to ``true`` if you want to set the transition nodes to the ``Active`` state on startup. Otherwise, you will need to manually trigger Lifecycle Manager to transition up the system. The ``bond_timeout`` sets the waiting time to decide when to transition down all of the nodes if a node is not responding. - -.. note:: - More information on Lifecycle Manager parameters can be found in the `Configuration Guide of Lifecycle Manager `_ - - -Composition -*********** - -Composition is the second key component nav2 task servers that was introduced to reduce the memory and CPU resources by putting multiple nodes in a single process. In Nav2, Composition can be used to compose all Nav2 nodes in a single process instead of launching them separately. This is useful for deployment on embedded systems where developers need to optimize resource usage. - -.. seealso:: - More information on Composition can be found `here `_. - -In the following section, we give an example on how to add a new Nav2 server, which we notionally call the ``route_server``, to our system. - - -We make use of the launch files to compose different servers into a single process. The process is established by the ``ComposableNodeContainer`` container that is populated with composition nodes via ``ComposableNode``. This container can then be launched and used the same as any other Nav2 node. - -1. Add a new ``ComposableNode()`` instance in your launch file pointing to the component container of your choice. - - .. code-block:: python - - container = ComposableNodeContainer( - name='my_container', - namespace='', - package='rclcpp_components', - executable='component_container', - composable_node_descriptions=[ - ComposableNode( - package='nav2_route_server', - plugin='nav2_route_server::RouteServer', - name='nav2_route_server'), - ], - output='screen', - ) - - .. seealso:: - See example in composition demo's `composition_demo.launch.py `_. - -2. Add the package containing the server to your ``package.xml`` file. - - .. code-block:: xml - - nav2_route_server - - -Error codes -*********** - -Your nav2 task server may also wish to return a 'error_code' in its action response (though not required). If there are semantically meaningful and actionable types of failures for your system, this is a systemic way to communicate those failures which may be automatically aggregated into the responses of the navigation system to your application. - -It is important to note that error codes from 0-9999 are reserved for internal nav2 servers with each server offset by 100 while external servers start at 10000 and end at 65535. -The table below shows the current servers along with the expected error code structure. - - - -+---------------------------------------------------+-----------------------+----------------------+ -| Server Name | Reserved | RANGE | -+===================================================+=======================+======================+ -| ... | NONE=0, UNKNOWN=1 | 2-99 | -+---------------------------------------------------+-----------------------+----------------------+ -| `Controller Server`_ | NONE=0, UNKNOWN=100 | 101-199 | -+---------------------------------------------------+-----------------------+----------------------+ -| `Planner Server`_ (compute_path_to_pose) | NONE=0, UNKNOWN=200 | 201-299 | -+---------------------------------------------------+-----------------------+----------------------+ -| `Planner Server`_ (compute_path_through_poses) | NONE=0, UNKNOWN=300 | 301-399 | -+---------------------------------------------------+-----------------------+----------------------+ -| ... | ... | | -+---------------------------------------------------+-----------------------+----------------------+ -| `Smoother Server`_ | NONE=0, UNKNOWN=500 | 501-599 | -+---------------------------------------------------+-----------------------+----------------------+ -| `Waypoint Follower Server`_ | NONE=0, UNKNOWN=600 | 601-699 | -+---------------------------------------------------+-----------------------+----------------------+ -| `Behavior Server`_ | NONE=0 | 701-799 | -+---------------------------------------------------+-----------------------+----------------------+ -| Coverage Server | NONE=0, UNKNOWN=800 | 801-899 | -+---------------------------------------------------+-----------------------+----------------------+ -| ... | ... | | -+---------------------------------------------------+-----------------------+----------------------+ -| Last Nav2 Server | NONE=0, UNKNOWN=9900 | 9901-9999 | -+---------------------------------------------------+-----------------------+----------------------+ -| First External Server | NONE=0, UNKNOWN=10000 | 10001-10099 | -+---------------------------------------------------+-----------------------+----------------------+ -| ... | ... | | -+---------------------------------------------------+-----------------------+----------------------+ - -.. _Controller Server: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/src/controller_server.cpp -.. _Planner Server: https://github.com/ros-planning/navigation2/blob/main/nav2_planner/src/planner_server.cpp -.. _Smoother Server: https://github.com/ros-planning/navigation2/blob/main/nav2_smoother/src/nav2_smoother.cpp -.. _Waypoint Follower Server: https://github.com/ros-planning/navigation2/blob/main/nav2_waypoint_follower/src/waypoint_follower.cpp -.. _Behavior Server: https://github.com/ros-planning/navigation2/blob/main/nav2_behaviors/src/behavior_server.cpp - -Error codes are attached to the response of the action message. An example can be seen below for the route server. Note that by convention we set the error code field within the message definition to ``error_code``. - - - -.. code-block:: bash - - # Error codes - # Note: The expected priority order of the errors should match the message order - uint16 NONE=0 # 0 is reserved for NONE - uint16 UNKNOWN=10000 # first error code in the sequence is reserved for UNKNOWN - - # User Error codes below - int16 INVALID_START=10001 - int16 NO_VALID_ROUTE=10002 - - #goal definition - route_msgs/PoseStamped goal - route_msgs/PoseStamped start - string route_id - --- - #result definition - nav_msgs/Route route - builtin_interfaces/Duration route_time - uint16 error_code - --- - -As stated in the message, the priority order of the errors should match the message order, 0 is reserved for NONE and the first error code in the sequence is reserved for UNKNOWN. -Since the the route server is a external server, the errors codes start at 10000 and go up to 10099. - -In order to propagate your server's error code to the rest of the system it must be added to the nav2_params.yaml file. -The `error_code_id_names` inside of the BT Navigator define what error codes to look for on the blackboard by the server. The lowest error code of the sequence is then returned - whereas the code enums increase the higher up in the software stack - giving higher priority to lower-level failures. - - - -.. code-block:: yaml - - error_code_id_names: - - compute_path_error_code_id - - follow_path_error_code_id - - route_error_code_id - -Conclusion -********** - -In this section of the guide, we have discussed Lifecycle Nodes, Composition and Error Codes which are new and important concepts in ROS 2. We also showed how to implement Lifecycle Nodes, Composition and Error Codes to your newly created nodes/servers with Nav2. These three concepts are helpful to efficiently run your system and therefore are encouraged to be used throughout Nav2. +.. _adding_a_nav2_task_server: + +Adding a New Nav2 Task Server +############################# + +A nav2 task server consists of server side logic to complete different types of requests, usually called by the autonomy system or through the Behavior Tree Navigator. In this guide, we will discuss the core components needed to add a new task server to Nav2 (ex. Controller, Behavior, Smoother, Planner Servers). Namely, how to set up your new Lifecycle-Component Node for launch and state management and the communication of semantically meaningful error codes (if necessary). + +While this tutorial does not cover how to add the complementary Behavior Tree Node to interact with this new Task Server, that is covered at length in :ref:`writing_new_nbt_plugin` so this Task Server can be invoked in the BTs in BT Navigator. + +If you've created a new Task Server that may have general reuse for the community, consider contacting the maintainers to add it to the Nav2 project! Nav2 gets better by contributions by users like you! + + + +Lifecycle Nodes +*************** + +The Lifecycle node is the first key component of a nav2 task server. Lifecycle nodes were introduced in ROS 2 to systematically manage the bringup and shutdown of the different nodes involved in the robot's operation. The use of Lifecycle nodes ensures that all nodes are successfully instantiated before they begin their execution and Nav2 shuts down all nodes if there is any unresponsive node. + + +Lifecycle nodes contain state machine transitions that enable deterministic behavior in ROS 2 servers. The Lifecycle node transitions in Nav2 are handled by the ``Lifecycle Manager``. The Lifecycle Manager transitions the states of the Lifecycle nodes and provides greater control over the state of a system. + + +The primary states of a Lifecycle node are ``Unconfigured``, ``Inactive``, ``Active``, and ``Finalized``. A Lifecycle node starts in an ``Unconfigured`` state after being instantiated. The Lifecycle Manager transitions a node from ``Unconfigured`` to ``Inactive`` by implementing the ``Configurating`` transition. The ``Configurating`` transition sets up all configuration parameters and prepares any required setup such as memory allocation and the set up of the static publication and subscription topics. A node in the ``Inactive`` state is allowed to reconfigure its parameters and but cannot perform any processing. From the ``Inactive`` state, the Lifecycle Manager implements the ``Activating`` transition state to transition the node from ``Inactive`` to ``Active``, which is the main state. A node in the ``Active`` state is allowed to perform any processing operation. In case a node crashes, the Lifecycle Manager shuts down the system to prevent any critical failures. On shutdown, the necessary cleanup operations are performed and the nodes are transitioned to the ``Finalized`` state via ``Deactivating``, ``CleaningUp``, and ``ShuttingDown`` transition states. + +.. seealso:: + For more information on Lifecycle management, see the article on `Managed Nodes `_. + +You may wish to integrate your own nodes into the Nav2 framework or add new lifecycle nodes to your system. As an example, we will add a new notional lifecycle node ``sensor_driver``, and have it be controlled via the Nav2 Lifecycle Manager to ensure sensor feeds are available before activating navigation. You can do so by adding a ``sensor_driver`` node in your launch file and adding it to the list of nodes to be activated by the ``lifecycle_manager`` before navigation, as shown in the example below. + +.. code-block:: python + + lifecycle_nodes = ['sensor_driver', + 'controller_server', + 'smoother_server', + 'planner_server', + 'behavior_server', + 'bt_navigator', + 'waypoint_follower'] + + ... + + Node( + package='nav2_sensor_driver', + executable='sensor_driver', + name='sensor_driver', + output='screen', + parameters=[configured_params], + remappings=remappings), + + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + parameters=[{'autostart': autostart}, + {'node_names': lifecycle_nodes}]), + + +In the snippet above, the nodes to be handled by the Lifecycle Manager are set using the ``node_names`` parameter. The ``node_names`` parameter takes in an ordered list of nodes to bringup through the Lifecycle transition. As shown in the snippet, the ``node_names`` parameter takes in ``lifecycle_nodes`` which contains the list of nodes to be added to the Lifecycle Manager. The Lifecycle Manager implements bringup transitions (``Configuring`` and ``Activating``) to the nodes one-by-one and in order, while the nodes are processed in reverse order for shutdown transitions. Hence, the ``sensor_driver`` is listed first before the other navigation servers so that the sensor data is available before the navigation servers are activated. + + + +Two other parameters of the Lifecycle Manager are ``autostart`` and ``bond_timeout``. Set ``autostart`` to ``true`` if you want to set the transition nodes to the ``Active`` state on startup. Otherwise, you will need to manually trigger Lifecycle Manager to transition up the system. The ``bond_timeout`` sets the waiting time to decide when to transition down all of the nodes if a node is not responding. + +.. note:: + More information on Lifecycle Manager parameters can be found in the `Configuration Guide of Lifecycle Manager `_ + + +Composition +*********** + +Composition is the second key component nav2 task servers that was introduced to reduce the memory and CPU resources by putting multiple nodes in a single process. In Nav2, Composition can be used to compose all Nav2 nodes in a single process instead of launching them separately. This is useful for deployment on embedded systems where developers need to optimize resource usage. + +.. seealso:: + More information on Composition can be found `here `_. + +In the following section, we give an example on how to add a new Nav2 server, which we notionally call the ``route_server``, to our system. + + +We make use of the launch files to compose different servers into a single process. The process is established by the ``ComposableNodeContainer`` container that is populated with composition nodes via ``ComposableNode``. This container can then be launched and used the same as any other Nav2 node. + +1. Add a new ``ComposableNode()`` instance in your launch file pointing to the component container of your choice. + + .. code-block:: python + + container = ComposableNodeContainer( + name='my_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='nav2_route_server', + plugin='nav2_route_server::RouteServer', + name='nav2_route_server'), + ], + output='screen', + ) + + .. seealso:: + See example in composition demo's `composition_demo.launch.py `_. + +2. Add the package containing the server to your ``package.xml`` file. + + .. code-block:: xml + + nav2_route_server + + +Error codes +*********** + +Your nav2 task server may also wish to return a 'error_code' in its action response (though not required). If there are semantically meaningful and actionable types of failures for your system, this is a systemic way to communicate those failures which may be automatically aggregated into the responses of the navigation system to your application. + +It is important to note that error codes from 0-9999 are reserved for internal nav2 servers with each server offset by 100 while external servers start at 10000 and end at 65535. +The table below shows the current servers along with the expected error code structure. + + + ++---------------------------------------------------+-----------------------+----------------------+ +| Server Name | Reserved | RANGE | ++===================================================+=======================+======================+ +| ... | NONE=0, UNKNOWN=1 | 2-99 | ++---------------------------------------------------+-----------------------+----------------------+ +| `Controller Server`_ | NONE=0, UNKNOWN=100 | 101-199 | ++---------------------------------------------------+-----------------------+----------------------+ +| `Planner Server`_ (compute_path_to_pose) | NONE=0, UNKNOWN=200 | 201-299 | ++---------------------------------------------------+-----------------------+----------------------+ +| `Planner Server`_ (compute_path_through_poses) | NONE=0, UNKNOWN=300 | 301-399 | ++---------------------------------------------------+-----------------------+----------------------+ +| ... | ... | | ++---------------------------------------------------+-----------------------+----------------------+ +| `Smoother Server`_ | NONE=0, UNKNOWN=500 | 501-599 | ++---------------------------------------------------+-----------------------+----------------------+ +| `Waypoint Follower Server`_ | NONE=0, UNKNOWN=600 | 601-699 | ++---------------------------------------------------+-----------------------+----------------------+ +| `Behavior Server`_ | NONE=0 | 701-799 | ++---------------------------------------------------+-----------------------+----------------------+ +| Coverage Server | NONE=0, UNKNOWN=800 | 801-899 | ++---------------------------------------------------+-----------------------+----------------------+ +| ... | ... | | ++---------------------------------------------------+-----------------------+----------------------+ +| Last Nav2 Server | NONE=0, UNKNOWN=9900 | 9901-9999 | ++---------------------------------------------------+-----------------------+----------------------+ +| First External Server | NONE=0, UNKNOWN=10000 | 10001-10099 | ++---------------------------------------------------+-----------------------+----------------------+ +| ... | ... | | ++---------------------------------------------------+-----------------------+----------------------+ + +.. _Controller Server: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/src/controller_server.cpp +.. _Planner Server: https://github.com/ros-navigation/navigation2/blob/main/nav2_planner/src/planner_server.cpp +.. _Smoother Server: https://github.com/ros-navigation/navigation2/blob/main/nav2_smoother/src/nav2_smoother.cpp +.. _Waypoint Follower Server: https://github.com/ros-navigation/navigation2/blob/main/nav2_waypoint_follower/src/waypoint_follower.cpp +.. _Behavior Server: https://github.com/ros-navigation/navigation2/blob/main/nav2_behaviors/src/behavior_server.cpp + +Error codes are attached to the response of the action message. An example can be seen below for the route server. Note that by convention we set the error code field within the message definition to ``error_code``. + + + +.. code-block:: bash + + # Error codes + # Note: The expected priority order of the errors should match the message order + uint16 NONE=0 # 0 is reserved for NONE + uint16 UNKNOWN=10000 # first error code in the sequence is reserved for UNKNOWN + + # User Error codes below + int16 INVALID_START=10001 + int16 NO_VALID_ROUTE=10002 + + #goal definition + route_msgs/PoseStamped goal + route_msgs/PoseStamped start + string route_id + --- + #result definition + nav_msgs/Route route + builtin_interfaces/Duration route_time + uint16 error_code + --- + +As stated in the message, the priority order of the errors should match the message order, 0 is reserved for NONE and the first error code in the sequence is reserved for UNKNOWN. +Since the the route server is a external server, the errors codes start at 10000 and go up to 10099. + +In order to propagate your server's error code to the rest of the system it must be added to the nav2_params.yaml file. +The `error_code_id_names` inside of the BT Navigator define what error codes to look for on the blackboard by the server. The lowest error code of the sequence is then returned - whereas the code enums increase the higher up in the software stack - giving higher priority to lower-level failures. + + + +.. code-block:: yaml + + error_code_id_names: + - compute_path_error_code_id + - follow_path_error_code_id + - route_error_code_id + +Conclusion +********** + +In this section of the guide, we have discussed Lifecycle Nodes, Composition and Error Codes which are new and important concepts in ROS 2. We also showed how to implement Lifecycle Nodes, Composition and Error Codes to your newly created nodes/servers with Nav2. These three concepts are helpful to efficiently run your system and therefore are encouraged to be used throughout Nav2. diff --git a/_sources/tutorials/docs/docker_dev.rst.txt b/_sources/tutorials/docs/docker_dev.rst.txt index 99c82d943..2572dceb9 100644 --- a/_sources/tutorials/docs/docker_dev.rst.txt +++ b/_sources/tutorials/docs/docker_dev.rst.txt @@ -436,7 +436,7 @@ Instead, it pulls the dependencies so that when you run this container, you obta WORKDIR /root/nav2_ws RUN mkdir -p ~/nav2_ws/src - RUN git clone https://github.com/ros-planning/navigation2.git --branch main ./src/navigation2 + RUN git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2 RUN rosdep init RUN apt update && apt upgrade -y \ && rosdep update \ @@ -461,7 +461,7 @@ From here, you can go to the :ref:`getting_started` to test it out! # For Rolling or want to build from source a particular branch / fork WORKDIR /root/nav2_ws RUN mkdir -p ~/nav2_ws/src - RUN git clone https://github.com/ros-planning/navigation2.git --branch main ./src/navigation2 + RUN git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2 RUN rosdep init RUN apt update && apt upgrade -y \ && rosdep update \ diff --git a/_sources/tutorials/docs/navigation2_dynamic_point_following.rst.txt b/_sources/tutorials/docs/navigation2_dynamic_point_following.rst.txt index f41a05297..1c8d252b8 100644 --- a/_sources/tutorials/docs/navigation2_dynamic_point_following.rst.txt +++ b/_sources/tutorials/docs/navigation2_dynamic_point_following.rst.txt @@ -126,7 +126,7 @@ To stay at a certain distance from the target, we will use the action node ``Tru Now, you may save this behavior tree and use it in our navigation task. -For reference, this exact behavior tree is `made available `_ to you batteries included in the ``nav2_bt_navigator`` package. +For reference, this exact behavior tree is `made available `_ to you batteries included in the ``nav2_bt_navigator`` package. 1- Setup Rviz clicked point --------------------------- diff --git a/_sources/tutorials/docs/navigation2_with_gps.rst.txt b/_sources/tutorials/docs/navigation2_with_gps.rst.txt index 771de049a..d36036104 100644 --- a/_sources/tutorials/docs/navigation2_with_gps.rst.txt +++ b/_sources/tutorials/docs/navigation2_with_gps.rst.txt @@ -36,7 +36,7 @@ It is assumed ROS2 and Nav2 dependent packages are installed or built locally. A sudo apt install ros-$ROS_DISTRO-mapviz-plugins sudo apt install ros-$ROS_DISTRO-tile-map -The code for this tutorial is hosted on `nav2_gps_waypoint_follower_demo `_. Though we will go through the most important steps of the setup, it's highly recommended that you clone and build the package when setting up your dev environment. +The code for this tutorial is hosted on `nav2_gps_waypoint_follower_demo `_. Though we will go through the most important steps of the setup, it's highly recommended that you clone and build the package when setting up your dev environment. You may also need to install gazebo and turtlebot3 simulation if you have not executed previous tutorials or Nav2 demos. See Nav2's Getting Started page for more information. @@ -91,7 +91,7 @@ Tutorial Steps 0- Setup Gazebo World --------------------- -To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway `_ because its aligned with the real location. A sample world has been setup `here `_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world: +To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway `_ because its aligned with the real location. A sample world has been setup `here `_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world: .. code-block:: xml @@ -107,7 +107,7 @@ To navigate using GPS we first need to create an outdoors Gazebo world with a ro 180 -To get GPS readings from Gazebo we need to create a robot model with a GPS sensor. An updated Turtlebot model with such sensor is provided in the `tutorial repo `_, it outputs ``NavSatFix`` messages on the topic ``/gps/fix``: +To get GPS readings from Gazebo we need to create a robot model with a GPS sensor. An updated Turtlebot model with such sensor is provided in the `tutorial repo `_, it outputs ``NavSatFix`` messages on the topic ``/gps/fix``: .. code-block:: xml @@ -170,7 +170,7 @@ In this tutorial, the GPS sensor on the robot will replace ``amcl`` in providing We will setup one Extended Kalman Filter for local odometry, fusing wheel odometry and IMU data; a second one for global localization, fusing the local cartesian converted GPS coordinates, the wheel odometry and the IMU data; and a navsat_transform node to output cartesian odometry messages from GPS data. This is a common setup on robot_localization when using GPS data and more details around its configuration can be found in `RL's docs `_. -A `configuration file `_ and a `launch file `_ are provided for this purpose. You may take a while before continuing to understand these two files and what they configure. Let's walk through the most relevant setting of each node. +A `configuration file `_ and a `launch file `_ are provided for this purpose. You may take a while before continuing to understand these two files and what they configure. Let's walk through the most relevant setting of each node. Local Odometry ^^^^^^^^^^^^^^ @@ -262,7 +262,7 @@ As a sanity check that everything is working correctly, launch RL's launch file ros2 launch nav2_gps_waypoint_follower_demo dual_ekf_navsat.launch.py -On a different terminal launch mapviz using the pre-built `config file `_ in the repo. `Get a bing maps API key `_ and use it to display satellite pictures. +On a different terminal launch mapviz using the pre-built `config file `_ in the repo. `Get a bing maps API key `_ and use it to display satellite pictures. .. code-block:: bash @@ -342,7 +342,7 @@ There are three main possible setups for the global costmap: origin_x: 25.0 origin_y: 25.0 -We provide a `Nav2 params file `_ with the rolling costmap setup and a `launch file `_ to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot: +We provide a `Nav2 params file `_ with the rolling costmap setup and a `launch file `_ to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot: .. code-block:: bash @@ -359,7 +359,7 @@ The gif below shows what you should see Nav2 navigating the robot autonomously! Now that we have performed our complete system setup, let's leverage Nav2 GPS waypoint follower capabilities to navigate to goals that are expressed directly in GPS coordinates. For this demo we want to build an interactive interface similar to rviz's, that allows us to click over a map to make the robot navigate to the clicked location. For that we will use mapviz's point click publisher on the ``wgs84`` reference frame, which will publish a ``PointStamped`` message with the GPS coordinates of the point clicked over the satellite image. This is a great way to get started in your custom GPS navigation setup! -For this purpose we provide the `interactive_waypoint_follower `_ python node, which subscribes to mapviz's topic and calls the ``/follow_gps_waypoints`` action server with the clicked point as goal using the ``BasicNavigator`` in ``nav2_simple_commander``. To run it source your workspace and with the rest of the system running type: +For this purpose we provide the `interactive_waypoint_follower `_ python node, which subscribes to mapviz's topic and calls the ``/follow_gps_waypoints`` action server with the clicked point as goal using the ``BasicNavigator`` in ``nav2_simple_commander``. To run it source your workspace and with the rest of the system running type: .. code-block:: bash @@ -374,7 +374,7 @@ You can now click on the mapviz map the pose you want the robot to go. The gif b 4- Logged GPS Waypoint Follower & Waypoint Logging --------------------------------------------------- -Finally let's make a robot go through a set of predefined GPS waypoints. We provide a `waypoint logging tool `_ that subscribes to the robot's GPS and IMU and offers a simple GUI to save the robot coordinates and heading on demand to a ``yaml`` file with the format: +Finally let's make a robot go through a set of predefined GPS waypoints. We provide a `waypoint logging tool `_ that subscribes to the robot's GPS and IMU and offers a simple GUI to save the robot coordinates and heading on demand to a ``yaml`` file with the format: .. code-block:: yaml @@ -398,7 +398,7 @@ If you don't provide a path to save your waypoints, they will be saved in your ` :width: 800px :align: center -After that you should get a ``yaml`` file in the location you specified with the format shown above; let's now make the robot follow the logged waypoints. For this purpose we provide the `logged_waypoint_follower `_ node, which takes in the path to the waypoints file as an argument and uses the ``BasicNavigator`` in ``nav2_simple_commander`` to send the logged goals to the ``/follow_gps_waypoints`` action server. If not provided, the node uses the `default waypoints `_ in the ``nav2_gps_waypoint_follower_demo`` package. +After that you should get a ``yaml`` file in the location you specified with the format shown above; let's now make the robot follow the logged waypoints. For this purpose we provide the `logged_waypoint_follower `_ node, which takes in the path to the waypoints file as an argument and uses the ``BasicNavigator`` in ``nav2_simple_commander`` to send the logged goals to the ``/follow_gps_waypoints`` action server. If not provided, the node uses the `default waypoints `_ in the ``nav2_gps_waypoint_follower_demo`` package. To run this node source your workspace and with the rest of the system running type: diff --git a/_sources/tutorials/docs/navigation2_with_keepout_filter.rst.txt b/_sources/tutorials/docs/navigation2_with_keepout_filter.rst.txt index 8308128d4..a0e4153f1 100644 --- a/_sources/tutorials/docs/navigation2_with_keepout_filter.rst.txt +++ b/_sources/tutorials/docs/navigation2_with_keepout_filter.rst.txt @@ -33,7 +33,7 @@ Tutorial Steps As was written in :ref:`concepts`, any Costmap Filter (including Keepout Filter) are reading the data marked in a filter mask file. Filter mask - is the usual Nav2 2D-map distributed through PGM, PNG or BMP raster file with its metadata containing in a YAML file. The following steps help to understand how to make a new filter mask: -Create a new image with a PGM/PNG/BMP format: copy `turtlebot3_world.pgm `_ main map which will be used in a world simulation from a ``Nav2`` repository to a new ``keepout_mask.pgm`` file. +Create a new image with a PGM/PNG/BMP format: copy `turtlebot3_world.pgm `_ main map which will be used in a world simulation from a ``Nav2`` repository to a new ``keepout_mask.pgm`` file. Open ``keepout_mask.pgm`` in your favourite raster graphics editor (as an example could be taken GIMP editor). The lightness of each pixel on the mask means an encoded information for the specific costmap filter you are going to use. Color lightness of each pixel belongs to the ``[0..255]`` range (or ``[0..100]`` in percent scale), where ``0`` means black color and ``255`` - white. Another term "darkness" will be understood as the exact opposite of lightness. In other words ``color_darkness = 100% - color_lightness``. @@ -64,7 +64,7 @@ For simplicity, in the example fill the areas with black color (in ``trinary`` m After all keepout areas will be filled save the ``keepout_mask.pgm`` image. -Like all other maps, filter mask should have its own YAML metadata file. Copy `turtlebot3_world.yaml `_ to ``keepout_mask.yaml``. Open ``keepout_mask.yaml`` and correct ``image`` field to a newly made PGM mask: +Like all other maps, filter mask should have its own YAML metadata file. Copy `turtlebot3_world.yaml `_ to ``keepout_mask.yaml``. Open ``keepout_mask.yaml`` and correct ``image`` field to a newly made PGM mask: .. code-block:: text @@ -85,7 +85,7 @@ Since filter mask image was created as a copy of main map, other fields of YAML- 2. Configure Costmap Filter Info Publisher Server ------------------------------------------------- -Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in a messages of ``nav2_msgs/CostmapFilterInfo`` type. These messages are being published by `Costmap Filter Info Publisher Server `_. The server is running as a lifecycle node. According to the `design document `_, ``nav2_msgs/CostmapFilterInfo`` messages are going in a pair with ``OccupancyGrid`` filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter mask. +Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in a messages of ``nav2_msgs/CostmapFilterInfo`` type. These messages are being published by `Costmap Filter Info Publisher Server `_. The server is running as a lifecycle node. According to the `design document `_, ``nav2_msgs/CostmapFilterInfo`` messages are going in a pair with ``OccupancyGrid`` filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter mask. In order to enable Keepout Filter in your configuration, both servers should be enabled as a lifecycle nodes in Python launch-file. It is also possible to add them as Composition Nodes to your Navigation Component Container, which might look as follows: @@ -268,13 +268,13 @@ Note, that: - Filter mask topic name should be the equal for ``mask_topic`` parameter of Costmap Filter Info Publisher Server and ``topic_name`` parameter of Map Server. - According to the Costmap Filters design, ``OccupancyGrid`` values are being linearly transformed into feature map in a filter space. For a Keepout Filter these values are directly passed as a filter space values without a linear conversion. Even though ``base`` and ``multiplier`` coefficients are not used in Keepout Filter, they should be set to ``0.0`` and ``1.0`` accordingly in order to explicitly show that we have one-to-one conversion from ``OccupancyGrid`` values -> to a filter value space. -Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Keepout Filter could be found in a `nav2_costmap_filters_demo `_ directory of ``navigation2_tutorials`` repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at :ref:`getting_started`, build the demo and launch ``costmap_filter_info.launch.py`` as follows: +Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Keepout Filter could be found in a `nav2_costmap_filters_demo `_ directory of ``navigation2_tutorials`` repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at :ref:`getting_started`, build the demo and launch ``costmap_filter_info.launch.py`` as follows: .. code-block:: bash $ mkdir -p ~/tutorials_ws/src $ cd ~/tutorials_ws/src - $ git clone https://github.com/ros-planning/navigation2_tutorials.git + $ git clone https://github.com/ros-navigation/navigation2_tutorials.git $ cd ~/tutorials_ws $ colcon build --symlink-install --packages-select nav2_costmap_filters_demo $ source ~/tutorials_ws/install/setup.bash diff --git a/_sources/tutorials/docs/navigation2_with_speed_filter.rst.txt b/_sources/tutorials/docs/navigation2_with_speed_filter.rst.txt index fc1dc44af..7ca225a05 100644 --- a/_sources/tutorials/docs/navigation2_with_speed_filter.rst.txt +++ b/_sources/tutorials/docs/navigation2_with_speed_filter.rst.txt @@ -72,7 +72,7 @@ We will use ``scale`` map mode with no thresholds. In this mode darker colors wi After all speed restriction areas will be filled, save the ``speed_mask.pgm`` image. -Like all other maps, the filter mask should have its own YAML metadata file. Copy `turtlebot3_world.yaml `_ to ``speed_mask.yaml``. Open ``speed_mask.yaml`` and update the fields as shown below (as mentioned before for the ``scale`` mode to use whole color lightness range there should be no thresholds: ``free_thresh = 0.0`` and ``occupied_thresh = 1.0``): +Like all other maps, the filter mask should have its own YAML metadata file. Copy `turtlebot3_world.yaml `_ to ``speed_mask.yaml``. Open ``speed_mask.yaml`` and update the fields as shown below (as mentioned before for the ``scale`` mode to use whole color lightness range there should be no thresholds: ``free_thresh = 0.0`` and ``occupied_thresh = 1.0``): .. code-block:: yaml @@ -99,7 +99,7 @@ Since Costmap2D does not support orientation, the last third "yaw" component of 2. Configure Costmap Filter Info Publisher Server ------------------------------------------------- -Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in messages of ``nav2_msgs/CostmapFilterInfo`` type. These messages are being published by `Costmap Filter Info Publisher Server `_. The server is running as a lifecycle node. According to the `design document `_, ``nav2_msgs/CostmapFilterInfo`` messages are going in a pair with ``OccupancyGrid`` filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter masks. +Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in messages of ``nav2_msgs/CostmapFilterInfo`` type. These messages are being published by `Costmap Filter Info Publisher Server `_. The server is running as a lifecycle node. According to the `design document `_, ``nav2_msgs/CostmapFilterInfo`` messages are going in a pair with ``OccupancyGrid`` filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter masks. In order to enable Speed Filter in your configuration, both servers should be enabled as lifecycle nodes in Python launch-file. For example, this might look as follows, though adding them as Composition Nodes to your Navigation Component Container is also possible: @@ -235,13 +235,13 @@ Note, that: - Filter mask topic name should be the equal for ``mask_topic`` parameter of Costmap Filter Info Publisher Server and ``topic_name`` parameter of Map Server. - As was described in a previous chapter, ``base`` and ``multiplier`` should be set to ``100.0`` and ``-1.0`` accordingly for the purposes of this tutorial example. -Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Speed Filter could be found in a `nav2_costmap_filters_demo `_ directory of ``navigation2_tutorials`` repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at :ref:`getting_started`, build the demo and launch ``costmap_filter_info.launch.py`` as follows: +Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Speed Filter could be found in a `nav2_costmap_filters_demo `_ directory of ``navigation2_tutorials`` repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at :ref:`getting_started`, build the demo and launch ``costmap_filter_info.launch.py`` as follows: .. code-block:: bash $ mkdir -p ~/tutorials_ws/src $ cd ~/tutorials_ws/src - $ git clone https://github.com/ros-planning/navigation2_tutorials.git + $ git clone https://github.com/ros-navigation/navigation2_tutorials.git $ cd ~/tutorials_ws $ colcon build --symlink-install --packages-select nav2_costmap_filters_demo $ source ~/tutorials_ws/install/setup.bash @@ -277,7 +277,7 @@ In this tutorial, we will enable Speed Filter for the global costmap. For this u filter_info_topic: "/costmap_filter_info" speed_limit_topic: "/speed_limit" -As stated in the `design `_, Speed Filter publishes speed restricting `messages `_ targeted for a Controller Server so that it could restrict maximum speed of the robot when it needed. Controller Server has a ``speed_limit_topic`` ROS parameter for that, which should be set to the same as in ``speed_filter`` plugin value. This topic in the map server could also be used to any number of other speed-restricted applications beyond the speed limiting zones, such as dynamically adjusting maximum speed by payload mass. +As stated in the `design `_, Speed Filter publishes speed restricting `messages `_ targeted for a Controller Server so that it could restrict maximum speed of the robot when it needed. Controller Server has a ``speed_limit_topic`` ROS parameter for that, which should be set to the same as in ``speed_filter`` plugin value. This topic in the map server could also be used to any number of other speed-restricted applications beyond the speed limiting zones, such as dynamically adjusting maximum speed by payload mass. Set ``speed_limit_topic`` parameter of a Controller Server to the same value as it set for ``speed_filter`` plugin: diff --git a/_sources/tutorials/docs/using_groot.rst.txt b/_sources/tutorials/docs/using_groot.rst.txt index 932ed481b..5868067ee 100644 --- a/_sources/tutorials/docs/using_groot.rst.txt +++ b/_sources/tutorials/docs/using_groot.rst.txt @@ -113,7 +113,7 @@ After completing, select `OK` in :numref:`groot_interactive_node_creation`, the Before starting to create a new BT based on the new custom nodes, it is recommend to export the newly created nodes to save in case of Groot crashing. This can be performed with the icon highlighted in green from :numref:`groot_export_new_node`. The resulting XML output from the node created in :numref:`groot_interactive_node_creation` can be seen below. -You can see more examples in `Nav2's BT Node Palette XML `_. +You can see more examples in `Nav2's BT Node Palette XML `_. .. code-block:: xml diff --git a/about/related_projects.html b/about/related_projects.html index 8102dae90..b0bbaa5ee 100644 --- a/about/related_projects.html +++ b/about/related_projects.html @@ -1113,21 +1113,21 @@ -

    Navigation2

    +

    Navigation2

    Steve Macenski

    Main ROS 2 Navigation Stack

    -

    docs.nav2.org

    +

    docs.nav2.org

    Steve Macenski

    Official documentation website source code

    -

    navigation2_tutorials

    +

    navigation2_tutorials

    Steve Macenski

    Source code and examples used in the documentation tutorials

    -

    navigation2_dynamic

    +

    navigation2_dynamic

    Steve Macenski

    Tools, algorithms, and capabilities for working with diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html index 21cbad99c..2b876038d 100644 --- a/behavior_trees/overview/nav2_specific_nodes.html +++ b/behavior_trees/overview/nav2_specific_nodes.html @@ -1111,7 +1111,7 @@

    There are quite a few custom Nav2 BT nodes that are provided to be used in the Nav2 specific fashion. Some commonly used Nav2 nodes will be described below. -The full list of custom BT nodes can be found in the nav2_behavior_tree plugins folder. +The full list of custom BT nodes can be found in the nav2_behavior_tree plugins folder. The configuration guide can also be quite useful.

    Action Nodes

    diff --git a/commander_api/index.html b/commander_api/index.html index 36f69618b..1038854ee 100644 --- a/commander_api/index.html +++ b/commander_api/index.html @@ -1101,7 +1101,7 @@

    Simple Commander API

    Overview

    -

    The goal of the Nav2 Simple (Python3) Commander is to provide a “navigation as a library” capability to Python3 users. We provide an API that handles all the ROS 2 and Action Server tasks for you such that you can focus on building an application leveraging the capabilities of Nav2 (after you’ve configured it to your liking with your plugins of choice). We also provide you with demos and examples of API usage to build common basic capabilities in autonomous mobile robotics in the nav2_simple_commander package.

    +

    The goal of the Nav2 Simple (Python3) Commander is to provide a “navigation as a library” capability to Python3 users. We provide an API that handles all the ROS 2 and Action Server tasks for you such that you can focus on building an application leveraging the capabilities of Nav2 (after you’ve configured it to your liking with your plugins of choice). We also provide you with demos and examples of API usage to build common basic capabilities in autonomous mobile robotics in the nav2_simple_commander package.

    A simple demonstration is shown below. Note: goToPose(), goThroughPoses(), followWaypoints() and similar are non-blocking such that you can receive and process feedback in a single-threaded application. As such while waiting for a task to be completed, the while not nav.isTaskComplete() design is necessary to poll for changes in the navigation completion, and if not complete some tasks of interest to your application (like processing feedback, doing something with the data the robot is collecting, or checking for faults).

    You may use this simple commander preempt commands of the same type (e.g. you can preempt a goToPose() with another goToPose()) but you must explicitly cancel a current command and issue a new one if switching between goToPose(), goThroughPoses(), or followWaypoints().

    from nav2_simple_commander.robot_navigator import BasicNavigator
@@ -1384,7 +1384,7 @@ 
    Footprint Collision Checker API
 
    Examples and Demos
    
-
    All of these can be found in the package.
    
+
    All of these can be found in the package.
    
 Alternative text
 
    The nav2_simple_commander has a few examples to highlight the API functions available to you as a user:
    
 
      
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index df636198b..0b7f7d76e 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -1103,7 +1103,7 @@
 
      AssistedTeleop
      
 
      Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist commands to prevent
 collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior.
-The nav2_behaviors module implements the AssistedTeleop action server.
      
+The nav2_behaviors module implements the AssistedTeleop action server.
      
 
      
 
      Input Ports
      
 
      
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index 1e2f44805..fe6bc269d 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -1101,7 +1101,7 @@
              
   
      
 
      ComputePathThroughPoses
      
-
      Invokes the ComputePathThroughPoses ROS 2 action server, which is implemented by the nav2_planner module.
+
      Invokes the ComputePathThroughPoses ROS 2 action server, which is implemented by the nav2_planner module.
 The server address can be remapped using the server_name input port.
      
 
      
 
      Input Ports
      
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index 2a241aa9a..a741fde80 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -1101,7 +1101,7 @@
              
   
      
 
      ComputePathToPose
      
-
      Invokes the ComputePathToPose ROS 2 action server, which is implemented by the nav2_planner module.
+
      Invokes the ComputePathToPose ROS 2 action server, which is implemented by the nav2_planner module.
 The server address can be remapped using the server_name input port.
      
 
      
 
      Input Ports
      
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index cf1a61c36..123313980 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -1101,7 +1101,7 @@
    @@ -1217,11 +1217,11 @@

    Costmap Filters

  • KeepoutFilter: keep-out/safety zones filter plugin.

  • SpeedFilter: slow/speed-restricted areas filter.

    • -

  • Preferred lanes in industries. This plugin is covered by KeepoutFilter (see discussion in corresponding PR for more details).

    • +

  • Preferred lanes in industries. This plugin is covered by KeepoutFilter (see discussion in corresponding PR for more details).

    • -

    Each costmap filter subscribes to filter info topic (publishing by Costmap Filter Info Publisher Server) having all necessary information for loaded costmap filter and filter mask topic. -SpeedFilter additionally publishes maximum speed restricting messages targeted for a Controller to enforce robot won’t exceed given limit.

    -

    High-level design of this concept could be found here. The functionality of costmap filters is being discussed in the ticket #1263 and carried out by PR #1882. The following tutorials: Navigating with Keepout Zones and Navigating with Speed Limits will help to easily get involved with KeepoutFilter and SpeedFilter functionalities.

    +

    Each costmap filter subscribes to filter info topic (publishing by Costmap Filter Info Publisher Server) having all necessary information for loaded costmap filter and filter mask topic. +SpeedFilter additionally publishes maximum speed restricting messages targeted for a Controller to enforce robot won’t exceed given limit.

    +

    High-level design of this concept could be found here. The functionality of costmap filters is being discussed in the ticket #1263 and carried out by PR #1882. The following tutorials: Navigating with Keepout Zones and Navigating with Speed Limits will help to easily get involved with KeepoutFilter and SpeedFilter functionalities.

    SmacPlanner

    @@ -1273,7 +1273,7 @@

    Standard time units in parameters

    Ray Tracing Parameters

    -

    Raytracing functionality was modified to include a minimum range parameter from which ray tracing starts to clear obstacles to avoid incorrectly clearing obstacles too close to the robot. This issue was mentioned in ROS Answers. An existing parameter raytrace_range was renamed to raytrace_max_range to reflect the functionality it affects. The renamed parameters and the plugins that they belong to are mentioned below. The changes were introduced in this pull request.

    +

    Raytracing functionality was modified to include a minimum range parameter from which ray tracing starts to clear obstacles to avoid incorrectly clearing obstacles too close to the robot. This issue was mentioned in ROS Answers. An existing parameter raytrace_range was renamed to raytrace_max_range to reflect the functionality it affects. The renamed parameters and the plugins that they belong to are mentioned below. The changes were introduced in this pull request.

    • obstacle_layer plugin

        @@ -1309,19 +1309,19 @@

        Obstacle Marking Parameters

        Recovery Action Changes

        -

        The recovery actions, Spin and BackUp were modified to correctly return FAILURE if the recovery action is aborted due to a potential collision. Previously, these actions incorrectly always returned SUCCESS. Changes to this resulted in downstream action clients, such as the default behavior tree. The changes were introduced in this pull request 1855.

        +

        The recovery actions, Spin and BackUp were modified to correctly return FAILURE if the recovery action is aborted due to a potential collision. Previously, these actions incorrectly always returned SUCCESS. Changes to this resulted in downstream action clients, such as the default behavior tree. The changes were introduced in this pull request 1855.

    Default Behavior Tree Changes

    -

    The default behavior tree (BT) navigate_w_replanning_and_recovery.xml has been updated to allow for replanning in between recoveries. The changes were introduced in this PR 1855. Additionally, an alternative BT navigate_w_replanning_and_round_robin_recovery.xml was removed due to similarity with the updated default BT.

    +

    The default behavior tree (BT) navigate_w_replanning_and_recovery.xml has been updated to allow for replanning in between recoveries. The changes were introduced in this PR 1855. Additionally, an alternative BT navigate_w_replanning_and_round_robin_recovery.xml was removed due to similarity with the updated default BT.

    New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes

    -

    The ClearEntireCostmap action node was already implemented but the ClearCostmapExceptRegion and ClearCostmapAroundRobot BT nodes calling the sister services (local_or_global)_costmap/clear_except_(local_or_global)_costmap and clear_around_(local_or_global)_costmap of Costmap 2D were missing, they are now implemented in a similar way. They both expose a reset_distance input port. See ClearCostmapExceptRegion and ClearCostmapAroundRobot for more. The changes were introduced in this pull request 2204.

    +

    The ClearEntireCostmap action node was already implemented but the ClearCostmapExceptRegion and ClearCostmapAroundRobot BT nodes calling the sister services (local_or_global)_costmap/clear_except_(local_or_global)_costmap and clear_around_(local_or_global)_costmap of Costmap 2D were missing, they are now implemented in a similar way. They both expose a reset_distance input port. See ClearCostmapExceptRegion and ClearCostmapAroundRobot for more. The changes were introduced in this pull request 2204.

    New Behavior Tree Nodes

    @@ -1330,13 +1330,13 @@

    New Behavior Tree Nodesnav2_bt_navigator but may be overridden by the bt_plugins parameter to include your specific plugins.

    Original GitHub tickets:

    Additionally, behavior tree nodes were modified to contain their own local executors to spin for actions, topics, services, etc to ensure that each behavior tree node is independent of each other (e.g. spinning in one BT node doesn’t trigger a callback in another).

    @@ -1348,24 +1348,24 @@

    sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Changevoxel_marked_cloud and voxel_unknown_cloud topic in costmap_2d_cloud node of nav2_costmap_2d package

  • cost_cloud topic of publisher.cpp of dwb_core package.

    • -

    These changes were introduced in pull request 2263.

    +

    These changes were introduced in pull request 2263.

    ControllerServer New Parameter failure_tolerance

    A new parameter failure_tolerance was added to the Controller Server for tolerating controller plugin exceptions without failing immediately. It is analogous to controller_patience in ROS(1) Nav. See Controller Server for description. -This change was introduced in this pull request 2264.

    +This change was introduced in this pull request 2264.

    Removed BT XML Launch Configurations

    The launch python configurations for CLI setting of the behavior tree XML file has been removed. Instead, you should use the yaml files to set this value. If you, however, have a path to the yaml file that is inconsistent in a larger deployment, you can use the RewrittenYaml tool in your parent launch file to remap the default XML paths utilizing the get_shared_package_path() directory finder (or as you were before in python3).

    The use of map subscription QoS launch configuration was also removed, use parameter file. -This change was introduced in this pull request 2295.

    +This change was introduced in this pull request 2295.

    diff --git a/migration/Galactic.html b/migration/Galactic.html index 71f0045db..7b11a6bc0 100644 --- a/migration/Galactic.html +++ b/migration/Galactic.html @@ -1146,7 +1146,7 @@

    Major improvements to Smac Planners

    Simple (Python) Commander

    -

    This PR 2411 introduces a new package to Nav2, called the nav2_simple_commander. It is a set of functions in an object, BasicNavigator, which can be used to build Nav2-powered autonomy tasks in Python3 without concerning yourself with the Nav2, ROS 2, or Action server details. It contains a simple API taking common types (primarily PoseStamped) and handles all of the implementation details behind the hood. For example, this is a simple navigation task using this API:

    +

    This PR 2411 introduces a new package to Nav2, called the nav2_simple_commander. It is a set of functions in an object, BasicNavigator, which can be used to build Nav2-powered autonomy tasks in Python3 without concerning yourself with the Nav2, ROS 2, or Action server details. It contains a simple API taking common types (primarily PoseStamped) and handles all of the implementation details behind the hood. For example, this is a simple navigation task using this API:

    def main():
     rclpy.init()
     navigator = BasicNavigator()
@@ -1181,41 +1181,41 @@ 
    Simple (Python) Commanderprint('Goal failed!')
    -

    The full API can be found in the README of the package. A number of well commented examples and demos can also be found in the package’s source code at the link prior.

    +

    The full API can be found in the README of the package. A number of well commented examples and demos can also be found in the package’s source code at the link prior.

    Reduce Nodes and Executors

    In order for nav2 to make the best use of ROS 2, we need minimize the number of nodes and executors in nav2, which can improve performance.

    -

    This functionality has been discussed in the ticket #816, and carried out in

    +

    This functionality has been discussed in the ticket #816, and carried out in

      -

    • Remove client_node_ in class WaypointFollower : PR2441

      • -

    • Remove rclcpp_node_ in class MapSaver : PR2454

      • -

    • Remove bond_client_node_ in class LifecycleManager : PR2456

      • -

    • Remove node_ in class LifecycleManagerClient : PR2469

      • -

    • Remove rclcpp_node_ in class ControllerServer : PR2459, PR2479

      • -

    • Remove rclcpp_node_ in class PlannerServer : PR2459, PR2480

      • -

    • Remove rclcpp_node_ in class AmclNode : PR2483

      • -

    • Remove rclcpp_node_ and clinet_node_ in class Costmap2DROS : PR2489

      • -

    • Remove rclcpp_node_ in class LifecycleNode : PR2993

      • +

    • Remove client_node_ in class WaypointFollower : PR2441

      • +

    • Remove rclcpp_node_ in class MapSaver : PR2454

      • +

    • Remove bond_client_node_ in class LifecycleManager : PR2456

      • +

    • Remove node_ in class LifecycleManagerClient : PR2469

      • +

    • Remove rclcpp_node_ in class ControllerServer : PR2459, PR2479

      • +

    • Remove rclcpp_node_ in class PlannerServer : PR2459, PR2480

      • +

    • Remove rclcpp_node_ in class AmclNode : PR2483

      • +

    • Remove rclcpp_node_ and clinet_node_ in class Costmap2DROS : PR2489

      • +

    • Remove rclcpp_node_ in class LifecycleNode : PR2993

    some APIs are changed in these PRs:
      -

    • PR2489 removes arguments client_node, rclcpp_node and adds argument callback_group in the initialize function of class nav2_costmap_2d::Layer. callback_group is used to replace rclcpp_node.

      • -

    • PR2993 removes argument use_rclcpp_node `` in the constructor of class ``nav2_util::LifecycleNode.

      • +

    • PR2489 removes arguments client_node, rclcpp_node and adds argument callback_group in the initialize function of class nav2_costmap_2d::Layer. callback_group is used to replace rclcpp_node.

      • +

    • PR2993 removes argument use_rclcpp_node `` in the constructor of class ``nav2_util::LifecycleNode.

    API Change for nav2_core

    -

    PR 2976 changes the API for nav2_core::Controller and nav2_core::Smoother by replacing the use of shared pointer references (const shared_ptr<> &) to shared pointers (shared_ptr<>). +

    PR 2976 changes the API for nav2_core::Controller and nav2_core::Smoother by replacing the use of shared pointer references (const shared_ptr<> &) to shared pointers (shared_ptr<>). Use of shared pointer references meant that the shared pointer counter was never incremented.

    Extending the BtServiceNode to process Service-Results

    -

    This PR 2481 and PR 2992 address the ticket and this ticket and adds a virtual on_completion() function to the BtServiceNode class (can be found here). +

    This PR 2481 and PR 2992 address the ticket and this ticket and adds a virtual on_completion() function to the BtServiceNode class (can be found here). Similar to the already existing virtual on_wait_for_result() function, it can be overwritten in the child class to react to a respective event with some user-defined operation. The added on_completion() function will be called after the service interaction of the BtServiceNode has been successfully completed.

    /**
@@ -1235,7 +1235,7 @@ 
    Extending the BtServiceNode to process Service-Results
 
    
 
    Including new Rotation Shim Controller Plugin
    
-
    This PR 2718 introduces the new nav2_rotation_shim_controller. This controller will check the rough heading difference with respect to the robot and a newly received path. If within a threshold, it will pass the request onto the primary controller to execute. If it is outside of the threshold, this controller will rotate the robot towards that path heading. Once it is within the tolerance, it will then pass off control-execution from this rotation shim controller onto the primary controller plugin. At this point, the robot is still going to be rotating, allowing the current plugin to take control for a smooth hand off into path tracking.
    
+
    This PR 2718 introduces the new nav2_rotation_shim_controller. This controller will check the rough heading difference with respect to the robot and a newly received path. If within a threshold, it will pass the request onto the primary controller to execute. If it is outside of the threshold, this controller will rotate the robot towards that path heading. Once it is within the tolerance, it will then pass off control-execution from this rotation shim controller onto the primary controller plugin. At this point, the robot is still going to be rotating, allowing the current plugin to take control for a smooth hand off into path tracking.
    
 
    The Rotation Shim Controller is suitable for:
    
 
      
 
    • Robots that can rotate in place, such as differential and omnidirectional robots.
      • 
@@ -1245,7 +1245,7 @@ 
      Including new Rotation Shim Controller Plugin
 
      Spawning the robot in Gazebo
      
-
      This PR 2473 deletes the pkg nav2_gazebo_spawner inside nav2_bringup directory. Instead of nav2_gazebo_spawner the Node spawn_entity.py of gazebo_ros is recommended to spawn the robot in gazebo.
+
      This PR 2473 deletes the pkg nav2_gazebo_spawner inside nav2_bringup directory. Instead of nav2_gazebo_spawner the Node spawn_entity.py of gazebo_ros is recommended to spawn the robot in gazebo.
 Note that
      
 
      
 
        
@@ -1260,31 +1260,31 @@ 
        Recovery Behavior Timeout
 
        New parameter use_final_approach_orientation for the 3 2D planners
        
-
        Pull request 2488 adds a new parameter use_final_approach_orientation to the 3 2D planners (Theta*, SmacPlanner2D and NavFn), false by default. If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path. It allows sending the robot to a position (x,y) instead of a pose (x,y,theta) by effectively ignoring the goal orientation.
+
        Pull request 2488 adds a new parameter use_final_approach_orientation to the 3 2D planners (Theta*, SmacPlanner2D and NavFn), false by default. If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path. It allows sending the robot to a position (x,y) instead of a pose (x,y,theta) by effectively ignoring the goal orientation.
 For example, below, for the same goal with an orientaton pointed left of the screen, use_final_approach_orientation=false (left) and use_final_approach_orientation=true (right)
        
 ../_images/use_final_approach_orientation_false.gif
 ../_images/use_final_approach_orientation_true.gif
 
      
 
      
 
      SmacPlanner2D and Theta*: fix goal orientation being ignored
      
-
      This pull request 2488 fixes the  issue of the goal pose orientation being ignored (the end path pose orientation was always set to 0).
      
+
      This pull request 2488 fixes the  issue of the goal pose orientation being ignored (the end path pose orientation was always set to 0).
      
 
      
 
      
 
      SmacPlanner2D, NavFn and Theta*: fix small path corner cases
      
-
      This PR 2488 ensures the planners are not failing when the distance between the start and the goal is small (i.e. when they are on the same costmap cell), and in that case the output path is constructed with a single pose.
      
+
      This PR 2488 ensures the planners are not failing when the distance between the start and the goal is small (i.e. when they are on the same costmap cell), and in that case the output path is constructed with a single pose.
      
 
      
 
      
 
      Change and fix behavior of dynamic parameter change detection
      
-
      This and this PR modify the method used to catch the changes of dynamic parameters. The motivation was to fix the issue that void on_parameter_event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event) was called for every parameter change of every node leading to unwanted parameter changes if 2 different nodes had the same parameter name.
      
+
      This and this PR modify the method used to catch the changes of dynamic parameters. The motivation was to fix the issue that void on_parameter_event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event) was called for every parameter change of every node leading to unwanted parameter changes if 2 different nodes had the same parameter name.
      
 
      
 
      
 
      Dynamic Parameters
      
 
      Newly added dynamic parameters to:
      
 
        
-
      • This PR 2592 makes most of the Costmap2DROS parameters dynamic
        • 
-
      • This PR 2607 makes most of the Regulated Pure Pursuit parameters dynamic
        • 
-
      • This PR 2665 makes most of the Theta * Planner parameters dynamic
        • 
-
      • This PR 2704 makes Waypoint Follower, Planner Server, and Controller Server’s params reconfigurable
        • 
+
      • This PR 2592 makes most of the Costmap2DROS parameters dynamic
        • 
+
      • This PR 2607 makes most of the Regulated Pure Pursuit parameters dynamic
        • 
+
      • This PR 2665 makes most of the Theta * Planner parameters dynamic
        • 
+
      • This PR 2704 makes Waypoint Follower, Planner Server, and Controller Server’s params reconfigurable
        • 
 
      
 
      
 
      
@@ -1293,7 +1293,7 @@ 
      BT Action Nodes Exception Changes
 
      BT Navigator Groot Multiple Navigators
      
-
      This PR 2627 creates separate parameters for groot monitoring for the NavToPose and NavThroughPoses navigator types so you can individually track the state of each behavior tree through the ZMQ publisher. This resolves a long-standing problem after we added multiple navigator types to BT Navigator that you could only view the nav to poses BT execution live. BT.CPP and Groot only support one static ZMQ stream at a time, so there is a bit of a quirk where you must locally reset Groot after switching trees in order to view the live stream of the Nav Through Poses BT, if in use. This is a state of the BT.CPP and Groot libraries and not something we can resolve within Nav2.
      
+
      This PR 2627 creates separate parameters for groot monitoring for the NavToPose and NavThroughPoses navigator types so you can individually track the state of each behavior tree through the ZMQ publisher. This resolves a long-standing problem after we added multiple navigator types to BT Navigator that you could only view the nav to poses BT execution live. BT.CPP and Groot only support one static ZMQ stream at a time, so there is a bit of a quirk where you must locally reset Groot after switching trees in order to view the live stream of the Nav Through Poses BT, if in use. This is a state of the BT.CPP and Groot libraries and not something we can resolve within Nav2.
      
 
      There is some thought into the future regarding complete deprecation of live BT monitoring using Groot due to this quirk and the almost-certain infux of tickets on the topic. Groot will however always be supported for visualizing behavior tree XML files and modifications, simply not visualizing the BT execution live during robot navigation.
      
 
      
 
      
@@ -1302,35 +1302,35 @@ 
      Removed Kinematic Limiting in RPP
 
      Added Smoother Task Server
      
-
      A new task server was added which loads smoother plugins and executes them to improve quality of an existing planned path. Smoothing action can be called from a behavior tree using SmoothPath action node. PR 2569 implements and PR 2875 adds in the first of the plugins using it with a simple smoother. Other smoothers are in development and will be added in the future.
      
+
      A new task server was added which loads smoother plugins and executes them to improve quality of an existing planned path. Smoothing action can be called from a behavior tree using SmoothPath action node. PR 2569 implements and PR 2875 adds in the first of the plugins using it with a simple smoother. Other smoothers are in development and will be added in the future.
      
 
      
 
      
 
      Removed Use Approach Velocity Scaling Param in RPP
      
-
      The parameter use_approach_linear_velocity_scaling is removed in favor of always on to help in smooth transitions to the goal. This PR 2701 implements.
      
+
      The parameter use_approach_linear_velocity_scaling is removed in favor of always on to help in smooth transitions to the goal. This PR 2701 implements.
      
 
      
 
      
 
      Refactored AMCL motion models as plugins
      
-
      This PR 2642 creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code.
      
+
      This PR 2642 creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code.
      
 
      
 
      
 
      Dropping Support for Live Groot Monitoring of Nav2
      
 
 
      It was a great feature idea but never quite panned out, especially after we introduced multiple navigator types in the BT Navigator server. The issue we run into primarily is that Zero-MQ prevents users from producing multiple logger types in the same process. Since BT nav has multiple servers, the swapping between them for viewing has never had a clean hand off causing folks to file tickets or have nasty logs appear or ZMQ crashes in the background. The BT.CPP client for this doesn’t allow us to have a clean shutdown process so we’re left with hoping that ZMQ properly handles the situation, which it rarely does. Further, Groot only supports visualizing one type of tree at a time so for applications often switching between navigator types, its not possible to use a single groot client, causing great frustration.
      
 
      So, what I propose here is to remove live monitoring of the BT from Nav2. We can still use Groot to modify, visualize, and generally work with behavior trees, the only thing being removed is to live view the executing behavior tree as Nav2 is currently executing it (it used to light up the boxes of the current nodes). This was of dubious value anyhow, since the tree ticks so fast its difficult to visualize and get meaningful insights into things as the system is moving so quickly.
      
 
      
 
      
 
      Replanning Only if Path is Invalid
      
-
      This PR 2591 creates two new condition BT node to facilitate replanning only if path becomes invalid rather than constantly replanning. These new nodes were integrated into the default BT.
      
+
      This PR 2591 creates two new condition BT node to facilitate replanning only if path becomes invalid rather than constantly replanning. These new nodes were integrated into the default BT.
      
 
      
 
      
 
      Fix CostmapLayer clearArea invert param logic
      
-
      This PR 2772 fixes the invert paramlogic of the CostmapLayer clearArea function. Hence correcting the behavior of the clearAroundRobot and clearExceptRegion services and their corresponding BT actions.
      
+
      This PR 2772 fixes the invert paramlogic of the CostmapLayer clearArea function. Hence correcting the behavior of the clearAroundRobot and clearExceptRegion services and their corresponding BT actions.
      
 
      
 
      
 
      Dynamic Composition
      
-
      This PR 2750 provides a optional bringup based on ROS2 dynamic composition for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. it’s used by default, but can be disabled by using the launch argument use_composition:=False.
      
+
      This PR 2750 provides a optional bringup based on ROS2 dynamic composition for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. it’s used by default, but can be disabled by using the launch argument use_composition:=False.
      
 
      Some experiments to show performance improvement of dynamic composition, and the cpu and memory are captured by psutil :
      
 
      
 
      
@@ -1361,11 +1361,11 @@ 
      Dynamic Composition
 
      BT Cancel Node
      
-
      This PR 2787 caters the users with an abstract node to develop cancel behaviors for different servers present in the Nav2 stack such as the controller_server, recovery_server and so on. As a start, this PR also provides the CancelControl behavior to cancel the goal given to the controller_server. As an addition to the CancelControl This PR 2856 provides the users with the option to cancel the recoveries such as the backup, spin and wait.
      
+
      This PR 2787 caters the users with an abstract node to develop cancel behaviors for different servers present in the Nav2 stack such as the controller_server, recovery_server and so on. As a start, this PR also provides the CancelControl behavior to cancel the goal given to the controller_server. As an addition to the CancelControl This PR 2856 provides the users with the option to cancel the recoveries such as the backup, spin and wait.
      
 
 
      
 
      BT PathLongerOnApproach Node
      
-
      In the PR, a new Decorator BT node known as PathLongerOnApproach has been added to provide with the functionality to check and potentially handle longer path generated due to an obstacle in the given goal proximity. To demonstrate this functionality, a new BT navigate_to_pose_w_replanning_goal_patience_and_recovery.xml would serve both as an example and ready-to-use BT for a specific application that wishes to optimize their process cycle time. Demo of the developed BT can be seen below, where the robot pauses when close to a goal to see if the dynamic obstacle moves out of the way. Else, it executes the replan:
      
+
      In the PR, a new Decorator BT node known as PathLongerOnApproach has been added to provide with the functionality to check and potentially handle longer path generated due to an obstacle in the given goal proximity. To demonstrate this functionality, a new BT navigate_to_pose_w_replanning_goal_patience_and_recovery.xml would serve both as an example and ready-to-use BT for a specific application that wishes to optimize their process cycle time. Demo of the developed BT can be seen below, where the robot pauses when close to a goal to see if the dynamic obstacle moves out of the way. Else, it executes the replan:
      
 
      Obstacle does not clear at all, with obstacle_clearance_time to be 3 seconds:
      
 ../_images/nav2_patience_near_goal_and_clear_obstacle.gif
 
      Obstacle clears and you can see the robot pass through the (could have been ideally the) same path:
      
@@ -1373,45 +1373,45 @@ 
      BT PathLongerOnApproach Node
 
      BT TruncatePathLocal Node
      
-
      In the PR 2753, a new Action BT node named TruncatePathLocal has been added to extract a bounded-length path section near robot to be used e.g. for collision checking or computationally expensive smoothers
      
+
      In the PR 2753, a new Action BT node named TruncatePathLocal has been added to extract a bounded-length path section near robot to be used e.g. for collision checking or computationally expensive smoothers
      
 
      
 
      
 
      Constrained Smoother
      
-
      In the PR 2753, a new Smoother named nav2_constrained_smoother::ConstrainedSmoother has been added to optimize various path criteria such as smoothness or distance from obstacles, maintaining minimum turning radius
      
+
      In the PR 2753, a new Smoother named nav2_constrained_smoother::ConstrainedSmoother has been added to optimize various path criteria such as smoothness or distance from obstacles, maintaining minimum turning radius
      
 
      
 
      
 
      Replanning at a Constant Rate and if the Path is Invalid
      
-
      This PR 2804 introduces a new behavior tree that navigates to pose with consistent replanning and if the path becomes invalid.
+
      This PR 2804 introduces a new behavior tree that navigates to pose with consistent replanning and if the path becomes invalid.
 To facilitate the new behavior tree a new condition node PathExpiringTimer was introduced to trigger replanning at a consistent rate.
      
 
      
 
      
 
      Euclidean Distance 2D
      
-
      This PR 2865 changes Euclidean distance calculation throughout nav2 to project on to the XY plane (i.e. discard any information related to components in Z).
+
      This PR 2865 changes Euclidean distance calculation throughout nav2 to project on to the XY plane (i.e. discard any information related to components in Z).
 This may potentially subtly change the way certain BT nodes, BT Navigators, controller servers, planner servers, and RPP behave if using custom plugins outside the Nav2 ecosystem.
      
 
      
 
      
 
      Recovery To Behavior
      
-
      This PR 2867 renames the nav2_recoveries to nav2_behaviors.
      
+
      This PR 2867 renames the nav2_recoveries to nav2_behaviors.
      
 
      In navigation_launch.py recoveries_server -> behavior_server and nav2_recoveries -> nav2_behaviors.
 In nav2_params.yaml recovery_plugins -> behavior_plugins and nav2_recoveries -> nav2_behaviors.
      
 
      
 
      
 
      Respawn Support in Launch and Lifecycle Manager
      
-
      PR 2752 enables respawn support in Nav2. In the launch files, you may set use_respawn to true to enable respawning of servers that crash. This is only available in non-composed systems, since in composed systems, all of the nodes are under a single process and a crash anywhere will bring everything down (including the lifecycle manager itself). Even if the container was set to respawn, it would only respawn the empty container, not with all of the components loaded into it.
      
+
      PR 2752 enables respawn support in Nav2. In the launch files, you may set use_respawn to true to enable respawning of servers that crash. This is only available in non-composed systems, since in composed systems, all of the nodes are under a single process and a crash anywhere will bring everything down (including the lifecycle manager itself). Even if the container was set to respawn, it would only respawn the empty container, not with all of the components loaded into it.
      
 
      That PR also enables the lifecycle manager to check if a system goes down due to a crash. If so, it allows the manager to check if the server comes back online within a given timeout period. If it does, it will automatically retransition the system back up to active to continue on its task automatically.
      
 
      
 
      
 
      New Nav2 Velocity Smoother
      
-
      PR 2964 introduces the nav2_velocity_smoother for smoothing velocity commands from Nav2 to a robot controller by velocity, acceleration, and deadband constraints. See Velocity Smoother for more details. It is not included in the default bringup batteries included from nav2_bringup.
      
+
      PR 2964 introduces the nav2_velocity_smoother for smoothing velocity commands from Nav2 to a robot controller by velocity, acceleration, and deadband constraints. See Velocity Smoother for more details. It is not included in the default bringup batteries included from nav2_bringup.
      
 
      
 
      
 
      Goal Checker API Changed
      
-
      PR 2965 adds an extra argument in the initialize function of the nav2_core::GoalChecker class.
+
      PR 2965 adds an extra argument in the initialize function of the nav2_core::GoalChecker class.
 The extra argument is a costmap_ros pointer. This is used to check if the goal is in collision, so that we can avoid moving towards the goal and replanning can be initiates using some BT plugin.
      
 
      
 
      
 
      Added Assisted Teleop
      
-
      PR 2904 adds a new behavior for assisted teleop along with two new BT nodes AssistedTeleop and CancelAssistedTeleop.
      
+
      PR 2904 adds a new behavior for assisted teleop along with two new BT nodes AssistedTeleop and CancelAssistedTeleop.
      
 
      
 
 
diff --git a/migration/Humble.html b/migration/Humble.html
index f330c2574..349f87fe7 100644
--- a/migration/Humble.html
+++ b/migration/Humble.html
@@ -1103,20 +1103,20 @@
 
      Moving from ROS 2 Humble to Iron, a number of stability improvements were added that we will not specifically address here.
      
 
      
 
      New Behavior-Tree Navigator Plugins
      
-
      New in PR 3345, the navigator types are exposed to users as plugins that can be replaced or new navigator types added. The default behaviors of navigate to pose and navigate through poses continue to be default behavior but are now customizable with new action interface definitions. These plugins implement the nav2_core::BehaviorTreeNavigator base class, which must process the action request, feedback, and completion messages. The behavior tree is handled by this base class with as much general logic as possible abstracted away from users to minimize repetition.
      
+
      New in PR 3345, the navigator types are exposed to users as plugins that can be replaced or new navigator types added. The default behaviors of navigate to pose and navigate through poses continue to be default behavior but are now customizable with new action interface definitions. These plugins implement the nav2_core::BehaviorTreeNavigator base class, which must process the action request, feedback, and completion messages. The behavior tree is handled by this base class with as much general logic as possible abstracted away from users to minimize repetition.
      
 
      See Writing a New Navigator Plugin for a tutorial about writing new navigator plugins.
      
 
      
 
      
 
      Added Collision Monitor
      
-
      PR 2982 adds new safety layer operating independently of Nav2 stack which ensures the robot to control the collisions with near obstacles, obtained from different sensors (LaserScan, PointCloud, IR, Sonars, etc…). See Collision Monitor for more details. It is not included in the default bringup batteries included from nav2_bringup.
      
+
      PR 2982 adds new safety layer operating independently of Nav2 stack which ensures the robot to control the collisions with near obstacles, obtained from different sensors (LaserScan, PointCloud, IR, Sonars, etc…). See Collision Monitor for more details. It is not included in the default bringup batteries included from nav2_bringup.
      
 
      
 
      
 
      Removed use_sim_time from yaml
      
-
      PR #3131 makes it possible to set the use_sim_time parameter from the launch file for multiple nodes instead of individually via the yaml files. If using the Nav2 launch files, you can optionally remove the use_sim_time parameter from your yaml files and set it via a launch argument.
      
+
      PR #3131 makes it possible to set the use_sim_time parameter from the launch file for multiple nodes instead of individually via the yaml files. If using the Nav2 launch files, you can optionally remove the use_sim_time parameter from your yaml files and set it via a launch argument.
      
 
      
 
      
 
      Run-time Speed up of Smac Planner
      
-
      The core data structure of the graph implementation in the Smac Planner framework was swapped out in PR 3201 to using a specialized unordered map implementation. This speeds up the planner by 10% on trivial requests and reports up to 30% on complex plans that involve numerous rehashings.
      
+
      The core data structure of the graph implementation in the Smac Planner framework was swapped out in PR 3201 to using a specialized unordered map implementation. This speeds up the planner by 10% on trivial requests and reports up to 30% on complex plans that involve numerous rehashings.
      
 
      
 
      
 
      Recursive Refinement of Smac and Simple Smoothers
      
@@ -1124,37 +1124,37 @@ 
      Recursive Refinement of Smac and Simple Smoothers
 
      
 
      Simple Commander Python API
      
-
      PR 3159 and follow-up PRs add in Costmap API in Python3 simple commander to receive OccupancyGrid messages from Nav2 and be able to work with them natively in Python3, analog to the C++ Costmap API. It also includes a line iterator and collision checking object to perform footprint or other collision checking in Python3. See the Simple Commander API for more details.
      
+
      PR 3159 and follow-up PRs add in Costmap API in Python3 simple commander to receive OccupancyGrid messages from Nav2 and be able to work with them natively in Python3, analog to the C++ Costmap API. It also includes a line iterator and collision checking object to perform footprint or other collision checking in Python3. See the Simple Commander API for more details.
      
 
      
 
      
 
      Smac Planner Start Pose Included in Path
      
-
      PR 3168 adds the starting pose to the Smac Planners that was previously excluded during backtracing.
      
+
      PR 3168 adds the starting pose to the Smac Planners that was previously excluded during backtracing.
      
 
      
 
      
 
      Parameterizable Collision Checking in RPP
      
-
      PR 3204 adds makes collision checking for RPP optional (default on).
      
+
      PR 3204 adds makes collision checking for RPP optional (default on).
      
 
      
 
      
 
      Expanded Planner Benchmark Tests
      
-
      PR 3218 adds launch files and updated scripts for performing objective random planning tests across the planners in Nav2 for benchmarking and metric computation.
      
+
      PR 3218 adds launch files and updated scripts for performing objective random planning tests across the planners in Nav2 for benchmarking and metric computation.
      
 
      
 
      
 
      Smac Planner Path Tolerances
      
-
      PR 3219 adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance aroun the goal pose.
      
+
      PR 3219 adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance aroun the goal pose.
      
 
      
 
      
 
      costmap_2d_node default constructor
      
-
      PR #3222 changes the constructor used by the standalone costmap node. The new constructor does not set a name and namespace internally so it can be set via the launch file.
      
+
      PR #3222 changes the constructor used by the standalone costmap node. The new constructor does not set a name and namespace internally so it can be set via the launch file.
      
 
      
 
      
 
      Feedback for Navigation Failures
      
-
      PR #3146 updates the global planners to throw exceptions on planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator’s blackboard for use in contextual error handling in the autonomy application.
      
+
      PR #3146 updates the global planners to throw exceptions on planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator’s blackboard for use in contextual error handling in the autonomy application.
      
 
      The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, or No Valid Path Found.
      
-
      PR #3248 updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator’s blackboard for use in contextual error handling in the autonomy application.
      
+
      PR #3248 updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator’s blackboard for use in contextual error handling in the autonomy application.
      
 
      The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, No Valid Path Found and No Waypoints given.
      
-
      PR #3227 updates the controllers to throw exceptions on failures. These exceptions get reported back to the controller server which in turn places a error code on the Behavior Tree Navigatior’s blackboard for use in contextual error handling in the autonomy application.
      
+
      PR #3227 updates the controllers to throw exceptions on failures. These exceptions get reported back to the controller server which in turn places a error code on the Behavior Tree Navigatior’s blackboard for use in contextual error handling in the autonomy application.
      
 
      The following error codes are supported (with more to come as necessary): Unknown, TF Error, Invalid Path, Patience Exceeded, Failed To Make Progress, or No Valid Control.
      
-
      PR #3251 pipes the highest priority error code through the bt_navigator and defines the error code structure.
      
+
      PR #3251 pipes the highest priority error code through the bt_navigator and defines the error code structure.
      
 
      A new parameter for the the BT Navigator called “error_code_id_names” was added to the nav2_params.yaml to define the error codes to compare.
 The lowest error in the “error_code_id_names” is then returned in the action request (navigate to pose, navigate through poses waypoint follower), whereas the code enums increase the higher up in the software stack - giving higher priority to lower-level failures.
      
 
      The error codes produced from the servers follow the guidelines stated below.
@@ -1174,8 +1174,8 @@ 
      Feedback for Navigation Failures
 
      Costmap Filters
      
-
      Costmap Filters now are have an ability to be enabled/disabled in run-time by calling toggle_filter service for appropriate filter (PR #3229).
      
-
      Added new binary flip filter, allowing e.g. to turn off camera in sensitive areas, turn on headlights/leds/other safety things or switch operating mode when robot is inside marked on mask areas (PR #3228).
      
+
      Costmap Filters now are have an ability to be enabled/disabled in run-time by calling toggle_filter service for appropriate filter (PR #3229).
      
+
      Added new binary flip filter, allowing e.g. to turn off camera in sensitive areas, turn on headlights/leds/other safety things or switch operating mode when robot is inside marked on mask areas (PR #3228).
      
 
      
 
      
 
      Savitzky-Golay Smoother
      
@@ -1183,19 +1183,19 @@ 
      Savitzky-Golay Smoother
 
      
 
      Changes to Map yaml file path for map_server node in Launch
      
-
      PR #3174 adds a way to set the path to map yaml file for the map_server node either from the yaml file or using the launch configuration parameter map giving priority to the launch configuration parameter. yaml_filename is no longer strictly required to be present in nav2_params.yaml.
      
+
      PR #3174 adds a way to set the path to map yaml file for the map_server node either from the yaml file or using the launch configuration parameter map giving priority to the launch configuration parameter. yaml_filename is no longer strictly required to be present in nav2_params.yaml.
      
 
      
 
      
 
      SmootherSelector BT Node
      
-
      PR #3283 adds a BT node to set the smoother based on a topic or a default. See the configuration guide Simple Smoother for more details.
      
+
      PR #3283 adds a BT node to set the smoother based on a topic or a default. See the configuration guide Simple Smoother for more details.
      
 
      
 
      
 
      Publish Costmap Layers
      
-
      PR #3320 adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer.
      
+
      PR #3320 adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer.
      
 
      
 
      
 
      Give Behavior Server Access to Both Costmaps
      
-
      PR #3255 adds the ability for a behavior to access the local and global costmap.
      
+
      PR #3255 adds the ability for a behavior to access the local and global costmap.
      
 
      To update behaviors, any reference to the global_frame must be updated to the local_frame parameter
 along with the configuration method which now takes in the local and global collision checkers.
 Lastly, getResourceInfo must be overridden to return CostmapInfoType::LOCAL. Other options include GLOBAL if the behavior useses global costmap and/or footprint)
@@ -1208,7 +1208,7 @@ 
      New Model Predictive Path Integral Controller
 
      Behavior Tree Uses Error Codes
      
-
      PR #3324 adds three new condition nodes to check for error codes on the blackboard set by action BT nodes which contain them.
      
+
      PR #3324 adds three new condition nodes to check for error codes on the blackboard set by action BT nodes which contain them.
      
 
      The AreErrorCodesPresent condition node allows the user to specify the error code from the server along with the error codes to match against.
 The WouldAControllerRecoveryHelp checks if the active error code is UNKNOWN, PATIENCE_EXCEEDED, FAILED_TO_MAKE_PROGRESS or NO_VALID_CONTROL.
 If the error code is a match, the condition returns SUCCESS.
@@ -1222,7 +1222,7 @@ 
      Behavior Tree Uses Error Codes
 
      Load, Save and Loop Waypoints from the Nav2 Panel in RViz
      
-
      PR #3165 provides three new functionalities for the nav2 panel in RViz, they are:
      
+
      PR #3165 provides three new functionalities for the nav2 panel in RViz, they are:
      
 
        
 
      • load and save waypoints in a yaml file for waypoint following (initial pose can also be stored if required)
        • 
 
      • loop functionality to revisit the waypoints
        • 
@@ -1232,44 +1232,44 @@ 
        Load, Save and Loop Waypoints from the Nav2 Panel in RViz
 
        DWB Forward vs Reverse Pruning
        
-
        PR #3374 adds a new forward_prune_distance parameter in the DWB controller. It replaces the prune_distance for forward path shortening, enabled through the shorten_transformed_plan boolean parameter. This change allows to use different values for forward and backward path shortening.
        
+
        PR #3374 adds a new forward_prune_distance parameter in the DWB controller. It replaces the prune_distance for forward path shortening, enabled through the shorten_transformed_plan boolean parameter. This change allows to use different values for forward and backward path shortening.
        
 
      
 
      
 
      More stable regulation on curves for long lookahead distances
      
-
      PR #3414 adds a new use_fixed_curvature_lookahead parameter to the RPP controller. This makes slowing down on curve not dependent on the instantaneous lookahead point, but instead on a fixed distance set by the parameter curvature_lookahead_dist.
      
+
      PR #3414 adds a new use_fixed_curvature_lookahead parameter to the RPP controller. This makes slowing down on curve not dependent on the instantaneous lookahead point, but instead on a fixed distance set by the parameter curvature_lookahead_dist.
      
 
      
 
      
 
      Publish Collision Monitor State
      
-
      PR #3504 adds a new state_topic parameter to the CollisionMonitor. If specified, this optional parameter enables the state topic publisher. The topic reports the currently activated polygon action type and name.
      
+
      PR #3504 adds a new state_topic parameter to the CollisionMonitor. If specified, this optional parameter enables the state topic publisher. The topic reports the currently activated polygon action type and name.
      
 
      
 
      
 
      Renamed ROS-parameter in Collision Monitor
      
-
      PR #3513 renames max_points parameter to min_points and changes its meaning. Formerly max_points meant the maximum number of points inside the area still not triggering the action, while min_points - is a minimal number of points starting from the action to be initiated. In other words min_points now should be adjusted as max_points + 1.
      
+
      PR #3513 renames max_points parameter to min_points and changes its meaning. Formerly max_points meant the maximum number of points inside the area still not triggering the action, while min_points - is a minimal number of points starting from the action to be initiated. In other words min_points now should be adjusted as max_points + 1.
      
 
      
 
      
 
      New safety behavior model “limit” in Collision Monitor
      
-
      PR #3519 adds a new collision monitor behavior model limit that restricts maximum linear and angular speed to specific values (linear_limit and angular_limit) if enough points are in the given shape.
      
+
      PR #3519 adds a new collision monitor behavior model limit that restricts maximum linear and angular speed to specific values (linear_limit and angular_limit) if enough points are in the given shape.
      
 
      
 
      
 
      Velocity smoother applies deceleration when timeout
      
-
      PR #3512 makes the VelocitySmoother apply the deceleration when the input command timeout.
      
+
      PR #3512 makes the VelocitySmoother apply the deceleration when the input command timeout.
      
 
      
 
      
 
      PoseProgressChecker plugin
      
-
      PR #3530 adds a new nav2_controller::PoseProgressChecker plugin. It builds on the behavior of the SimpleProgressChecker by adding a new parameter required_movement_angle, allowing the plugin to considers that there is still progress when there is no translation movement, from the moment there is a rotation movement superior to required_movement_angle within the movement_time_allowance.
      
+
      PR #3530 adds a new nav2_controller::PoseProgressChecker plugin. It builds on the behavior of the SimpleProgressChecker by adding a new parameter required_movement_angle, allowing the plugin to considers that there is still progress when there is no translation movement, from the moment there is a rotation movement superior to required_movement_angle within the movement_time_allowance.
      
 
      
 
      
 
      Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type
      
-
      PR #3555  initializes the progress checker plugin(s) in the same way as for the goal checker and controller plugins: it is now a list of string and was renamed from progress_checker_plugin to progress_checker_plugins, and the type changed from string to vector<string>. This allows the initialization of multiple progress checkers that can be chosen from the added progress_checker_id field of the FollowPath action.
+
      PR #3555  initializes the progress checker plugin(s) in the same way as for the goal checker and controller plugins: it is now a list of string and was renamed from progress_checker_plugin to progress_checker_plugins, and the type changed from string to vector<string>. This allows the initialization of multiple progress checkers that can be chosen from the added progress_checker_id field of the FollowPath action.
 Beware that it is a breaking change and that configuration files will need to be updated.
      
 
      
 
      
 
      IsBatteryChargingCondition BT Node
      
-
      PR #3553 adds a BT node to check if the battery is charging. See the configuration guide IsBatteryCharging for more details.
      
+
      PR #3553 adds a BT node to check if the battery is charging. See the configuration guide IsBatteryCharging for more details.
      
 
      
 
      
 
      Behavior Server Error Codes
      
-
      PR #3569 updates the behavior server plugins to provide error codes on failure.
      
+
      PR #3569 updates the behavior server plugins to provide error codes on failure.
      
 
        
 
      • Spin: NONE: 0, UNKNOWN: 701, server error codes: 701-709
        • 
 
      • BackUp: NONE: 0, UNKNOWN: 801, server error codes: 710-719
        • 
@@ -1279,14 +1279,14 @@ 
        Behavior Server Error Codes
 
        New Denoise Costmap Layer Plugin
        
-
        PR #2567 adds the new plugin for filtering noise on the costmap.
        
+
        PR #2567 adds the new plugin for filtering noise on the costmap.
        
 
        Due to errors in Voxel Layer or Obstacle Layer measurements, salt and pepper noise may appear on the costmap. This noise creates false obstacles that prevent the robot from finding the best path on the map.
 The new Denoise Layer plugin is designed to filter out noise-induced standalone obstacles or small obstacles groups. This plugin allows you to add layer that will filter local or global costmap.
 More information about Denoise Layer plugin and how it works could be found here.
        
 
      
 
      
 
      SmacPlannerHybrid viz_expansions parameter
      
-
      PR #3577 adds a new parameter for visualising SmacPlannerHybrid expansions for debug purpose.
      
+
      PR #3577 adds a new parameter for visualising SmacPlannerHybrid expansions for debug purpose.
      
 
      
 
      
 
diff --git a/migration/Iron.html b/migration/Iron.html
index 9ab405e16..dba80dbac 100644
--- a/migration/Iron.html
+++ b/migration/Iron.html
@@ -1117,11 +1117,11 @@ 
      Added TwistStamped Option for Commands
 
      Add VelocityPolygon in Collision Monitor
      
-
      PR #3708 adds VelocityPolgon type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot’s velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot’s velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the Configuring Collision Monitor with VelocityPolygon section.
      
+
      PR #3708 adds VelocityPolgon type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot’s velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot’s velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the Configuring Collision Monitor with VelocityPolygon section.
      
 
      
 
      
 
      Change polygon points parameter format in Collision Monitor
      
-
      PR #4020 changes the format of the Polygon points parameter from vector<double> to string. This makes the polygon description more uniform across the Collision Monitor and Costmap_2D.
+
      PR #4020 changes the format of the Polygon points parameter from vector<double> to string. This makes the polygon description more uniform across the Collision Monitor and Costmap_2D.
 Now we can define a polygon’s points in string that has a vector<vector<double>> structure like this "[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y],...]" with a minimum of 4 points described. An example of a Square polygon will be written as follows.
      
 
      PolygonFront:
   type: "polygon"
@@ -1135,7 +1135,7 @@ 
      Change polygon points parameter format in Collision Monitor
 
      Introduction of Soft-Real Time Action Servers
      
-
      PR #3914 adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a realtime input field exposed in the Controller Server via the parameter use_realtime_priority which will set the controller’s execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of /etc/security/limits.conf to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who’s execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary.
      
+
      PR #3914 adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a realtime input field exposed in the Controller Server via the parameter use_realtime_priority which will set the controller’s execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of /etc/security/limits.conf to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who’s execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary.
      
 
      <username> soft rtprio 99
 <username> hard rtprio 99
 
      
@@ -1156,12 +1156,12 @@ 
      opennav_docking
 
      
 
      
 
      Introduce a new Multi-Robot Bringup Launch
      
-
      PR #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 separated by namespaces which are given as a Launch Arguments.
+
      PR #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 separated 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 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
+
      PR #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
 easily prevent the robot to go through places that are not present in the static map.
      
 
      
 
      
@@ -1195,7 +1195,7 @@ 
      MPPI Acceleration
 
      Move Error Code Enumerations
      
-
      PR #3693 moves the enumeration codes from the goal to the result section.
      
+
      PR #3693 moves the enumeration codes from the goal to the result section.
      
 
      
 
      
 
      Substitution in parameter file
      
@@ -1209,7 +1209,7 @@ 
      Substitution in parameter file
 
      Allow Behavior Server Plugins to Access The Action Result
      
-
      PR #3704 allows behavior servers plugins to access and modify the action result.
      
+
      PR #3704 allows behavior servers plugins to access and modify the action result.
      
 
      
 
      
 
      Smac Planner Debug Param Name Change
      
@@ -1223,7 +1223,7 @@ 
      Smac Planner On Approach to Goal Shortcutting Solutions
 
      
 
      Added GPS Waypoint Follower Server
      
-
      This PR 2814  adds the follow_gps_waypoints action server in nav2_waypoint_follower. This server accepts a set of GPS goals instead of cartesian goals and provides all the other functionalities available on nav2_waypoint_follower. A new tutorial demonstrating its functionality was also added on PR 70 on navigation2_tutorials and can be found on the General Tutorials directory on this website.
      
+
      This PR 2814  adds the follow_gps_waypoints action server in nav2_waypoint_follower. This server accepts a set of GPS goals instead of cartesian goals and provides all the other functionalities available on nav2_waypoint_follower. A new tutorial demonstrating its functionality was also added on PR 70 on navigation2_tutorials and can be found on the General Tutorials directory on this website.
      
 
      
 
      
 
      Smac Planner Hybrid-A* New Features
      
@@ -1231,16 +1231,16 @@ 
      Smac Planner Hybrid-A* New Features
 
      New node in nav2_collision_monitor: Collision Detector
      
-
      In this PR #3693 A new node was introduced in the nav2_collision_monitor: Collision Detector.
+
      In this PR #3693 A new node was introduced in the nav2_collision_monitor: Collision Detector.
 It works similarly to the Collision Monitor, but does not affect the robot’s velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the collision_detector_state topic that might be used by any external module (e.g. switching LED or sound alarm in case of collision).
      
 
      
 
      
 
      Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector
      
-
      In this PR #3825 we added the ability to dynamically enable/disable sources and polygons in the Collision Monitor/Detector.
      
+
      In this PR #3825 we added the ability to dynamically enable/disable sources and polygons in the Collision Monitor/Detector.
      
 
      
 
      
 
      Expose action server’s result timeout
      
-
      In this PR #3787 the timeout for action server’s result was exposed in all nodes having action servers.
+
      In this PR #3787 the timeout for action server’s result was exposed in all nodes having action servers.
 This is because in this PR #1012 in rcl a change was introduced which makes action servers discard a goal handle if the result
 is not produced within 10 seconds, when the default was set to 15 minutes before. Since some actions in Nav2 may take more than 10 seconds to complete, the user has now the ability
 to set this value through the action_server_result_timeout parameter, which defaults to 15 minutes in the bt_navigators and waypoint_follower and to 10 seconds in all other nodes.
      
@@ -1248,33 +1248,33 @@ 
      Expose action server’s result timeout
 
      RewrittenYaml could add new parameters to YAMLs
      
 
      Now RewrittenYaml widely used in Nav2 launch-scripts, could do not only substitutions of ROS-parameters existing in original YAML, but rather additions of new parameters, that did not exist in the YAML. Certainly, these parameters should be declared for target ROS-nodes, otherwise they won’t be processed in run-time. In such functionality, they should be expressed in absolute values, separated by a dot. For example, the rewrite for a prune_distance parameter of a FollowPath node will look like 'controller_server.ros__parameters.FollowPath.prune_distance': '1.0' in a param_rewrites dictionary of RewrittenYaml() argument.
-The change was intoroduced in the scope of PR #3785 fix.
      
+The change was intoroduced in the scope of PR #3785 fix.
      
 
      
 
      
 
      Simple Commander API Allows Multi-Robot Namespacing
      
-
      The Simple Navigator API now allows multi-robot namespacing by exposing a namespace field in the constructor to allow you to specify the Nav2 stacks’ namespace for a robot or system. See this PR for details.
      
+
      The Simple Navigator API now allows multi-robot namespacing by exposing a namespace field in the constructor to allow you to specify the Nav2 stacks’ namespace for a robot or system. See this PR for details.
      
 
      
 
      
 
      Change duration type in wait_action node
      
-
      In this PR #3871 the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action.
      
+
      In this PR #3871 the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action.
      
 
      
 
      
 
      The costmap activation fails when required transforms are not available
      
-
      In this PR #3866 the parameter initial_transform_timeout is added to the costmap. The activation of the costmap now fails,
+
      In this PR #3866 the parameter initial_transform_timeout is added to the costmap. The activation of the costmap now fails,
 if the transformation from the robot base frame to the global frame does not become available during this timeout.
      
 
      
 
      
 
      Subtrees Obtain Shared Resources
      
-
      PR #3911 gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc).
      
+
      PR #3911 gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc).
      
 
      
 
      
 
      Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior
      
-
      PR #3880 adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the source_timeout` parameter, or if impossible to transform data to base frame. source_timeout parameter can now be set per source: if source_timeout is not set for a source, the value of the node source_timeout parameter is used.
      
+
      PR #3880 adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the source_timeout` parameter, or if impossible to transform data to base frame. source_timeout parameter can now be set per source: if source_timeout is not set for a source, the value of the node source_timeout parameter is used.
      
 
      Additionally, this watchdog mechanism can be disabled by setting source_timeout: 0.0.
      
 
      
 
      
 
      BtActionServer: use native library haltTree()
      
-
      PR #3950 changes the method used by BehaviorTreeEngine::haltAllActions to halt the BT nodes to the bt.cpp native method haltTree().
      
+
      PR #3950 changes the method used by BehaviorTreeEngine::haltAllActions to halt the BT nodes to the bt.cpp native method haltTree().
      
 
      Before this change, only the active BT node was halted when finishing the action. After this change, all BT nodes halt() methods are called. This is very convenient to handle cleaning operation (switch off your lights when leaving) in halt().
      
 
      Also updated nav2_behavior_tree::BtActionServer::haltTree() to use the same. It is used nowhere in nav2 but is useful for external users (like me) that want for instance to halt the tree on preemption.
      
 
      
@@ -1284,7 +1284,7 @@ 
      Global Frame Removed from 2 BT Nodes
 
      Introduction of CostmapUpdate.msg
      
-
      PR #3965 introduces a new type of message - CostmapUpdate.msg. It is the update message related to the Costmap.msg. Now instead of sending the whole costmap in every message, such as with Costmap.msg, the CostmapUpdate.msg includes only the area of the costmap that has changed since the previous update message. The Costmap.msg is sent only once at the beginning, followed by the messages of the CostmapUpdate.msg type. The idea is to mimic the OccupancyGrid.msg and OccupancyGridUpdate.msg behavior.
      
+
      PR #3965 introduces a new type of message - CostmapUpdate.msg. It is the update message related to the Costmap.msg. Now instead of sending the whole costmap in every message, such as with Costmap.msg, the CostmapUpdate.msg includes only the area of the costmap that has changed since the previous update message. The Costmap.msg is sent only once at the beginning, followed by the messages of the CostmapUpdate.msg type. The idea is to mimic the OccupancyGrid.msg and OccupancyGridUpdate.msg behavior.
      
 
      To activate this feature, the Costmap2D ROS parameter always_send_full_costmap has to be set to false.
      
 
      To subscribe to Costmap.msg and CostmapUpdate.msg it is recommended to use the CostmapSubscriber class.
      
 
      
@@ -1294,7 +1294,7 @@ 
      Full Stack Uses Node Clocks
 
      New Graceful Motion Controller
      
-
      PR #4021 introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and comfortable trajectory.
      
+
      PR #4021 introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and comfortable trajectory.
      
 
      See Graceful Controller for more information.
      
 
      
 
      
@@ -1303,7 +1303,7 @@ 
      Plugin Libraries in BT Navigator Only Includes Custom Nodes
 
      New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers
      
-
      In PR #4091 a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly.
      
+
      In PR #4091 a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly.
      
 
      The primary goal of this plugin is to facilitate the developers and easy integration testing of their configuration before deploying the robot in the intended application.
      
 
      In order to facilitate the dynamic selection of the specified components, the BT selector nodes for all these components were utilized and were updated to all the relevant BT nodes.
      
 
      Here we can see the working demo of the plugin:
      
@@ -1317,14 +1317,14 @@ 
      New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress
 
      
 
      
 
      RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing
      
-
      In PR #4140 a new optional interpolate_curvature_after_goal parameter (default false) was added that activates the interpolation of a carrot after the goal in order to maintain a constant curvature lookahead distance. This is to avoid instabilities at the end of the path on the generation of the angular speed. The carrot used for the linear speed computation stays the same.
      
+
      In PR #4140 a new optional interpolate_curvature_after_goal parameter (default false) was added that activates the interpolation of a carrot after the goal in order to maintain a constant curvature lookahead distance. This is to avoid instabilities at the end of the path on the generation of the angular speed. The carrot used for the linear speed computation stays the same.
      
 
      Interpolation is based on the orientation of the vector formed by the last 2 poses of the path. Hence paths of length 1 are rejected when interpolate_curvature_after_goal is true. It can be used only when use_fixed_curvature_lookahead: true.
      
 ../_images/rpp_goal_lookahead_interpolate.gif
 
      Additionally, the conflict between use_rotate_to_heading and allow_reversing was fixed so use_rotate_to_heading can now be used backward.
      
 
      
 
      
 
      Cancel Checker Interface For GlobalPlanner
      
-
      PR #4148 introduces a new interface for the GlobalPlanner to allow for the cancellation of the current planning task.
+
      PR #4148 introduces a new interface for the GlobalPlanner to allow for the cancellation of the current planning task.
 Before the planners would continue to plan even if the goal was cancelled, now they can check it and stop planning if the goal is cancelled.
 New interface for GlobalPlanner::createPlan:
      
 
      virtual nav_msgs::msg::Path createPlan(
@@ -1338,15 +1338,15 @@ 
      Cancel Checker Interface For GlobalPlanner
 
      New BtActionServer/BtNavigator parameter
      
-
      PR #4209 introduces a new boolean parameter always_reload_bt_xml, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description.
      
+
      PR #4209 introduces a new boolean parameter always_reload_bt_xml, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description.
      
 
      
 
      
 
      New collision monitor parameter
      
-
      PR #4207 introduces a new boolean parameter polygon_subscribe_transient_local (value is false by default), which set the QoS durability for polygon topic or footprint topic subscription.
      
+
      PR #4207 introduces a new boolean parameter polygon_subscribe_transient_local (value is false by default), which set the QoS durability for polygon topic or footprint topic subscription.
      
 
      
 
      
 
      New graceful cancellation API for Controllers
      
-
      PR #4136 introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the RegulatedPurePursuitController by adding a new parameter cancel_deceleration. So when the goal is canceled, a constant deceleration will be used while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits.
      
+
      PR #4136 introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the RegulatedPurePursuitController by adding a new parameter cancel_deceleration. So when the goal is canceled, a constant deceleration will be used while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits.
      
 
      
 
      
 
      Standardization of Plugin Naming with Double Colons (::)
      
@@ -1360,19 +1360,19 @@ 
      Standardization of Plugin Naming with Double Colons (::)
 
      Collision monitor: dynamic radius for circle type polygons
      
-
      PR #4226 introduces usage of parameter <polygon_name>.polygon_sub_topic for circle type polygons. If parameter <polygon_name>.radius is not set, collision monitor node subscribes to topic <polygon_name>.polygon_sub_topic (subscription type is std_msgs/msg/Float32), and the current circle polygon radius will be updating accordingly to received messages on topic.
      
+
      PR #4226 introduces usage of parameter <polygon_name>.polygon_sub_topic for circle type polygons. If parameter <polygon_name>.radius is not set, collision monitor node subscribes to topic <polygon_name>.polygon_sub_topic (subscription type is std_msgs/msg/Float32), and the current circle polygon radius will be updating accordingly to received messages on topic.
      
 
      
 
      
 
      Static Layer: new parameter footprint_clearing_enabled
      
-
      PR #4282 introduces usage of parameter footprint_clearing_enabled for the static layer. It works similarly to the footprint_clearing_enabled parameter in the obstacle and voxel layer. If set to true, the static layer will clear the costmap cells that are within the robot’s footprint. It is false by default to keep the previous behavior.
      
+
      PR #4282 introduces usage of parameter footprint_clearing_enabled for the static layer. It works similarly to the footprint_clearing_enabled parameter in the obstacle and voxel layer. If set to true, the static layer will clear the costmap cells that are within the robot’s footprint. It is false by default to keep the previous behavior.
      
 
      
 
      
 
      Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)
      
-
      PR #4342 adds the parameter bond_heartbeat_period to the lifecycle nodes to customize the bond mechanism publishing period (on the /bond topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0.
      
+
      PR #4342 adds the parameter bond_heartbeat_period to the lifecycle nodes to customize the bond mechanism publishing period (on the /bond topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0.
      
 
      
 
      
 
      Rotation Shim Controller: new parameter rotate_to_goal_heading
      
-
      PR #4332 introduces usage of parameter rotate_to_goal_heading for the rotation shim controller. It allows the rotation shim controller to take back control when reaching the XY goal tolerance to perform a clean rotation towards the goal heading. Some controllers will do this internally, but it is a useful option for others.
      
+
      PR #4332 introduces usage of parameter rotate_to_goal_heading for the rotation shim controller. It allows the rotation shim controller to take back control when reaching the XY goal tolerance to perform a clean rotation towards the goal heading. Some controllers will do this internally, but it is a useful option for others.
      
 
      
 
      
 
      MPPI Controller: Addition of acceleration constraints
      
diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html
index 134b071c6..2ae76cb71 100644
--- a/plugin_tutorials/docs/writing_new_behavior_plugin.html
+++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html
@@ -1129,7 +1129,7 @@ 
      Tutorial Steps
      
 
      We will create a simple send sms behavior.
 It will use Twilio to send a message via SMS to a remote operations center.
-The code in this tutorial can be found in navigation_tutorials repository as nav2_sms_behavior.
+The code in this tutorial can be found in navigation_tutorials repository as nav2_sms_behavior.
 This package can be a considered as a reference for writing Behavior Plugin.
      
 
      Our example plugin implements the plugin class of nav2_core::Behavior.
 However, we have a nice wrapper for actions in nav2_behaviors, so we use the nav2_behaviors::TimedBehavior base class for this application instead.
diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html
index b2f1bfea3..64e714b5c 100644
--- a/plugin_tutorials/docs/writing_new_bt_plugin.html
+++ b/plugin_tutorials/docs/writing_new_bt_plugin.html
@@ -1127,7 +1127,7 @@ 
      1- Creating a new BT Pluginnav2_behavior_tree package, the wait node.
 Beyond this example of an action BT node, you can also create custom decorator, condition, and control nodes.
 Each node type has a unique role in the behavior tree to perform actions like planning, control the flow of the BT, check the status of a condition, or modify the output of other BT nodes.
      
-
      The code in this tutorial can be found in nav2_behavior_tree package as the wait_action node.
+
      The code in this tutorial can be found in nav2_behavior_tree package as the wait_action node.
 This action node can be considered as a reference for writing other action node plugins.
      
 
      Our example plugin inherits from the base class nav2_behavior_tree::BtActionNode.
 The base class is a wrapper on the BehaviorTree.CPP BT::ActionNodeBase that simplifies BT action nodes that utilize ROS 2 action clients.
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
index 3aa1bbfb2..fc7d75fd6 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
+++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
@@ -1120,7 +1120,7 @@ 
      Tutorial Steps
 
      1- Write a new Costmap2D plugin
      
 
      For a demonstration, this example will create a costmap plugin that puts repeating cost gradients in the costmap.
-The annotated code for this tutorial can be found in navigation2_tutorials repository as the nav2_gradient_costmap_plugin ROS 2-package.
+The annotated code for this tutorial can be found in navigation2_tutorials repository as the nav2_gradient_costmap_plugin ROS 2-package.
 Please refer to it when making your own layer plugin for Costmap2D.
      
 
      The plugin class nav2_gradient_costmap_plugin::GradientLayer is inherited from basic class nav2_costmap_2d::Layer:
      
 
      namespace nav2_gradient_costmap_plugin
diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
index c6ad529ff..4fa443fa4 100644
--- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
@@ -1112,7 +1112,7 @@ 
      Overviewpaper.
 It is recommended you go through it.
      
 
      Note: This tutorial is based on a previously existing simplified version of the Regulated Pure Pursuit controller now in the Nav2 stack.
-You can find the source code matching this tutorial here.
      
+You can find the source code matching this tutorial here.
      
 
      
 
      
 
      Requirements
      
@@ -1127,7 +1127,7 @@ 
      Requirements
      
 
      
 
      1- Create a new Controller Plugin
      
-
      We will be implementing the pure pursuit controller. The annotated code in this tutorial can be found in navigation_tutorials repository
+
      We will be implementing the pure pursuit controller. The annotated code in this tutorial can be found in navigation_tutorials repository
 as the nav2_pure_pursuit_controller. This package can be considered as a reference for writing your own controller plugin.
      
 
      Our example plugin class nav2_pure_pursuit_controller::PurePursuitController inherits from the base class nav2_core::Controller. The base class provides a
 set of virtual methods to implement a controller plugin. These methods are called at runtime by the controller server to compute velocity commands.
diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
index 06746a4f4..47ffd0790 100644
--- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
@@ -1124,7 +1124,7 @@ 
      Tutorial Steps
 
      1- Creating a new Planner Plugin
      
 
      We will create a simple straight-line planner.
-The annotated code in this tutorial can be found in navigation_tutorials repository as the nav2_straightline_planner.
+The annotated code in this tutorial can be found in navigation_tutorials repository as the nav2_straightline_planner.
 This package can be considered as a reference for writing planner plugin.
      
 
      Our example plugin inherits from the base class nav2_core::GlobalPlanner. The base class provides 5 pure virtual methods to implement a planner plugin. The plugin will be used by the planner server to compute trajectories.
 Let’s learn more about the methods needed to write a planner plugin.
      
diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html
index 70b254011..629bc8f4d 100644
--- a/plugin_tutorials/docs/writing_new_navigator_plugin.html
+++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html
@@ -1124,7 +1124,7 @@ 
      Requirements
      
 
      
 
      1- Create a new Navigator Plugin
      
-
      We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in Nav2’s BT Navigator package as the NavigateToPoseNavigator. This package can be considered as a reference for writing your own plugin.
      
+
      We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in Nav2’s BT Navigator package as the NavigateToPoseNavigator. This package can be considered as a reference for writing your own plugin.
      
 
      Our example plugin class nav2_bt_navigator::NavigateToPoseNavigator inherits from the base class nav2_core::BehaviorTreeNavigator. The base class provides a set of virtual methods to implement a navigator plugin. These methods are called at runtime by the BT Navigator server or as a response to ROS 2 actions to process a navigation request.
      
 
      Note that this class has itself a base class of NavigatorBase. This class is to provide a non-templated base-class for use in loading the plugins into vectors for storage and calls for basic state transition in the lifecycle node. Its members (e.g. on_XYZ) are implemented for you in BehaviorTreeNavigator and marked as final so they are not possible to be overridden by the user. The API that you will be implementing for your navigator are the virtual methods within BehaviorTreeNavigator, not NavigatorBase. These on_XYZ APIs are implemented in necessary functions in BehaviorTreeNavigator to handle boilerplate logic regarding the behavior tree and action server to minimize code duplication across the navigator implementations (e.g. on_configure will create the action server, register callbacks, populate the blackboard with some necessary basic information, and then call a user-defined configure function for any additional user-specific needs).
      
 
      The list of methods, their descriptions, and necessity are presented in the table below:
      
diff --git a/plugins/index.html b/plugins/index.html
index 04039c285..444429522 100644
--- a/plugins/index.html
+++ b/plugins/index.html
@@ -1120,12 +1120,12 @@ 
      Behavior-Tree Navigators
      
+
-
+
@@ -1153,31 +1153,31 @@ 
      Costmap Layers
      
+
-
+
-
+
-
+
-
+
+
-
+
-
+
@@ -1241,10 +1241,10 @@ 
      Costmap Filters
      NavigateToPoseNavigator
      NavigateToPoseNavigator
      		
 
      Steve Macenski
      		
 
      Point-to-point navigation via a
 behavior tree action server
      		
 
      NavigateThroughPosesNavigator
      NavigateThroughPosesNavigator
      		
 
      Steve Macenski
      		
 
      Point-through-points navigation
 via a behavior tree action server
      Voxel Layer
      Voxel Layer
      		
 
      Eitan Marder-Eppstein
      		
 
      Maintains persistent
 3D voxel layer using depth and
 laser sensor readings and
 raycasting to clear free space
      		
 
      Range Layer
      Range Layer
      		
 
      David Lu
      		
 
      Uses a probabilistic model to
 put data from sensors that
 publish range msgs on the costmap
      		
 
      Static Layer
      Static Layer
      		
 
      Eitan Marder-Eppstein
      		
 
      Gets static map and loads
 occupancy information into
 costmap
      		
 
      Inflation Layer
      Inflation Layer
      		
 
      Eitan Marder-Eppstein
      		
 
      Inflates lethal obstacles in
 costmap with exponential decay
      		
 
      Obstacle Layer
      Obstacle Layer
      		
 
      Eitan Marder-Eppstein
      		
 
      Maintains persistent 2D costmap
 from 2D laser scans with
@@ -1219,17 +1219,17 @@ 
      Costmap Filters
      Keepout Filter
      Keepout Filter
      		
 
      Alexey Merzlyakov
      		
 
      Maintains keep-out/safety zones
 and preferred lanes for moving
      		
 
      Speed Filter
      Speed Filter
      		
 
      Alexey Merzlyakov
      		
 
      Limits maximum velocity of robot
 in speed restriction areas
      		
 
      Binary Filter
      Binary Filter
      		
 
      Alexey Merzlyakov
      		
 
      Enables binary (boolean) mask
 behavior to trigger actions.
      		
 
      ----++++
@@ -1254,7 +1254,7 @@ 
      Controllers
      
+
+
+
+
+
-
-
-
-
-
      
 








 
 
 
      Plugin Name
      DWB Controller
      DWB Controller
      		
 
      David Lu!!
      		
 
      A highly configurable  DWA
 implementation with plugin
@@ -1272,7 +1272,7 @@ 
      Controllers
      Regulated Pure Pursuit
      Regulated Pure Pursuit
      		
 
      Steve Macenski
      		
 
      A service / industrial robot
 variation on the pure pursuit
@@ -1280,7 +1280,7 @@ 
      Controllers
      MPPI Controller
      MPPI Controller
      		
 
      Steve Macenski
 Aleksei Budyakov
      		
 
      A predictive MPC controller with
@@ -1289,7 +1289,7 @@ 
      Controllers
      Rotation Shim Controller
      Rotation Shim Controller
      		
 
      Steve Macenski
      		
 
      A “shim” controller to rotate
 to path heading before passing
@@ -1297,21 +1297,13 @@ 
      Controllers
      Graceful Controller
      Graceful Controller
      		
 
      Alberto Tudela
      		
 
      A controller based on a
 pose-following control law to
 generate smooth trajectories.
      		
 
      Differential
      		
 
      Vector Pursuit Controller
      Black Coffee Robotics
      A controller based on the vector
-pursuit algorithm useful for
-high speed accurate path tracking.
      Differential,
-Ackermann, Legged,
      
 
 
      
 
      
@@ -1332,7 +1324,7 @@ 
      Planners
      NavFn Planner
      
+
      NavFn Planner
      
 
      Eitan Marder-Eppstein & Kurt Konolige
      
 
      A navigation function
 using A* or Dijkstras
@@ -1343,7 +1335,7 @@ 
      Planners
      
-
      SmacPlannerHybrid
      (formerly SmacPlanner)
      
+
      SmacPlannerHybrid
      (formerly SmacPlanner)
      
 
      
 
      
 
@@ -1361,7 +1353,7 @@ 
      Planners
      SmacPlanner2D
      
+
      SmacPlanner2D
      
 
      Steve Macenski
      
 
      A 2D A* implementation
 Using either 4 or 8
@@ -1372,7 +1364,7 @@ 
      Planners
      SmacPlannerLattice
      
+
      SmacPlannerLattice
      
 
      Steve Macenski
      
 
      An implementation of State
 Lattice Planner using
@@ -1389,7 +1381,7 @@ 
      Planners
      ThetaStarPlanner
      
+
      ThetaStarPlanner
      
 
      Anshumaan Singh
      
 
      An implementation of Theta*
 using either 4 or 8
@@ -1417,13 +1409,13 @@ 
      Smoothers
      Simple Smoother
      
+
      Simple Smoother
      
 
      Steve Macenski
      
 
      A simple path smoother for
 infeasible (e.g. 2D)
 planners
      
 
-
      Constrained Smoother
      
+
      Constrained Smoother
      
 
      Matej Vargovcik & Steve Macenski
      
 
      A path smoother using a
 constraints problem solver
@@ -1433,7 +1425,7 @@ 
      Smoothers
      Savitzky-Golay Smoother
      
+
      Savitzky-Golay Smoother
      
 
      Steve Macenski
      
 
      A path smoother using a
 Savitzky-Golay filter
@@ -1460,39 +1452,39 @@ 
      Behaviors
      Clear Costmap
      
+
      Clear Costmap
      
 
      Eitan Marder-Eppstein
      
 
      A service to clear the given
 costmap in case of incorrect
 perception or robot is stuck
      
 
-
      Spin
      
+
      Spin
      
 
      Steve Macenski
      
 
      Rotate behavior of configurable
 angles to clear out free space
 and nudge robot out of potential
 local failures
      
 
-
      Back Up
      
+
      Back Up
      
 
      Brian Wilcox
      
 
      Back up behavior of configurable
 distance to back out of a
 situation where the robot is
 stuck
      
 
-
      Wait
      
+
      Wait
      
 
      Steve Macenski
      
 
      Wait behavior with configurable
 time to wait in case of time
 based obstacle like human traffic
 or getting more sensor data
      
 
-
      Drive On Heading
      
+
      Drive On Heading
      
 
      Joshua Wallace
      
 
      Drive on heading behavior with
 configurable distance to drive
      
 
-
      Assisted Teleop
      
+
      Assisted Teleop
      
 
      Joshua Wallace
      
 
      AssistedTeleop behavior that
 scales teleop commands to
@@ -1516,19 +1508,19 @@ 
      Waypoint Task Executors
 
 
-
      WaitAtWaypoint
      
+
      WaitAtWaypoint
      
 
      Fetullah Atas
      
 
      A plugin to execute a wait
 behavior  on
 waypoint arrivals.
      
 
-
      PhotoAtWaypoint
      
+
      PhotoAtWaypoint
      
 
      Fetullah Atas
      
 
      A plugin to take and save photos
 to specified directory on
 waypoint arrivals.
      
 
-
      InputAtWaypoint
      
+
      InputAtWaypoint
      
 
      Steve Macenski
      
 
      A plugin to wait for user input
 before moving onto the next
@@ -1552,13 +1544,13 @@ 
      Goal Checkers
      SimpleGoalChecker
      
+
      SimpleGoalChecker
      
 
      David Lu!!
      
 
      A plugin check whether robot
 is within translational distance
 and rotational distance of goal.
      
 
-
      StoppedGoalChecker
      
+
      StoppedGoalChecker
      
 
      David Lu!!
      
 
      A plugin check whether robot
 is within translational distance
@@ -1583,14 +1575,14 @@ 
      Progress Checkers
      SimpleProgressChecker
      
+
      SimpleProgressChecker
      
 
      David Lu!!
      
 
      A plugin to check whether the
 robot was able to move a minimum
 distance in a given time to
 make progress towards a goal
      
 
-
      PoseProgressChecker
      
+
      PoseProgressChecker
      
 
      Guillaume Doisy
      
 
      A plugin to check whether the
 robot was able to move a minimum
@@ -1615,43 +1607,43 @@ 
      Behavior Tree Nodes
      Back Up Action
      
+
      Back Up Action
      
 
      Michael Jeronimo
      
 
      Calls backup behavior action
      
 
-
      Drive On Heading Action
      
+
      Drive On Heading Action
      
 
      Joshua Wallace
      
 
      Calls drive on heading behavior action
      
 
-
      Assisted Teleop Action
      
+
      Assisted Teleop Action
      
 
      Joshua Wallace
      
 
      Calls assisted teleop behavior action
      
 
-
      Clear Entire Costmap Service
      
+
      Clear Entire Costmap Service
      
 
      Carl Delsey
      
 
      Calls clear entire costmap service
      
 
-
      Clear Costmap Except Region Service
      
+
      Clear Costmap Except Region Service
      
 
      Guillaume Doisy
      
 
      Calls clear costmap except region service
      
 
-
      Clear Costmap Around Robot Service
      
+
      Clear Costmap Around Robot Service
      
 
      Guillaume Doisy
      
 
      Calls clear costmap around robot service
      
 
-
      Compute Path to Pose Action
      
+
      Compute Path to Pose Action
      
 
      Michael Jeronimo
      
 
      Calls Nav2 planner server
      
 
-
      Smooth Path Action
      
+
      Smooth Path Action
      
 
      Matej Vargovcik
      
 
      Calls Nav2 smoother server
      
 
-
      Follow Path Action
      
+
      Follow Path Action
      
 
      Michael Jeronimo
      
 
      Calls Nav2 controller server
      
 
-
      Navigate to Pose Action
      
+
      Navigate to Pose Action
      
 
      Michael Jeronimo
      
 
      BT Node for other
 BehaviorTree.CPP BTs to call
@@ -1661,95 +1653,95 @@ 
      Behavior Tree Nodes
      Spin Action
      
+
      Spin Action
      
 
      Carl Delsey
      
 
      Calls spin behavior action
      
 
-
      Wait Action
      
+
      Wait Action
      
 
      Steve Macenski
      
 
      Calls wait behavior action
      
 
-
      Truncate Path
      
+
      Truncate Path
      
 
      Francisco Martín
      
 
      Modifies a path making it shorter
      
 
-
      Truncate Path Local
      
+
      Truncate Path Local
      
 
      Matej Vargovcik
      
 
      Extracts a path section around robot
      
 
-
      Planner Selector
      
+
      Planner Selector
      
 
      Pablo Iñigo Blasco
      
 
      Selects the global planner based on a
 topic input, otherwises uses a default
 planner id
      
 
-
      Controller Selector
      
+
      Controller Selector
      
 
      Pablo Iñigo Blasco
      
 
      Selects the controller based on a
 topic input, otherwises uses a default
 controller id
      
 
-
      Goal Checker Selector
      
+
      Goal Checker Selector
      
 
      Pablo Iñigo Blasco
      
 
      Selects the goal checker based on a
 topic input, otherwises uses a default
 goal checker id
      
 
-
      Smoother Selector
      
+
      Smoother Selector
      
 
      Owen Hooper
      
 
      Selects the smoother based on a
 topic input, otherwises uses a default
 smoother id
      
 
-
      Progress Checker Selector
      
+
      Progress Checker Selector
      
 
      Steve Macenski
      
 
      Selects the progress checker based on a
 topic input, otherwises uses a default
 progress checker id
      
 
-
      Navigate Through Poses
      
+
      Navigate Through Poses
      
 
      Steve Macenski
      
 
      BT Node for other BehaviorTree.CPP BTs
 to call Nav2’s NavThroughPoses action
      
 
-
      Remove Passed Goals
      
+
      Remove Passed Goals
      
 
      Steve Macenski
      
 
      Removes goal poses passed or within a
 tolerance for culling old viapoints from
 path re-planning
      
 
-
      Remove In Collision Goals
      
+
      Remove In Collision Goals
      
 
      Tony Najjar
      
 
      Removes goal poses that have a footprint
 or point cost above a threshold.
      
 
-
      Compute Path Through Poses
      
+
      Compute Path Through Poses
      
 
      Steve Macenski
      
 
      Computes a path through a set of poses
 rather than a single end goal pose
 using the planner plugin specified
      
 
-
      Cancel Control Action
      
+
      Cancel Control Action
      
 
      Pradheep Padmanabhan
      
 
      Cancels Nav2 controller server
      
 
-
      Cancel BackUp Action
      
+
      Cancel BackUp Action
      
 
      Pradheep Padmanabhan
      
 
      Cancels backup behavior action
      
 
-
      Cancel Spin Action
      
+
      Cancel Spin Action
      
 
      Pradheep Padmanabhan
      
 
      Cancels spin behavior action
      
 
-
      Cancel Wait Action
      
+
      Cancel Wait Action
      
 
      Pradheep Padmanabhan
      
 
      Cancels wait behavior action
      
 
-
      Cancel Drive on Heading Action
      
+
      Cancel Drive on Heading Action
      
 
      Joshua Wallace
      
 
      Cancels drive on heading behavior action
      
 
-
      Cancel Assisted Teleop Action
      
+
      Cancel Assisted Teleop Action
      
 
      Joshua Wallace
      
 
      Cancels assisted teleop behavior action
      
 
@@ -1788,12 +1780,12 @@ 
      Behavior Tree Nodes
      Goal Reached Condition
      
+
      Goal Reached Condition
      
 
      Carl Delsey
      
 
      Checks if goal is
 reached within tol.
      
 
-
      Goal Updated Condition
      
+
      Goal Updated Condition
      
 
      Aitor Miguel Blanco
      
 
      Checks if goal is
 preempted.
      
@@ -1804,18 +1796,18 @@ 
      Behavior Tree Nodes
      Initial Pose received Condition
      
+
      Initial Pose received Condition
      
 
      Carl Delsey
      
 
      Checks if initial pose
 has been set
      
 
-
      Is Stuck Condition
      
+
      Is Stuck Condition
      
 
      Michael Jeronimo
      
 
      Checks if robot is
 making progress or
 stuck
      
 
-
      Transform Available Condition
      
+
      Transform Available Condition
      
 
      Steve Macenski
      
 
      Checks if a TF
 transformation is
@@ -1824,19 +1816,19 @@ 
      Behavior Tree Nodes
      Distance Traveled Condition
      
+
      Distance Traveled Condition
      
 
      Sarthak Mittal
      
 
      Checks is robot has
 traveled a given
 distance.
      
 
-
      Time Expired Condition
      
+
      Time Expired Condition
      
 
      Sarthak Mittal
      
 
      Checks if a given
 time period has
 passed.
      
 
-
      Is Battery Low Condition
      
+
      Is Battery Low Condition
      
 
      Sarthak Mittal
      
 
      Checks if battery
 percentage is below
@@ -1850,41 +1842,41 @@ 
      Behavior Tree Nodes
      Path Expiring Timer
      
+
      Path Expiring Timer
      
 
      Joshua Wallace
      
 
      Checks if the timer has
 expired. The timer is
 reset if the path gets
 updated.
      
 
-
      Are Error Codes Present
      
+
      Are Error Codes Present
      
 
      Joshua Wallace
      
 
      Checks if the specified
 error codes are
 present.
      
 
-
      Would A Controller Recovery Help
      
+
      Would A Controller Recovery Help
      
 
      Joshua Wallace
      
 
      Checks if a controller
 recovery could help
 clear the controller
 server error code.
      
 
-
      Would A Planner Recovery Help
      
+
      Would A Planner Recovery Help
      
 
      Joshua Wallace
      
 
      Checks if a planner
 recovery could help
 clear the planner
 server error code.
      
 
-
      Would A Smoother Recovery Help
      
+
      Would A Smoother Recovery Help
      
 
      Joshua Wallace
      
 
      Checks if a Smoother
 recovery could help
 clear the smoother
 server error code.
      
 
-
      Is Battery Charging Condition
      
+
      Is Battery Charging Condition
      
 
      Alberto Tudela
      
 
      Checks if the battery
 is charging.
      
@@ -1904,32 +1896,32 @@ 
      Behavior Tree Nodes
      Rate Controller
      
+
      Rate Controller
      
 
      Michael Jeronimo
      
 
      Throttles child node to a given
 rate
      
 
-
      Distance Controller
      
+
      Distance Controller
      
 
      Sarthak Mittal
      
 
      Ticks child node based on the
 distance traveled by the robot
      
 
-
      Speed Controller
      
+
      Speed Controller
      
 
      Sarthak Mittal
      
 
      Throttles child node to a rate
 based on current robot speed.
      
 
-
      Goal Updater
      
+
      Goal Updater
      
 
      Francisco Martín
      
 
      Updates the goal received via
 topic subscription.
      
 
-
      Single Trigger
      
+
      Single Trigger
      
 
      Steve Macenski
      
 
      Triggers nodes/subtrees below
 only a single time per BT run.
      
 
-
      PathLongerOnApproach
      
+
      PathLongerOnApproach
      
 
      Pradheep Padmanabhan
      
 
      Triggers child nodes if the new
 global path is significantly
@@ -1951,13 +1943,13 @@ 
      Behavior Tree Nodes
      Pipeline Sequence
      
+
      Pipeline Sequence
      
 
      Carl Delsey
      
 
      A variant of a sequence node that
 will re-tick previous children
 even if another child is running
      
 
-
      Recovery
      
+
      Recovery
      
 
      Carl Delsey
      
 
      Node must contain 2 children
 and returns success if first
@@ -1966,7 +1958,7 @@ 
      Behavior Tree Nodes
      Round Robin
      
+
      Round Robin
      
 
      Mohammad Haghighipanah
      
 
      Will tick i th child until
 a result and move on to i+1
      
diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html
index 6c16e4eeb..805ff0ef3 100644
--- a/roadmap/roadmap.html
+++ b/roadmap/roadmap.html
@@ -1111,7 +1111,7 @@ 
      Jazzy Roadmap
 
 
-
      Smac Planner Improvements
      
+
      Smac Planner Improvements
      
 
      Large (DONE)
      
 
 
      Get CI Green Again
      
@@ -1120,13 +1120,13 @@ 
      Jazzy Roadmap
      Various MPPI Improvements
      
 
      Medium (DONE)
      
 
-
      Fuse Migration
      
+
      Fuse Migration
      
 
      Medium  (incomplete)
      
 
-
      Ignition Migration
      
+
      Ignition Migration
      
 
      Medium (DONE)
      
 
-
      Route Graph Planner
      
+
      Route Graph Planner
      
 
      Large (in progress)
      
 
 
      Provide Advanced Capabilities
@@ -1162,19 +1162,19 @@ 
      Iron Roadmap
      Pluginize Navigators
      
+
      Pluginize Navigators
      
 
      Medium  (DONE)
      
 
-
      MPPI Controller
      
+
      MPPI Controller
      
 
      Very Large (DONE)
      
 
-
      Route Graph Planner
      
+
      Route Graph Planner
      
 
      Large (incomplete)
      
 
 
      90% unit test coverage
      
 
      Small  (DONE)
      
 
-
      Velocity Smoother
      
+
      Velocity Smoother
      
 
      Medium (DONE)
      
 
 
      ROS Time Respect Across Stack
      
@@ -1196,32 +1196,32 @@ 
      Humble Roadmap
      Nav2 1 Node Per Server
      
+
      Nav2 1 Node Per Server
      
 
      Medium  (DONE)
      
 
-
      Smac Lattice Planner
      
+
      Smac Lattice Planner
      
 
      Large (DONE)
      
 
-
      Safety Collision Nodes
      
+
      Safety Collision Nodes
      
 
      Medium (DONE)
      
 
-
      Fix Min Range Bug
      
+
      Fix Min Range Bug
      
 
      Small  (DONE)
      
 
-
      Move Development
+
      Move Development
 from Master to Rolling
      
 
      Small (DONE)
      
 
 
      Push Test Coverage to 88%
      
 
      Medium (DONE)
      
 
-
      Complete First Time Guide
      
+
      Complete First Time Guide
      
 
      Medium (DONE)
      
 
-
      Rotation Shim Controller
      
+
      Rotation Shim Controller
      
 
      Small (DONE)
      
 
-
      Dynamic Composition
      
+
      Dynamic Composition
      
 
      Medium (DONE)
      
 
 
diff --git a/searchindex.js b/searchindex.js
index ff3c96242..c3e662544 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["2021summerOfCode/Summer_2021_Student_Program", "2021summerOfCode/projects/assisted_teleop", "2021summerOfCode/projects/create_configuration_assistant", "2021summerOfCode/projects/create_plugins", "2021summerOfCode/projects/dynamic", "2021summerOfCode/projects/grid_maps", "2021summerOfCode/projects/localization", "2021summerOfCode/projects/multithreading", "2021summerOfCode/projects/navigation_rebranding", "2021summerOfCode/projects/safety_node", "2021summerOfCode/projects/semantics", "2021summerOfCode/projects/spinners", "2021summerOfCode/projects/testing", "2021summerOfCode/projects/twist_n_config", "about/index", "about/related_projects", "about/robots", "behavior_trees/index", "behavior_trees/overview/detailed_behavior_tree_walkthrough", "behavior_trees/overview/nav2_specific_nodes", "behavior_trees/trees/follow_point", "behavior_trees/trees/nav_through_poses_recovery", "behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle", "behavior_trees/trees/nav_to_pose_recovery", "behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid", "behavior_trees/trees/odometry_calibration", "commander_api/index", "concepts/index", "configuration/index", "configuration/packages/bt-plugins/actions/AssistedTeleop", "configuration/packages/bt-plugins/actions/BackUp", "configuration/packages/bt-plugins/actions/CancelAssistedTeleop", "configuration/packages/bt-plugins/actions/CancelBackUp", "configuration/packages/bt-plugins/actions/CancelControl", "configuration/packages/bt-plugins/actions/CancelCoverage", "configuration/packages/bt-plugins/actions/CancelDriveOnHeading", "configuration/packages/bt-plugins/actions/CancelSpin", "configuration/packages/bt-plugins/actions/CancelWait", "configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot", "configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion", "configuration/packages/bt-plugins/actions/ClearEntireCostmap", "configuration/packages/bt-plugins/actions/ComputeCoveragePath", "configuration/packages/bt-plugins/actions/ComputePathThroughPoses", "configuration/packages/bt-plugins/actions/ComputePathToPose", "configuration/packages/bt-plugins/actions/ControllerSelector", "configuration/packages/bt-plugins/actions/DockRobot", "configuration/packages/bt-plugins/actions/DriveOnHeading", "configuration/packages/bt-plugins/actions/FollowPath", "configuration/packages/bt-plugins/actions/GetPoseFromPath", "configuration/packages/bt-plugins/actions/GoalCheckerSelector", "configuration/packages/bt-plugins/actions/NavigateThroughPoses", "configuration/packages/bt-plugins/actions/NavigateToPose", "configuration/packages/bt-plugins/actions/PlannerSelector", "configuration/packages/bt-plugins/actions/ProgressCheckerSelector", "configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization", "configuration/packages/bt-plugins/actions/RemoveInCollisionGoals", "configuration/packages/bt-plugins/actions/RemovePassedGoals", "configuration/packages/bt-plugins/actions/Smooth", "configuration/packages/bt-plugins/actions/SmootherSelector", "configuration/packages/bt-plugins/actions/Spin", "configuration/packages/bt-plugins/actions/TruncatePath", "configuration/packages/bt-plugins/actions/TruncatePathLocal", "configuration/packages/bt-plugins/actions/UndockRobot", "configuration/packages/bt-plugins/actions/Wait", "configuration/packages/bt-plugins/conditions/AreErrorCodesPresent", "configuration/packages/bt-plugins/conditions/DistanceTraveled", "configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal", "configuration/packages/bt-plugins/conditions/GoalReached", "configuration/packages/bt-plugins/conditions/GoalUpdated", "configuration/packages/bt-plugins/conditions/InitialPoseReceived", "configuration/packages/bt-plugins/conditions/IsBatteryCharging", "configuration/packages/bt-plugins/conditions/IsBatteryLow", "configuration/packages/bt-plugins/conditions/IsPathValid", "configuration/packages/bt-plugins/conditions/IsStuck", "configuration/packages/bt-plugins/conditions/PathExpiringTimer", "configuration/packages/bt-plugins/conditions/TimeExpired", "configuration/packages/bt-plugins/conditions/TransformAvailable", "configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp", "configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp", "configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp", "configuration/packages/bt-plugins/controls/PipelineSequence", "configuration/packages/bt-plugins/controls/RecoveryNode", "configuration/packages/bt-plugins/controls/RoundRobin", "configuration/packages/bt-plugins/decorators/DistanceController", "configuration/packages/bt-plugins/decorators/GoalUpdater", "configuration/packages/bt-plugins/decorators/PathLongerOnApproach", "configuration/packages/bt-plugins/decorators/RateController", "configuration/packages/bt-plugins/decorators/SingleTrigger", "configuration/packages/bt-plugins/decorators/SpeedController", "configuration/packages/collision_monitor/configuring-collision-detector-node", "configuration/packages/collision_monitor/configuring-collision-monitor-node", "configuration/packages/configuring-amcl", "configuration/packages/configuring-behavior-server", "configuration/packages/configuring-bt-navigator", "configuration/packages/configuring-bt-xml", "configuration/packages/configuring-collision-monitor", "configuration/packages/configuring-constrained-smoother", "configuration/packages/configuring-controller-server", "configuration/packages/configuring-costmaps", "configuration/packages/configuring-coverage-server", "configuration/packages/configuring-docking-server", "configuration/packages/configuring-dwb-controller", "configuration/packages/configuring-graceful-motion-controller", "configuration/packages/configuring-lifecycle", "configuration/packages/configuring-loopback-sim", "configuration/packages/configuring-map-server", "configuration/packages/configuring-mppic", "configuration/packages/configuring-navfn", "configuration/packages/configuring-planner-server", "configuration/packages/configuring-regulated-pp", "configuration/packages/configuring-rotation-shim-controller", "configuration/packages/configuring-savitzky-golay-smoother", "configuration/packages/configuring-simple-smoother", "configuration/packages/configuring-smac-planner", "configuration/packages/configuring-smoother-server", "configuration/packages/configuring-thetastar", "configuration/packages/configuring-velocity-smoother", "configuration/packages/configuring-waypoint-follower", "configuration/packages/costmap-plugins/binary_filter", "configuration/packages/costmap-plugins/denoise", "configuration/packages/costmap-plugins/inflation", "configuration/packages/costmap-plugins/keepout_filter", "configuration/packages/costmap-plugins/obstacle", "configuration/packages/costmap-plugins/range", "configuration/packages/costmap-plugins/speed_filter", "configuration/packages/costmap-plugins/static", "configuration/packages/costmap-plugins/voxel", "configuration/packages/dwb-params/controller", "configuration/packages/dwb-params/iterator", "configuration/packages/dwb-params/kinematic", "configuration/packages/dwb-params/visualization", "configuration/packages/dwb-plugins/limited_accel_generator", "configuration/packages/dwb-plugins/standard_traj_generator", "configuration/packages/nav2_controller-plugins/pose_progress_checker", "configuration/packages/nav2_controller-plugins/simple_goal_checker", "configuration/packages/nav2_controller-plugins/simple_progress_checker", "configuration/packages/nav2_controller-plugins/stopped_goal_checker", "configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint", "configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint", "configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint", "configuration/packages/smac/configuring-smac-2d", "configuration/packages/smac/configuring-smac-hybrid", "configuration/packages/smac/configuring-smac-lattice", "configuration/packages/trajectory_critics/base_obstacle", "configuration/packages/trajectory_critics/goal_align", "configuration/packages/trajectory_critics/goal_dist", "configuration/packages/trajectory_critics/obstacle_footprint", "configuration/packages/trajectory_critics/oscillation", "configuration/packages/trajectory_critics/path_align", "configuration/packages/trajectory_critics/path_dist", "configuration/packages/trajectory_critics/prefer_forward", "configuration/packages/trajectory_critics/rotate_to_goal", "configuration/packages/trajectory_critics/twirling", "development_guides/build_docs/build_troubleshooting_guide", "development_guides/build_docs/index", "development_guides/devcontainer_docs/devcontainer_guide", "development_guides/devcontainer_docs/index", "development_guides/index", "development_guides/involvement_docs/index", "getting_started/index", "index", "migration/Dashing", "migration/Eloquent", "migration/Foxy", "migration/Galactic", "migration/Humble", "migration/Iron", "migration/Jazzy", "migration/index", "plugin_tutorials/docs/writing_new_behavior_plugin", "plugin_tutorials/docs/writing_new_bt_plugin", "plugin_tutorials/docs/writing_new_costmap2d_plugin", "plugin_tutorials/docs/writing_new_nav2controller_plugin", "plugin_tutorials/docs/writing_new_nav2planner_plugin", "plugin_tutorials/docs/writing_new_navigator_plugin", "plugin_tutorials/index", "plugins/index", "roadmap/roadmap", "setup_guides/algorithm/select_algorithm", "setup_guides/footprint/setup_footprint", "setup_guides/index", "setup_guides/odom/setup_odom", "setup_guides/sensors/setup_sensors", "setup_guides/transformation/setup_transforms", "setup_guides/urdf/setup_urdf", "tuning/index", "tutorials/docs/adding_a_nav2_task_server", "tutorials/docs/adding_smoother", "tutorials/docs/camera_calibration", "tutorials/docs/docker_dev", "tutorials/docs/filtering_of_noise-induced_obstacles", "tutorials/docs/get_backtrace", "tutorials/docs/get_profile", "tutorials/docs/integrating_vio", "tutorials/docs/navigation2_dynamic_point_following", "tutorials/docs/navigation2_on_real_turtlebot3", "tutorials/docs/navigation2_with_gps", "tutorials/docs/navigation2_with_keepout_filter", "tutorials/docs/navigation2_with_slam", "tutorials/docs/navigation2_with_speed_filter", "tutorials/docs/navigation2_with_stvl", "tutorials/docs/using_collision_monitor", "tutorials/docs/using_docking", "tutorials/docs/using_groot", "tutorials/docs/using_shim_controller", "tutorials/index"], "filenames": ["2021summerOfCode/Summer_2021_Student_Program.rst", "2021summerOfCode/projects/assisted_teleop.rst", "2021summerOfCode/projects/create_configuration_assistant.rst", "2021summerOfCode/projects/create_plugins.rst", "2021summerOfCode/projects/dynamic.rst", "2021summerOfCode/projects/grid_maps.rst", "2021summerOfCode/projects/localization.rst", "2021summerOfCode/projects/multithreading.rst", "2021summerOfCode/projects/navigation_rebranding.rst", "2021summerOfCode/projects/safety_node.rst", "2021summerOfCode/projects/semantics.rst", "2021summerOfCode/projects/spinners.rst", "2021summerOfCode/projects/testing.rst", "2021summerOfCode/projects/twist_n_config.rst", "about/index.rst", "about/related_projects.rst", "about/robots.rst", "behavior_trees/index.rst", "behavior_trees/overview/detailed_behavior_tree_walkthrough.rst", "behavior_trees/overview/nav2_specific_nodes.rst", "behavior_trees/trees/follow_point.rst", "behavior_trees/trees/nav_through_poses_recovery.rst", "behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst", "behavior_trees/trees/nav_to_pose_recovery.rst", "behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst", "behavior_trees/trees/odometry_calibration.rst", "commander_api/index.rst", "concepts/index.rst", "configuration/index.rst", "configuration/packages/bt-plugins/actions/AssistedTeleop.rst", "configuration/packages/bt-plugins/actions/BackUp.rst", "configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst", "configuration/packages/bt-plugins/actions/CancelBackUp.rst", "configuration/packages/bt-plugins/actions/CancelControl.rst", "configuration/packages/bt-plugins/actions/CancelCoverage.rst", "configuration/packages/bt-plugins/actions/CancelDriveOnHeading.rst", "configuration/packages/bt-plugins/actions/CancelSpin.rst", "configuration/packages/bt-plugins/actions/CancelWait.rst", "configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.rst", "configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.rst", 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"configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.rst", "configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst", "configuration/packages/bt-plugins/actions/RemovePassedGoals.rst", "configuration/packages/bt-plugins/actions/Smooth.rst", "configuration/packages/bt-plugins/actions/SmootherSelector.rst", "configuration/packages/bt-plugins/actions/Spin.rst", "configuration/packages/bt-plugins/actions/TruncatePath.rst", "configuration/packages/bt-plugins/actions/TruncatePathLocal.rst", "configuration/packages/bt-plugins/actions/UndockRobot.rst", "configuration/packages/bt-plugins/actions/Wait.rst", "configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.rst", "configuration/packages/bt-plugins/conditions/DistanceTraveled.rst", "configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst", "configuration/packages/bt-plugins/conditions/GoalReached.rst", "configuration/packages/bt-plugins/conditions/GoalUpdated.rst", 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Assisted Teleop", "1. Create a Configuration Assistant (Analog to MoveIt)", "2. Create New Planner and Controller Plugins", "1. Navigation Dynamic Obstacle Integration", "3. Port Grid Maps to ROS 2 and Environmental Model", "6. 2D/3D Localization Improvements", "4. Navigation MultiThreading", "5. Navigation Branding and Website", "5. Navigation Safety Node", "6. Semantic Integration", "7. Reduce ROS 2 Nodes and Determinism", "2. Advanced Navigation Testing Framework", "8. 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90, 92, 95, 97, 100, 102, 104, 109, 110, 124, 128, 129, 132, 136, 147, 150, 151, 160, 163, 166, 169, 172, 176, 177, 178, 181, 185, 201, 204], "command": [1, 9, 22, 29, 44, 49, 52, 53, 58, 84, 90, 97, 104, 109, 110, 116, 132, 154, 155, 156, 160, 162, 167, 169, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 191, 193, 194, 195, 198, 199, 204], "attempt": [1, 18, 20, 21, 23, 24, 26, 27, 85, 100, 103, 105, 106, 112, 119, 140, 141, 142, 156, 166, 189, 191, 193, 197, 202], "follow": [1, 2, 3, 9, 10, 17, 18, 21, 23, 24, 26, 28, 47, 57, 84, 90, 92, 96, 97, 98, 102, 105, 108, 109, 116, 124, 137, 138, 139, 141, 142, 154, 156, 158, 159, 160, 161, 162, 163, 164, 165, 169, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 204, 205], "exampl": [1, 7, 15, 16, 17, 18, 19, 22, 27, 113, 154, 155, 156, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 197, 199, 200, 201, 202, 203, 204], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 89, 90, 92, 93, 96, 97, 100, 106, 108, 114, 117, 153, 155, 160, 161, 164, 165, 166, 169, 171, 174, 176, 178, 185, 186, 189, 190, 191, 192, 193, 194, 196, 199, 200, 202, 203, 204], "drive": [1, 25, 26, 35, 46, 96, 106, 109, 113, 141, 142, 160, 163, 172, 176, 178, 179, 181, 182, 184, 185, 196, 197, 202], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 103, 106, 115, 122, 126, 141, 142, 155, 158, 159, 160, 162, 163, 164, 165, 166, 171, 176, 178, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 196, 197, 198, 199, 200, 202, 204], "space": [1, 4, 10, 20, 27, 89, 90, 91, 98, 105, 106, 107, 109, 115, 118, 122, 125, 126, 140, 141, 142, 155, 156, 163, 164, 176, 178, 181, 185, 189, 190, 195, 197, 202], "visit": [1, 27, 141, 142, 158, 196], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 156, 157, 159, 160, 164, 165, 169, 170, 171, 172, 173, 174, 183, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 73, 164, 176, 185], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 96, 99, 106, 110, 118, 142, 158, 160, 161, 164, 165, 166, 170, 172, 173, 174, 176, 183, 184, 185, 189, 196, 202, 203], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 141, 142, 153, 155, 156, 158, 160, 166, 171, 179, 181, 182, 183, 184, 185, 188, 189, 191, 192, 193, 194, 195, 197, 198, 199, 200, 203], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 99, 106, 117, 139, 141, 142, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 174, 181, 184, 185, 189, 193, 196, 198, 201], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 83, 86, 87, 88, 90, 96, 97, 98, 106, 107, 110, 112, 113, 115, 125, 140, 141, 142, 154, 158, 160, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 199, 200, 201, 202, 203, 204], "excel": [1, 7, 9, 196, 204], "chanc": [1, 7, 9, 19, 164], "substanti": [1, 106, 141, 158, 161, 185], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 90, 91, 97, 103, 104, 106, 116, 154, 155, 156, 158, 159, 160, 161, 164, 166, 167, 174, 178, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 195, 201, 202], "hundr": [1, 27], "futur": [1, 4, 8, 11, 21, 27, 89, 90, 91, 118, 121, 124, 162, 164, 166, 194], "could": [1, 2, 3, 6, 7, 9, 10, 20, 27, 89, 90, 97, 115, 155, 156, 162, 163, 164, 165, 170, 171, 172, 176, 183, 185, 187, 189, 191, 194, 196, 197, 199, 200, 201], "also": [1, 3, 4, 6, 7, 11, 18, 19, 20, 21, 22, 23, 24, 26, 27, 89, 90, 91, 92, 94, 97, 98, 99, 100, 103, 105, 106, 108, 109, 110, 111, 113, 114, 116, 117, 120, 141, 142, 154, 155, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 202, 204], "good": [1, 6, 27, 91, 106, 115, 116, 141, 158, 160, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 188, 189, 191, 193, 196], "candid": [1, 7, 99, 106, 158, 178], "roscon": [1, 198, 200], "talk": [1, 155, 160, 181, 183, 189, 191, 198, 200], "event": [1, 13, 158, 164, 189, 202], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 177], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 106, 160, 176, 189, 191, 193], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 109, 160, 176], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 198, 200], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158, 160, 185, 186, 202], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 19, 115, 158, 164, 181, 182, 183, 184, 189, 196, 201], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 22, 27, 55, 88, 100, 106, 115, 123, 142, 154, 161, 163, 169, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 189, 190, 191, 192, 196, 197, 198, 199, 200, 202, 203, 204], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 106, 191, 205], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 90, 98, 99, 104, 106, 140, 141, 142, 160, 163, 164, 167, 170, 171, 178, 181, 182, 183, 184, 186, 187, 191, 192, 193, 196, 197, 199, 201, 202, 203], "either": [1, 18, 19, 26, 27, 90, 91, 100, 105, 106, 123, 125, 155, 156, 165, 166, 176, 178, 181, 182, 185, 189, 192, 199, 202, 203], "set": [1, 2, 3, 9, 10, 13, 17, 21, 23, 24, 26, 27, 29, 30, 41, 42, 43, 45, 46, 47, 48, 55, 57, 59, 61, 62, 64, 71, 89, 90, 91, 96, 97, 98, 99, 100, 102, 103, 105, 106, 107, 109, 110, 113, 115, 116, 117, 118, 122, 124, 125, 126, 127, 140, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 176, 180, 185, 186, 187, 188, 189, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204], "successfulli": [1, 18, 27, 164, 169, 174, 181, 183, 184, 186, 189, 194, 202], "user": [1, 2, 3, 7, 9, 14, 17, 21, 22, 23, 24, 26, 27, 28, 41, 81, 85, 89, 90, 91, 112, 117, 123, 137, 141, 155, 156, 158, 160, 162, 163, 164, 165, 166, 167, 174, 176, 180, 182, 185, 186, 189, 191, 192, 193, 196, 198, 200, 201, 202, 204], "without": [1, 4, 14, 26, 27, 61, 89, 90, 96, 97, 104, 106, 111, 119, 121, 141, 155, 156, 162, 163, 164, 166, 167, 171, 174, 179, 180, 182, 185, 189, 191, 193, 194, 196, 197, 198, 204], "collis": [1, 7, 9, 27, 28, 29, 55, 57, 92, 96, 98, 104, 106, 109, 110, 114, 120, 121, 123, 151, 160, 161, 163, 164, 169, 176, 177, 178, 179, 181, 182, 184, 185, 204, 205], "allot": [1, 9, 11], "tune": [1, 9, 25, 105, 106, 110, 115, 141, 164, 180, 193, 196, 197, 199, 201, 204], "ad": [1, 9, 10, 13, 21, 23, 24, 41, 91, 93, 106, 141, 142, 155, 156, 158, 161, 162, 167, 169, 171, 172, 173, 174, 178, 179, 183, 185, 190, 191, 192, 193, 196, 197, 199, 200, 201, 204, 205], "critic": [1, 7, 9, 27, 127, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 178, 185, 186, 191], "dwb": [1, 3, 9, 21, 23, 24, 27, 28, 128, 129, 130, 131, 132, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 162, 176, 178, 185, 204], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 21, 22, 23, 24, 28, 42, 43, 52, 78, 90, 95, 96, 98, 99, 106, 109, 110, 111, 112, 116, 121, 130, 148, 149, 160, 161, 162, 167, 169, 171, 175, 177, 179, 180, 186, 187, 194, 197, 200, 204], "improv": [1, 7, 9, 11, 12, 25, 27, 96, 111, 113, 141, 142, 155, 159, 161, 162, 163, 165, 166, 167, 177, 192, 193], "perform": [1, 3, 4, 7, 9, 11, 17, 22, 26, 28, 30, 46, 59, 89, 90, 91, 95, 96, 106, 113, 117, 141, 142, 155, 160, 163, 164, 165, 166, 169, 170, 171, 172, 173, 179, 182, 185, 186, 189, 190, 191, 193, 194, 196, 202, 203], "box": [1, 9, 27, 90, 100, 117, 164, 165, 166, 167, 179, 181, 182, 184, 185, 193, 200, 201, 202, 203], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 191], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 26, 92, 114, 158, 165, 181, 188, 191, 192, 202], "xml": [1, 2, 17, 18, 27, 28, 50, 51, 93, 100, 160, 162, 164, 166, 169, 170, 171, 172, 173, 174, 181, 184, 186, 194, 202, 203], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 25, 154, 155, 156, 160, 164, 184, 191, 193, 195], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 27, 89, 90, 100, 103, 106, 109, 111, 112, 155, 158, 159, 164, 166, 172, 178, 179, 181, 182, 183, 184, 185, 187, 189, 193, 195, 196, 198, 200, 201, 202, 203, 204], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 104, 153, 159, 166, 167, 169, 170, 171, 172, 173, 174, 179, 180, 184, 185, 189, 190, 195, 197, 199, 200], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 90, 93, 106, 110, 131, 132, 153, 159, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 189, 191, 192, 195, 196, 197, 198, 199, 200], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 99, 106, 160, 161, 166, 169, 170, 174, 193, 196], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 122, 126, 153, 155, 157, 158, 159, 160, 164, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 188, 189, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 109, 158, 165, 182, 185, 186, 189, 191], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 109, 154, 155, 156, 160, 169, 171, 172, 173, 177, 179, 181, 182, 184, 185, 189, 197, 199, 200], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 27, 153, 158, 162, 163, 164, 185, 191, 203], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 157], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 26, 27, 39, 80, 90, 91, 92, 93, 99, 103, 106, 109, 111, 113, 115, 116, 119, 123, 141, 146, 154, 155, 156, 158, 160, 161, 162, 163, 164, 166, 169, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 196, 197, 199, 200, 203, 204], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 99, 141, 158, 166, 182, 185, 186], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 20, 93, 122, 125, 126, 155, 156, 158, 162, 163, 164, 165, 169, 170, 176, 178, 179, 181, 182, 184, 187, 189, 191, 193, 196, 200, 202], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 20, 21, 22, 23, 24, 25, 26, 29, 30, 41, 45, 46, 48, 55, 56, 57, 59, 60, 61, 62, 63, 65, 67, 71, 75, 83, 85, 86, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 114, 115, 116, 117, 118, 120, 121, 122, 123, 124, 125, 126, 127, 129, 130, 132, 133, 134, 135, 136, 137, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 158, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 188, 189, 191, 197, 199, 201, 202, 204], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 19, 90, 106, 165, 169, 170, 171, 172, 174, 199], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 22, 65, 67, 90, 93, 98, 99, 106, 109, 111, 116, 121, 122, 123, 125, 126, 142, 155, 156, 158, 159, 160, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 197, 199, 200, 201, 202, 203, 204], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 18, 19, 21, 22, 23, 24, 26, 55, 56, 65, 66, 68, 74, 75, 89, 90, 92, 93, 94, 95, 96, 97, 106, 108, 109, 114, 115, 117, 123, 133, 134, 135, 136, 140, 141, 142, 153, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 174, 176, 179, 181, 182, 183, 184, 185, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "long": [2, 4, 9, 14, 22, 27, 92, 93, 97, 108, 113, 114, 117, 122, 126, 130, 142, 164, 166, 174, 178, 182, 185, 189, 190, 196, 202], "qt": 2, "setup": [2, 27, 100, 153, 154, 155, 156, 159, 166, 171, 179, 182, 183, 184, 185, 186, 189, 191, 193, 197, 198, 199, 201, 202], "help": [2, 3, 4, 5, 8, 11, 16, 21, 23, 24, 27, 41, 96, 106, 109, 142, 157, 158, 161, 163, 164, 165, 166, 167, 169, 171, 173, 176, 178, 180, 181, 183, 184, 185, 186, 189, 192, 193, 197, 200, 203, 204], "udrf": 2, "need": [2, 4, 11, 13, 21, 22, 23, 24, 26, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 93, 96, 97, 98, 99, 106, 108, 109, 114, 117, 141, 154, 155, 156, 158, 160, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203], "A": [2, 3, 6, 10, 13, 17, 18, 19, 22, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 67, 77, 78, 79, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 102, 103, 105, 106, 107, 110, 113, 115, 117, 118, 121, 124, 127, 140, 142, 155, 156, 158, 160, 162, 163, 164, 165, 170, 176, 178, 179, 181, 182, 183, 185, 186, 187, 188, 189, 191, 193, 194, 195, 196, 199, 200, 202, 204], "extrem": [2, 18, 89, 102, 106, 121, 163, 182], "benefici": [2, 27, 106, 121, 174, 191], "wai": [2, 9, 18, 21, 23, 24, 27, 85, 93, 103, 106, 117, 119, 141, 142, 152, 154, 163, 164, 165, 166, 179, 183, 185, 186, 187, 189, 191, 196, 198, 200, 202, 204], "minim": [2, 11, 106, 159, 164, 165, 174, 178, 181, 185, 193], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 90, 91, 93, 94, 98, 100, 105, 106, 111, 116, 122, 126, 148, 149, 154, 155, 156, 158, 159, 160, 164, 165, 166, 169, 170, 171, 172, 173, 174, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 193, 194, 195, 196, 198, 202, 203], "gui": [2, 156, 159, 181, 184, 188, 189, 196, 203], "tool": [2, 4, 15, 27, 153, 154, 155, 156, 158, 160, 162, 163, 174, 180, 182, 183, 184, 189, 191, 192, 196, 197, 202], "cover": [2, 27, 90, 123, 158, 163, 166, 178, 185, 186, 189, 191, 196, 197, 199, 201], "broad": [2, 7, 180, 185, 202], "stroke": [2, 180], "visual": [2, 89, 90, 93, 94, 98, 109, 155, 156, 160, 164, 166, 181, 185, 187, 192, 193, 196, 198, 199, 200, 201], "show": [2, 26, 124, 142, 156, 159, 164, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202], "what": [2, 6, 19, 27, 106, 127, 157, 158, 164, 177, 181, 182, 183, 184, 186, 187, 189, 195, 196, 202], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 93, 105, 106, 113, 117, 140, 141, 155, 156, 158, 159, 160, 163, 164, 166, 169, 170, 171, 174, 176, 179, 180, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 89, 90, 91, 106, 107, 110, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 155, 156, 163, 165, 167, 170, 171, 176, 179, 180, 182, 184, 187, 190, 191, 192, 194, 197, 199, 202, 203, 204], "layer": [2, 4, 7, 10, 11, 98, 118, 121, 123, 124, 140, 141, 143, 155, 160, 161, 163, 164, 171, 182, 185, 189, 196, 197, 200], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 81, 92, 93, 94, 160, 161, 162, 165, 169, 170, 174, 176, 187], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 83, 86, 88, 101, 155, 161, 162, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 190, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "urdf": [2, 27, 159, 179, 180, 183, 185, 193, 198], "footprint": [2, 55, 89, 90, 92, 98, 106, 114, 121, 122, 125, 126, 141, 142, 146, 164, 165, 166, 167, 171, 176, 178, 180, 184, 201], "frame": [2, 27, 41, 56, 61, 65, 67, 76, 83, 89, 90, 91, 92, 93, 96, 98, 99, 100, 104, 105, 114, 117, 118, 121, 122, 124, 126, 130, 153, 161, 172, 173, 179, 181, 182, 183, 184, 188, 193, 196, 201, 202], "option": [2, 3, 6, 9, 42, 43, 89, 90, 91, 96, 99, 106, 141, 156, 163, 164, 165, 171, 182, 184, 187, 188, 189, 190, 191, 192, 193, 194, 200, 202, 203], "compli": [2, 178, 181, 196], "standard": [2, 6, 10, 91, 106, 158, 182, 183, 188, 196, 197, 199, 202, 203], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 77, 78, 79, 81, 82, 83, 84, 88, 90, 98, 100, 109, 113, 116, 124, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 160, 161, 162, 167, 169, 170, 171, 174, 175, 177, 179, 180, 181, 184, 186, 187, 189, 191, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205], "minimum": [2, 9, 27, 71, 88, 89, 90, 91, 92, 96, 98, 99, 100, 102, 105, 106, 109, 116, 119, 122, 126, 129, 133, 135, 141, 142, 147, 150, 163, 164, 165, 166, 167, 176, 178, 182, 183], "maximum": [2, 27, 45, 57, 61, 62, 88, 89, 90, 91, 92, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 112, 116, 122, 124, 126, 129, 133, 135, 140, 141, 142, 163, 164, 165, 166, 172, 176, 182, 190, 193, 197, 199, 202], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 88, 90, 92, 96, 97, 98, 105, 106, 109, 116, 121, 129, 140, 141, 142, 154, 155, 163, 164, 166, 172, 174, 176, 178, 185, 193, 196, 201, 202, 205], "kinemat": [2, 100, 101, 106, 110, 112, 113, 160, 163, 166, 176, 178, 181, 184, 185, 196, 204], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 89, 90, 91, 92, 93, 95, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 111, 115, 116, 117, 122, 124, 125, 126, 140, 141, 142, 144, 147, 148, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 167, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "dropdown": 2, "possibl": [2, 14, 27, 92, 102, 106, 109, 155, 160, 163, 164, 165, 166, 172, 174, 178, 179, 185, 190, 191, 193, 196, 197, 199, 201], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 90, 91, 92, 96, 97, 98, 99, 100, 103, 105, 108, 109, 114, 116, 117, 121, 124, 142, 158, 160, 164, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 195, 196, 197, 199, 200, 202, 203, 204], "throughout": [2, 66, 155, 161, 164, 184, 186, 193], "prompt": [2, 156, 189, 191], "aid": [2, 22], "appropri": [2, 18, 97, 106, 108, 116, 124, 158, 164, 165, 166, 174, 178, 181, 183, 184, 185, 191, 193, 201, 203], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 89, 90, 91, 96, 97, 100, 101, 102, 106, 109, 110, 116, 118, 121, 124, 140, 141, 142, 150, 154, 155, 156, 158, 160, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 94, 98, 106, 109, 142, 155, 156, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 178, 181, 182, 183, 185, 187, 188, 189, 191, 197, 198, 202, 203, 204], "after": [2, 10, 20, 21, 23, 24, 26, 27, 90, 91, 93, 100, 106, 109, 110, 111, 116, 125, 127, 134, 136, 139, 140, 141, 142, 158, 159, 163, 164, 166, 167, 171, 172, 173, 174, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202, 203, 204], "item": [2, 11, 18, 26, 27, 177], "preview": 2, "how": [2, 7, 17, 26, 27, 81, 90, 91, 94, 96, 102, 106, 115, 122, 126, 130, 144, 145, 148, 149, 155, 157, 158, 161, 165, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "effect": [2, 4, 90, 96, 123, 140, 155, 162, 164, 181, 185, 197], "high": [2, 3, 4, 5, 6, 8, 27, 90, 102, 106, 109, 112, 115, 116, 126, 140, 141, 142, 158, 160, 161, 163, 176, 178, 181, 185, 190, 193], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 83, 88, 89, 90, 91, 92, 93, 96, 98, 100, 102, 104, 105, 106, 111, 113, 114, 118, 121, 124, 133, 141, 142, 143, 144, 145, 146, 148, 149, 154, 155, 156, 158, 160, 161, 163, 164, 165, 167, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 190, 191, 193, 196, 197, 199, 200, 201, 203], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 89, 109, 113, 153, 155, 156, 160, 161, 162, 165, 167, 176, 178, 182, 184, 185, 189, 190, 197, 199, 200, 202, 203], "panel": [2, 113, 184, 203], "displai": [2, 89, 108, 141, 142, 163, 167, 179, 181, 182, 184, 185, 189, 190, 196, 199, 203], "python3": [2, 12, 13, 26, 160, 163, 164, 165], "json": [2, 155, 156], "pars": [2, 27, 99, 155], "3d": [2, 4, 9, 27, 106, 126, 159, 176, 181, 182, 184, 185, 195, 196, 200], "program": [2, 26, 27, 96, 113, 141, 142, 155, 160, 164, 189, 191, 192, 194], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 84, 90, 96, 98, 140, 141, 142, 157, 162, 163, 166, 179, 181, 182, 184, 187, 196, 197, 199], "number": [3, 11, 26, 27, 41, 45, 81, 89, 90, 91, 96, 97, 98, 99, 100, 106, 111, 112, 115, 119, 126, 128, 140, 141, 142, 161, 162, 163, 164, 165, 166, 167, 169, 170, 173, 176, 181, 182, 183, 184, 185, 188, 189, 190, 191, 199, 202, 203], "interfac": [3, 5, 13, 19, 27, 90, 93, 114, 155, 156, 160, 161, 162, 165, 169, 170, 171, 174, 176, 182, 187, 189, 195, 196, 200], "two": [3, 18, 19, 27, 81, 89, 90, 96, 107, 113, 115, 140, 155, 163, 164, 165, 166, 169, 172, 173, 174, 178, 181, 182, 183, 184, 186, 189, 190, 192, 193, 196, 199, 200, 201, 202], "area": [3, 7, 27, 38, 39, 90, 98, 118, 121, 123, 124, 140, 141, 142, 158, 163, 164, 165, 166, 169, 171, 176, 182, 184, 185, 188, 189, 192, 197, 199], "algorithm": [3, 15, 17, 21, 23, 24, 27, 96, 100, 106, 109, 111, 112, 113, 140, 158, 160, 161, 163, 164, 165, 166, 171, 172, 176, 179, 182, 184, 185, 187, 190, 192, 193], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 74, 83, 85, 93, 94, 96, 97, 99, 100, 102, 105, 107, 108, 109, 110, 111, 112, 113, 114, 115, 127, 138, 140, 141, 142, 143, 148, 149, 153, 154, 155, 160, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 179, 181, 182, 184, 185, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 202, 203, 204], "refer": [3, 18, 27, 65, 67, 83, 90, 92, 93, 97, 98, 102, 109, 111, 113, 118, 121, 124, 154, 155, 156, 161, 162, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 189, 190, 194, 196, 197, 199, 201, 202, 203], "trajectori": [3, 4, 10, 90, 95, 102, 116, 127, 130, 132, 143, 144, 145, 146, 148, 149, 150, 163, 165, 166, 173, 176, 178, 179, 185], "simpl": [3, 27, 28, 100, 111, 119, 141, 142, 156, 158, 161, 169, 170, 171, 173, 176, 178, 179, 183, 184, 185, 187, 191, 194, 196, 198, 202, 203, 204], "tutori": [3, 8, 15, 18, 89, 90, 93, 94, 163, 165, 166, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 201, 202, 203, 204], "found": [3, 8, 19, 22, 26, 27, 76, 90, 95, 106, 110, 113, 127, 140, 141, 142, 155, 156, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 184, 186, 192, 195, 196, 197, 198, 199, 200], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 83, 86, 88, 89, 90, 93, 99, 100, 106, 108, 109, 110, 116, 117, 118, 121, 123, 124, 142, 154, 158, 160, 162, 163, 164, 165, 166, 167, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 189, 194, 196, 201, 202, 203, 204], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 80, 84, 90, 96, 103, 106, 111, 142, 155, 156, 162, 163, 164, 166, 170, 171, 174, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203, 204], "navfn": [3, 28, 106, 110, 111, 113, 161, 176, 178, 179, 185, 187, 204], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 83, 84, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 100, 102, 103, 105, 106, 108, 109, 113, 114, 116, 117, 118, 119, 121, 123, 124, 155, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 81, 91, 92, 93, 97, 98, 99, 100, 102, 103, 105, 106, 107, 108, 109, 113, 114, 115, 116, 117, 122, 123, 125, 126, 140, 141, 142, 156, 158, 161, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 185, 186, 187, 198, 200, 202, 203], "dijkstra": [3, 107, 164, 176, 178], "teb": [3, 106, 161, 165, 176, 178, 185, 204], "dwa": [3, 176, 178], "elast": [3, 161, 178, 204], "band": [3, 161, 178, 196, 204], "optim": [3, 17, 22, 27, 96, 99, 106, 113, 120, 121, 140, 141, 155, 160, 163, 164, 165, 166, 176, 178, 179, 185, 186, 188, 193, 202, 204], "techniqu": [3, 4, 6, 27, 90, 100, 111, 112, 113, 163, 182, 185, 193, 196], "There": [3, 14, 18, 19, 27, 105, 106, 153, 154, 158, 161, 163, 164, 171, 176, 178, 182, 183, 189, 191, 196, 197, 202, 204], "hybrid": [3, 110, 113, 140, 142, 155, 160, 163, 164, 165, 176, 178, 179, 185, 204], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 21, 23, 24, 27, 90, 113, 115, 153, 155, 156, 164, 166, 177, 184, 185, 186, 191, 202, 204, 205], "your": [3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 17, 18, 26, 27, 90, 93, 103, 105, 106, 109, 110, 113, 115, 116, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 180, 182, 183, 184, 185, 186, 188, 191, 192, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204], "qualiti": [3, 8, 25, 27, 96, 106, 112, 113, 141, 142, 158, 160, 164, 166, 181, 193, 196, 202], "altern": [3, 22, 27, 61, 155, 156, 163, 166, 179, 181, 191], "consid": [3, 14, 18, 29, 30, 46, 55, 59, 89, 90, 91, 93, 94, 98, 106, 136, 141, 142, 151, 158, 162, 163, 165, 166, 169, 170, 172, 173, 174, 176, 178, 185, 186, 189, 193, 196, 197, 201, 202], "approv": [3, 158], "phase": [3, 6, 142], "discuss": [3, 6, 19, 27, 93, 158, 162, 163, 164, 172, 173, 178, 179, 180, 181, 182, 183, 184, 186, 189, 196, 202, 204], "d": [3, 20, 104, 123, 158, 166, 167, 174, 179, 181, 184, 189, 191, 192, 193, 195, 198, 202, 203, 204], "variant": [3, 6, 27, 106, 109, 163, 176, 178, 189], "vornoi": 3, "graph": [3, 10, 115, 142, 165, 177, 192], "rout": [3, 10, 26, 27, 41, 99, 106, 141, 174, 177, 185, 186], "state": [3, 15, 19, 21, 23, 24, 26, 66, 90, 96, 97, 98, 100, 101, 102, 103, 106, 109, 110, 113, 116, 118, 134, 136, 140, 159, 160, 162, 163, 164, 167, 169, 170, 172, 173, 174, 176, 178, 179, 181, 182, 183, 185, 186, 196, 198, 199, 202, 203, 204], "lattic": [3, 110, 113, 140, 141, 160, 164, 165, 176, 177, 178, 185, 204], "kinodynam": 3, "method": [3, 4, 6, 17, 21, 23, 24, 26, 27, 99, 100, 103, 106, 122, 126, 144, 145, 148, 149, 158, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 191, 192, 202, 203], "given": [3, 6, 22, 26, 27, 30, 33, 34, 46, 57, 59, 90, 92, 99, 106, 111, 112, 118, 162, 163, 164, 165, 166, 170, 171, 172, 173, 176, 178, 181, 185, 187, 189, 192, 196, 202, 203], "static": [3, 27, 89, 90, 91, 98, 122, 126, 141, 142, 158, 160, 164, 170, 176, 179, 182, 185, 186, 190, 196, 200, 201, 202], "cilqr": 3, "ilqr": 3, "mpc": [3, 106, 165, 176, 178], "spline": 3, "addit": [3, 11, 19, 21, 22, 23, 24, 27, 41, 89, 90, 93, 95, 141, 154, 155, 163, 164, 165, 170, 174, 178, 181, 182, 184, 185, 191, 192, 193, 196, 201], "complet": [3, 4, 5, 12, 17, 18, 19, 22, 26, 27, 34, 57, 90, 99, 100, 102, 106, 109, 110, 134, 136, 141, 142, 151, 155, 158, 159, 160, 161, 162, 163, 164, 165, 166, 169, 170, 174, 176, 177, 178, 179, 181, 182, 184, 186, 187, 188, 189, 192, 193, 195, 196, 198, 200, 202, 203, 204], "50": [3, 90, 100, 106, 118, 164, 182, 191, 196, 199, 202], "greater": [3, 102, 106, 115, 155, 172, 186], "coverag": [3, 4, 6, 12, 17, 27, 28, 34, 41, 160, 166, 174, 176, 177, 185, 186], "motion": [3, 4, 27, 91, 96, 100, 102, 141, 142, 150, 151, 163, 176, 178, 181, 183, 193, 196, 201, 203], "pluginlib": [3, 27, 161, 169, 171, 172, 173, 174, 187, 189, 200], "robust": [4, 6, 27, 203], "wide": [4, 18, 27, 141, 166, 169, 185, 193], "rang": [4, 7, 71, 89, 90, 91, 98, 109, 122, 124, 126, 155, 162, 163, 166, 176, 177, 184, 185, 186, 190, 191, 193, 197, 199, 201, 202], "environ": [4, 5, 9, 10, 12, 27, 100, 102, 113, 153, 154, 155, 156, 158, 159, 160, 178, 179, 181, 182, 183, 185, 189, 193, 196, 197, 200, 201, 202], "been": [4, 6, 14, 18, 19, 21, 23, 24, 27, 56, 65, 89, 92, 93, 95, 97, 106, 108, 113, 114, 115, 117, 140, 141, 142, 155, 158, 162, 163, 164, 165, 166, 167, 171, 172, 173, 176, 179, 182, 183, 184, 185, 189, 192, 196, 200, 201, 202], "oper": [4, 5, 21, 23, 24, 27, 90, 96, 99, 106, 109, 116, 118, 156, 159, 160, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 188, 189, 193, 196, 201, 203], "presenc": [4, 106, 185, 197], "explicitli": [4, 26, 156, 197], "model": [4, 27, 28, 89, 90, 91, 96, 100, 113, 122, 126, 141, 155, 159, 160, 162, 163, 176, 178, 181, 182, 184, 185, 195, 196, 200, 201], "characterist": [4, 12, 112, 181], "howev": [4, 6, 9, 14, 20, 21, 23, 24, 27, 89, 90, 93, 106, 111, 141, 155, 159, 162, 163, 164, 169, 174, 179, 181, 184, 185, 187, 189, 191, 193, 196, 197, 199, 200, 201, 202, 204], "field": [4, 26, 41, 45, 67, 89, 90, 91, 97, 99, 124, 140, 162, 163, 164, 165, 166, 169, 171, 173, 174, 181, 182, 184, 186, 188, 189, 191, 193, 196, 197, 199, 200, 202], "progress": [4, 73, 97, 106, 109, 133, 135, 155, 158, 165, 177, 185, 204], "deploi": [4, 106, 160, 166, 178, 189], "fill": [4, 158, 162, 170, 188, 197, 199, 203], "consider": [4, 106, 185, 189], "must": [4, 14, 19, 26, 27, 65, 91, 98, 99, 102, 105, 109, 112, 116, 119, 122, 126, 133, 135, 141, 142, 143, 154, 158, 162, 164, 165, 166, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 186, 187, 188, 189, 192, 195, 198, 200, 201, 202, 203], "taken": [4, 67, 81, 89, 90, 96, 106, 124, 138, 163, 171, 174, 197, 199], "respect": [4, 27, 110, 121, 163, 164, 170, 177, 178, 181, 182, 184, 185, 196, 200, 204], "peopl": [4, 9, 21, 23, 24, 90, 180], "cart": 4, "anim": [4, 190], "exist": [4, 8, 11, 12, 27, 41, 89, 90, 100, 105, 106, 119, 140, 153, 155, 158, 162, 163, 164, 166, 172, 174, 185, 189, 192, 193, 194, 196, 202, 203], "machin": [4, 27, 155, 156, 181, 182, 183, 186, 189, 203], "learn": [4, 7, 11, 18, 27, 94, 156, 160, 169, 170, 173, 182, 183, 184, 189], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 17, 26, 27, 89, 90, 93, 97, 98, 99, 104, 116, 118, 155, 156, 158, 163, 165, 166, 167, 169, 174, 178, 180, 181, 183, 185, 189, 193, 196, 198, 203], "tie": 4, "them": [4, 7, 21, 26, 27, 89, 97, 99, 106, 117, 121, 122, 126, 142, 155, 156, 158, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 179, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 195, 196, 197, 198, 199, 201, 202, 203, 204], "scope": [4, 155, 166, 181, 182, 193, 194, 201], "retrain": 4, "otherwis": [4, 19, 64, 67, 70, 71, 72, 73, 74, 77, 78, 79, 91, 106, 111, 123, 141, 142, 163, 164, 166, 176, 181, 185, 186, 189, 199], "becom": [4, 11, 17, 18, 27, 98, 103, 106, 115, 161, 164, 166, 181, 183, 184, 193], "expert": [4, 14], "some": [4, 7, 11, 13, 17, 18, 19, 21, 26, 27, 44, 49, 50, 51, 52, 53, 58, 89, 92, 93, 97, 106, 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196, 200, 201, 202, 203, 204], "driven": [4, 185], "includ": [4, 6, 7, 10, 13, 14, 18, 26, 27, 81, 93, 94, 113, 118, 132, 154, 155, 156, 157, 158, 160, 161, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 189, 191, 192, 194, 197, 198, 199, 200, 201, 202, 204], "go": [4, 14, 18, 22, 26, 27, 85, 90, 103, 106, 115, 122, 126, 158, 159, 160, 163, 164, 166, 170, 172, 179, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 196, 197, 199, 201, 202], "yolact": 4, "edg": [4, 99, 106, 166, 183, 197], "replac": [4, 5, 10, 11, 93, 96, 104, 161, 164, 165, 166, 167, 169, 171, 173, 174, 185, 187, 189, 190, 193, 196, 198, 200, 201, 202], "detectron2": 4, "benchmark": [4, 7, 11], "capabl": [4, 7, 10, 15, 26, 155, 156, 160, 163, 166, 167, 177, 182, 193, 194, 196, 204], "gpu": [4, 155, 202], "verifi": [4, 27, 146, 156, 181, 182, 184, 196], "suffici": [4, 18, 27, 106, 142, 151, 174, 190, 192, 193], "tangent": [4, 188, 196], "involv": [4, 5, 6, 11, 18, 20, 106, 109, 157, 163, 165, 166, 179, 186, 189, 193], "identifi": [4, 7, 11, 13, 155, 163, 171, 178, 192], "few": [4, 11, 14, 19, 26, 85, 96, 99, 154, 155, 166, 178, 182, 185, 189, 191, 202], "produc": [4, 27, 89, 90, 92, 93, 97, 102, 106, 108, 114, 117, 164, 165, 166, 169, 173, 178, 182, 185, 193, 196, 201], "about": [4, 7, 9, 11, 21, 22, 23, 24, 27, 89, 118, 121, 124, 153, 154, 155, 156, 158, 160, 163, 165, 166, 169, 170, 171, 173, 174, 181, 182, 183, 184, 185, 189, 190, 191, 192, 193, 195, 196, 199, 202, 203], "power": [4, 18, 96, 106, 156, 160, 164, 185, 189], "intel": [4, 14, 106, 164], "cpu": [4, 7, 90, 155, 164, 185, 186, 193], "nvidia": [4, 100, 166, 189, 193, 202], "jetson": [4, 189, 193, 202], "soc": 4, "extern": [4, 21, 23, 24, 26, 89, 97, 100, 103, 137, 154, 155, 161, 162, 165, 166, 186, 189, 193, 205], "next": [4, 5, 18, 19, 21, 22, 23, 24, 27, 41, 106, 116, 117, 137, 139, 155, 159, 161, 162, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 189, 190, 199, 203], "mark": [4, 27, 96, 98, 122, 123, 126, 146, 165, 174, 182, 185, 190, 197, 199, 200, 203], "ensur": [4, 9, 11, 13, 20, 21, 23, 24, 27, 90, 97, 103, 106, 109, 116, 155, 156, 158, 161, 163, 164, 165, 166, 178, 179, 183, 184, 185, 186, 189, 192, 200], "doe": [4, 9, 19, 21, 22, 23, 24, 89, 90, 95, 100, 106, 121, 123, 141, 142, 154, 155, 163, 164, 165, 166, 169, 172, 173, 174, 179, 181, 185, 186, 187, 189, 196, 197, 199, 202, 203], "collid": [4, 9, 179], "permit": [4, 158, 197], "direct": [4, 61, 90, 96, 106, 109, 113, 116, 128, 141, 142, 147, 154, 155, 163, 166, 177, 178, 183, 188, 195, 196, 201], "collabor": [4, 14, 158], "member": [4, 158, 169, 172, 173, 174], "detect": [4, 27, 57, 61, 89, 90, 95, 96, 100, 109, 155, 166, 179, 181, 182, 185, 188, 194, 202], "real": [4, 9, 12, 27, 90, 97, 116, 158, 181, 182, 183, 184, 188, 189, 194, 196], "live": [4, 27, 156, 163, 169, 183, 185, 189, 195, 198, 203], "demonstr": [4, 10, 26, 90, 154, 164, 166, 167, 171, 196, 200, 201, 202], "85": [4, 12], "higher": [4, 6, 9, 12, 18, 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161, 162, 164, 167, 169, 170, 171, 172, 173, 174, 176, 179, 181, 182, 184, 187, 189, 190, 191, 196, 200, 202, 204], "analyz": [5, 6, 7, 10, 26, 27, 170, 192], "abstract": [5, 11, 27, 164, 165, 202, 203], "allow": [5, 6, 8, 9, 10, 17, 18, 19, 21, 22, 23, 24, 27, 85, 90, 91, 92, 93, 98, 99, 102, 106, 107, 109, 115, 124, 140, 141, 142, 143, 146, 151, 155, 156, 158, 160, 162, 163, 164, 167, 169, 171, 172, 173, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 193, 194, 196, 197, 199, 201, 202], "expect": [5, 11, 26, 91, 106, 108, 122, 126, 158, 160, 162, 163, 166, 174, 181, 186, 187, 189, 196, 202], "full": [5, 7, 12, 19, 27, 91, 98, 106, 121, 127, 141, 153, 158, 162, 163, 164, 177, 178, 179, 180, 181, 183, 184, 185, 189, 190, 193, 194, 196, 197, 199, 201, 202, 203, 204], "process": [5, 7, 8, 11, 22, 26, 27, 28, 57, 91, 93, 97, 98, 106, 108, 109, 111, 123, 141, 142, 154, 155, 157, 159, 162, 163, 165, 166, 169, 170, 174, 176, 180, 184, 185, 186, 189, 190, 191, 192, 193, 196, 200, 201, 202, 203, 204], "over": [5, 6, 8, 11, 14, 18, 20, 26, 27, 55, 56, 88, 90, 98, 106, 143, 158, 160, 163, 164, 165, 166, 174, 178, 179, 181, 182, 185, 186, 188, 189, 193, 196, 197, 200, 201, 204], "cours": [5, 11, 155, 184, 193], "summer": [5, 11], "earli": [5, 11, 16], "design": [5, 6, 8, 26, 27, 95, 100, 106, 111, 113, 163, 165, 171, 185, 190, 197, 199, 201, 203], "gradient": [5, 27, 96, 111, 164, 171], "complement": [5, 162, 196], "startup": [5, 27, 103, 153, 155, 159, 162, 186, 188, 189, 197, 199], "merg": [5, 13, 155, 158, 162, 171], "branch": [5, 13, 22, 141, 142, 153, 154, 155, 158, 164, 187, 189], "2d": [5, 15, 26, 27, 28, 89, 90, 102, 110, 112, 113, 122, 126, 141, 159, 160, 162, 163, 171, 172, 173, 174, 176, 178, 179, 185, 193, 195, 196, 197, 200, 204], "low": [5, 18, 19, 71, 100, 106, 111, 116, 141, 161, 176, 185], "level": [5, 9, 18, 21, 23, 24, 27, 90, 95, 104, 112, 158, 160, 163, 164, 165, 167, 186, 192, 193, 197, 199, 201, 202, 203], "object": [5, 10, 11, 26, 27, 41, 84, 99, 106, 160, 163, 164, 165, 166, 169, 171, 174, 180, 182, 184, 185, 196, 200, 205], "reimplement": [5, 6], "mechan": [5, 11, 89, 90, 91, 92, 93, 97, 105, 108, 114, 116, 117, 171, 191, 193], "git": [5, 154, 156, 158, 188, 189, 197, 198, 199, 200], "pick": [5, 26, 27, 98, 117, 179, 195, 196], "befor": [5, 11, 18, 21, 22, 23, 24, 25, 27, 44, 49, 52, 53, 58, 65, 81, 83, 85, 90, 91, 97, 99, 102, 105, 106, 112, 121, 122, 126, 137, 140, 141, 142, 150, 155, 156, 161, 162, 163, 164, 166, 167, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 184, 185, 186, 187, 189, 190, 191, 192, 195, 196, 197, 198, 199, 200, 202, 203, 204], "coordin": [5, 26, 27, 41, 91, 98, 99, 117, 164, 181, 183, 184, 193, 194, 196], "transform": [5, 15, 27, 76, 89, 90, 91, 92, 93, 98, 102, 106, 109, 114, 118, 121, 124, 127, 153, 159, 160, 162, 163, 164, 172, 176, 179, 180, 181, 182, 184, 185, 193, 197, 198], "amcl": [6, 7, 26, 27, 28, 54, 69, 159, 162, 176, 182, 183, 185, 193, 196], "engin": [6, 154, 156, 161, 192, 193], "last": [6, 14, 19, 21, 23, 48, 60, 61, 90, 91, 96, 99, 106, 107, 113, 115, 116, 132, 140, 141, 142, 144, 145, 148, 149, 155, 164, 166, 174, 178, 179, 181, 183, 184, 186, 193, 197, 199, 201], "10": [6, 11, 14, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 46, 47, 50, 51, 54, 59, 63, 72, 86, 89, 90, 92, 93, 96, 97, 99, 101, 102, 103, 106, 108, 109, 110, 112, 114, 117, 120, 126, 133, 135, 137, 140, 141, 142, 150, 163, 165, 166, 169, 184, 187, 188, 189, 190, 191, 194, 196, 202, 204], "year": [6, 14, 160], "essenti": [6, 141, 142, 164, 182, 185, 202], "updat": [6, 7, 11, 12, 18, 19, 20, 27, 66, 74, 84, 91, 98, 100, 104, 113, 121, 125, 155, 158, 161, 164, 165, 166, 169, 170, 171, 172, 174, 176, 179, 181, 183, 185, 189, 190, 193, 194, 196, 198, 199, 202, 203], "made": [6, 8, 27, 90, 97, 98, 103, 133, 135, 155, 156, 158, 164, 165, 171, 174, 178, 179, 184, 185, 190, 194, 197, 199, 201, 202], "adapt": [6, 27, 91, 109, 163, 176, 182, 183, 184], "mont": [6, 27, 91, 182], "carlo": [6, 27, 91, 182], "written": [6, 27, 166, 169, 171, 172, 173, 174, 182, 190, 196, 197, 199, 201, 203], "embed": [6, 27, 164, 185, 186], "structur": [6, 8, 18, 27, 160, 165, 166, 174, 178, 183, 184, 186, 196, 199, 200, 203], "veri": [6, 7, 11, 14, 16, 17, 21, 23, 27, 106, 111, 141, 158, 164, 166, 177, 179, 183, 184, 185, 189, 193, 202, 204], "sensit": [6, 90, 97, 116, 118, 141, 165, 166], "chang": [6, 11, 12, 13, 14, 17, 18, 21, 23, 24, 26, 27, 66, 68, 80, 90, 92, 93, 96, 97, 98, 99, 100, 102, 106, 108, 112, 114, 116, 117, 134, 136, 140, 141, 142, 144, 148, 155, 158, 159, 162, 171, 172, 174, 177, 179, 181, 182, 185, 189, 191, 193, 194, 195, 196, 197, 199, 200, 201, 203], "mcl": 6, "hallmark": 6, "decad": [6, 14], "particular": [6, 19, 22, 27, 48, 89, 100, 106, 162, 164, 166, 167, 174, 185, 187, 189, 191, 192, 193, 196, 202], "deprec": [6, 96, 163, 164], "target": [6, 100, 106, 109, 124, 155, 156, 162, 163, 166, 178, 184, 191, 194, 195, 199, 202, 203], "laser": [6, 9, 89, 90, 91, 122, 126, 176, 182, 183, 189, 201], "scanner": [6, 89, 90, 122, 126, 182, 201], "simplifi": [6, 159, 162, 170, 172, 174, 191], "accur": [6, 27, 89, 90, 163, 176, 181, 185, 193, 196], "track": [6, 26, 27, 98, 100, 106, 109, 110, 158, 160, 164, 165, 166, 172, 174, 176, 178, 185, 187, 191, 193, 202, 204], "occup": [6, 98, 105, 121, 122, 126, 176, 182, 198], "grid": [6, 7, 27, 98, 105, 122, 126, 130, 176, 178, 179, 182, 184, 196, 198, 200], "reason": [6, 27, 89, 90, 106, 140, 141, 142, 158, 164, 171, 174, 179, 183, 185, 189, 191, 196, 201], "left": [6, 27, 42, 43, 93, 102, 109, 115, 125, 141, 142, 155, 159, 164, 172, 173, 179, 181, 182, 184, 188, 189, 190, 192, 195, 196, 199, 203], "end": [6, 11, 20, 27, 89, 90, 100, 106, 107, 109, 110, 111, 140, 142, 164, 166, 169, 171, 172, 173, 174, 176, 184, 185, 186, 189, 190, 191, 196, 201], "creativ": [6, 8], "novelti": 6, "feel": [6, 153, 156, 184, 185], "best": [6, 8, 11, 27, 28, 90, 106, 127, 140, 141, 142, 155, 158, 164, 165, 178, 182, 183, 185, 190, 191, 193, 197, 200], "modifi": [6, 17, 60, 61, 93, 94, 101, 111, 155, 158, 163, 164, 166, 167, 169, 170, 172, 173, 174, 176, 178, 179, 181, 184, 189, 191, 192, 194, 203], "modular": [6, 156, 160, 176], "compon": [6, 41, 80, 81, 82, 83, 84, 85, 86, 87, 88, 106, 115, 116, 150, 163, 164, 166, 180, 184, 186, 193, 197, 199], "sampl": [6, 27, 106, 110, 128, 132, 138, 165, 166, 178, 179, 181, 182, 185, 194, 196], "lidar": [6, 9, 27, 122, 179, 181, 182, 185, 190, 196, 200], "ndt": 6, "scan": [6, 9, 26, 89, 90, 91, 98, 104, 176, 182, 183, 201], "match": [6, 41, 64, 77, 78, 79, 91, 92, 93, 106, 114, 141, 142, 165, 170, 172, 179, 185, 186, 189, 196, 201], "dure": [6, 22, 89, 90, 96, 103, 106, 141, 142, 155, 162, 163, 164, 165, 166, 170, 171, 179, 184, 185, 192, 195, 198, 202, 203], "sinc": [6, 27, 41, 96, 99, 106, 109, 110, 112, 121, 141, 142, 163, 164, 166, 171, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 197, 199, 201, 202, 203, 204], "yet": [6, 19, 26, 106, 155, 164, 166, 183, 185, 196], "slam": [6, 15, 98, 125, 160, 161, 162, 182, 183, 185, 191, 193, 195, 205], "emerg": [6, 9, 90, 95], "accept": [6, 26, 67, 91, 115, 141, 142, 158, 166, 174, 178, 179, 193, 194, 202], "input": [6, 19, 26, 27, 90, 93, 96, 106, 111, 112, 122, 123, 126, 137, 160, 163, 165, 166, 167, 169, 170, 171, 172, 173, 176, 181, 184, 187, 189, 191, 194, 196, 201, 203], "multipl": [6, 11, 21, 23, 24, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 106, 113, 114, 156, 160, 162, 163, 166, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 199, 201, 202], "strictli": [6, 142, 165], "65": [6, 105, 199], "reliabl": [6, 12, 44, 49, 52, 53, 58, 156, 160, 182, 184, 202], "particl": [6, 7, 27, 91, 159, 176, 185, 190], "filter": [6, 13, 29, 91, 97, 100, 111, 181, 185, 189, 193, 196, 200, 201, 202, 205], "abil": [6, 7, 27, 90, 106, 165, 166, 201], "read": [6, 8, 18, 27, 89, 90, 123, 156, 163, 176, 182, 189, 191, 196, 197, 199], "academ": 6, "significantli": [7, 9, 17, 22, 23, 24, 85, 106, 110, 141, 164, 166, 176, 185, 196, 204], "leverag": [7, 11, 26, 154, 156, 164, 185, 187, 194, 196, 202], "multi": [7, 10, 11, 26, 27, 163, 164, 176, 178, 189], "processor": [7, 106, 185], "core": [7, 17, 27, 165, 186, 187, 189], "seek": 7, "thread": [7, 11, 13, 26, 27, 90, 97, 106, 116, 166, 191], "parallel": [7, 13, 196, 201], "comput": [7, 17, 18, 19, 20, 21, 27, 41, 42, 43, 99, 104, 106, 108, 109, 113, 115, 140, 141, 142, 144, 148, 160, 164, 165, 166, 167, 169, 170, 172, 173, 176, 178, 179, 181, 182, 183, 185, 187, 189, 192, 193, 195, 202], "overal": [7, 18, 80, 99, 141, 166, 178, 182, 193, 196], "platform": [7, 100, 106, 113, 160, 163, 180, 183, 185, 193, 202, 203, 204], "cloud": [7, 27, 155, 156, 159, 162, 189], "popul": [7, 91, 93, 163, 164, 169, 174, 182, 186, 187, 196], "evalu": [7, 106, 127, 130, 142, 178, 193], "voxel": [7, 98, 165, 176, 182, 190, 200], "rai": [7, 182], "cast": 7, "student": [7, 158], "interest": [7, 10, 11, 14, 17, 26, 27, 155, 158, 174, 183, 185, 187, 191, 192, 194, 195, 198, 202, 203], "ideal": [7, 12, 164, 165, 169, 172, 173], "exposur": 7, "concept": [7, 18, 19, 160, 163, 178, 182, 183, 186, 197, 199, 202, 203], "Then": [7, 19, 163, 170, 171, 172, 173, 174, 181, 182, 189, 191, 192, 195, 202], "obtain": [7, 27, 28, 90, 99, 100, 162, 165, 181, 182, 188, 189, 193, 202], "while": [7, 9, 13, 18, 21, 23, 24, 26, 93, 103, 106, 109, 111, 121, 141, 151, 154, 155, 156, 163, 164, 165, 166, 170, 174, 178, 179, 181, 182, 185, 186, 187, 189, 190, 191, 193, 195, 196, 197, 201, 202, 203, 204, 205], "great": [7, 14, 18, 158, 164, 191, 193, 196], "deal": [7, 27, 181, 183, 185], "valuabl": [7, 11, 158], "skillset": 7, "analysi": [7, 27, 158, 160, 192], "benefit": [7, 155, 185], "non": [7, 10, 26, 27, 90, 93, 97, 100, 103, 104, 106, 110, 113, 118, 120, 121, 124, 140, 141, 142, 155, 160, 164, 166, 167, 170, 174, 176, 178, 179, 183, 184, 185, 189, 191, 192, 193, 197, 201, 202, 204], "trivial": [7, 27, 158, 165, 169, 201, 202, 203], "quickli": [7, 100, 155, 158, 164, 183, 185, 203], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 19, 21, 23, 26, 27, 89, 102, 105, 106, 113, 154, 156, 163, 164, 170, 178, 181, 182, 183, 184, 185, 187, 189, 191, 193, 196, 200, 203, 204], "signific": [8, 9, 106, 185, 196], "stride": 8, "world": [8, 9, 26, 27, 155, 159, 160, 169, 181, 182, 183, 185, 189, 190, 194, 197, 198, 199, 200], "gain": [8, 106, 109], "reput": 8, "fair": 8, "unfair": 8, "rel": [8, 27, 61, 89, 90, 98, 100, 106, 116, 162, 166, 178, 179, 181, 183, 185, 192, 193, 196, 202], "limit": [8, 27, 90, 97, 105, 106, 116, 124, 132, 140, 141, 142, 155, 163, 166, 172, 176, 178, 181, 185, 189, 194, 201, 205], "type": [8, 17, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 102, 103, 104, 105, 106, 107, 108, 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183, 184, 189, 191, 192, 195, 196, 201, 202, 204], "ve": [13, 26, 153, 158, 159, 170, 183, 186, 202, 204], "submit": [13, 158, 176], "pr": [13, 92, 93, 97, 108, 114, 117, 158, 162, 163, 164, 165, 166, 167], "instead": [13, 18, 21, 23, 24, 84, 89, 91, 92, 93, 100, 106, 107, 108, 112, 115, 127, 132, 140, 141, 142, 154, 155, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 195, 196, 197, 201, 202], "b": [13, 158, 160, 171, 188, 194, 198, 199, 200], "reconfigur": [13, 17, 163, 164, 178, 186, 196], "meantim": 13, "wait": [13, 18, 19, 21, 22, 23, 24, 26, 27, 37, 55, 91, 92, 93, 94, 98, 100, 117, 137, 139, 156, 159, 161, 164, 166, 169, 170, 176, 182, 186, 189, 202], "done": [13, 18, 19, 27, 90, 155, 161, 162, 163, 171, 172, 173, 174, 177, 178, 182, 191, 192, 193, 202, 203], "via": [13, 19, 20, 21, 23, 24, 27, 41, 44, 49, 52, 53, 69, 89, 90, 91, 95, 113, 154, 155, 156, 158, 160, 164, 165, 166, 169, 174, 176, 183, 185, 186, 187, 192, 198, 200, 202, 203], "remain": [13, 18, 19, 20, 27, 96, 106, 130, 155, 156, 161, 162, 163, 164, 166, 169, 170, 171, 172, 173, 189, 190, 204], "miss": [13, 90, 97, 116, 154, 163, 166, 184, 185, 189, 192, 203], "lock": [13, 172, 174], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 91, 93, 123, 153, 154, 155, 159, 166, 169, 170, 172, 173, 182, 187, 189, 197, 199, 200, 203], "lower": [14, 18, 71, 90, 92, 106, 118, 141, 164, 165, 182, 185, 186], "barrier": 14, "entri": [14, 181, 187, 191, 192, 201, 202], "flagship": 14, "along": [14, 26, 27, 61, 72, 88, 102, 106, 109, 110, 118, 121, 124, 141, 142, 146, 162, 163, 164, 165, 176, 178, 182, 184, 186, 187, 191, 193, 196, 197, 199, 202], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 81, 106, 163, 164, 165, 166, 169, 170, 176, 184, 190, 196, 202, 204], "nav": [14, 26, 99, 163, 164], "educ": 14, "industri": [14, 27, 90, 109, 163, 176, 178, 197], "thank": [14, 100, 166, 202], "david": [14, 101, 176], "lu": [14, 101, 160, 176], "mike": 14, "ferguson": [14, 160], "tireless": 14, "span": [14, 160, 196, 201], "keep": [14, 18, 27, 90, 99, 106, 155, 162, 163, 166, 170, 172, 173, 176, 181, 183, 184, 189, 196, 197, 203], "aliv": 14, "happen": [14, 18, 158, 172, 189], "asla": 14, "move": [14, 18, 22, 27, 85, 89, 90, 102, 106, 118, 133, 135, 137, 141, 142, 147, 150, 160, 161, 162, 163, 164, 165, 167, 173, 176, 177, 183, 184, 185, 188, 189, 193, 194, 195, 196, 197, 198, 201, 202], "rememb": [14, 109, 153, 155, 183, 184, 196], "fondli": 14, "ish": 14, "With": [14, 17, 27, 141, 183, 189, 196, 200], "redesign": 14, "flexibl": [14, 93, 106, 169], "feedback": [14, 26, 27, 93, 102, 116, 158, 164, 167, 174, 202], "gather": [14, 27], "strive": [14, 158], "alik": 14, "pull": [14, 154, 155, 156, 158, 162, 163, 164, 176, 185, 189, 191, 203], "kept": [14, 119], "dedic": [14, 109], "past": [14, 179, 181, 182, 184, 189, 196, 200], "contributor": [14, 158], "organ": [14, 154, 155, 172, 173, 189, 203], "sponsor": [14, 100, 166, 202], "lead": [14, 106, 138, 158, 163, 164, 199], "leadership": 14, "team": [14, 156, 194], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 89, 90, 94, 99, 100, 107, 115, 140, 141, 142, 155, 156, 167, 170, 172, 173, 174, 176, 181, 189, 191, 194, 201, 202, 203], "role": [14, 27, 170, 174, 178, 179, 191], "ruffin": [14, 155, 160], "white": [14, 155, 160, 190, 197], "uc": 14, "san": [14, 193], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 176], "wallac": [14, 160, 176], "locu": 14, "joshuawallac": 14, "former": [14, 89, 90], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 176], "wilcox": [14, 176], "bpwilcox": 14, "carl": [14, 176], "delsei": [14, 176], "crdelsei": 14, "alexei": [14, 160, 176], "merzlyakov": [14, 160, 176], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 160], "org": [14, 15, 158, 160, 162, 184, 185], "intention": [14, 96, 197], "find": [14, 27, 61, 92, 93, 97, 99, 102, 106, 108, 109, 114, 116, 117, 141, 142, 155, 156, 158, 159, 162, 163, 165, 166, 167, 172, 174, 178, 184, 185, 187, 189, 190, 191, 192, 194, 195, 202], "inquiri": 14, "bug": [14, 158, 177, 196], "privat": 14, "connect": [14, 19, 27, 99, 103, 107, 115, 119, 140, 155, 156, 162, 163, 164, 176, 178, 181, 182, 183, 184, 190, 196, 203], "independ": [14, 27, 92, 124, 160, 163, 165, 170, 182, 193, 201, 202], "consult": 14, "contractor": 14, "offici": [15, 154, 159, 179, 181, 182, 183, 184, 189], "websit": [15, 18, 166], "navigation2_tutori": [15, 166, 171, 179, 181, 184, 197, 199], "navigation2_dynam": 15, "robot_loc": [15, 27, 117, 181, 183, 193, 196], "tom": 15, "moor": [15, 160], "estim": [15, 90, 91, 111, 116, 159, 161, 163, 171, 172, 173, 174, 181, 182, 183, 195, 196], "odometri": [15, 17, 89, 90, 91, 93, 97, 100, 104, 116, 130, 167, 174, 180, 182, 183, 205], "fusion": [15, 27, 181, 183, 193, 196], "gp": [15, 27, 41, 99, 117, 176, 177, 181, 182, 193, 205], "slam_toolbox": [15, 154, 191, 198], "default": [15, 17, 18, 19, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 71, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 101, 102, 103, 104, 105, 106, 107, 109, 110, 111, 112, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 156, 159, 161, 162, 164, 167, 170, 171, 174, 176, 178, 179, 181, 182, 185, 188, 189, 190, 193, 194, 196, 197, 201, 202, 203], "ship": [16, 26], "encount": [16, 178, 182, 191, 192], "click": [16, 156, 159, 167, 171, 172, 173, 174, 179, 182, 188, 195, 196, 203], "imag": [16, 22, 27, 96, 111, 138, 142, 161, 163, 184, 187, 188, 190, 196, 197, 199], "introduct": [17, 94, 184, 189], "To": [17, 20, 26, 27, 90, 97, 106, 115, 116, 140, 141, 143, 154, 155, 156, 158, 160, 163, 165, 166, 169, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 188, 190, 191, 192, 194, 196, 197, 198, 199, 200, 202, 203], "walkthrough": [17, 189], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 84, 91, 96, 100, 102, 106, 107, 109, 115, 132, 134, 136, 140, 141, 142, 144, 145, 153, 159, 160, 161, 162, 163, 164, 166, 167, 171, 172, 173, 174, 176, 181, 182, 184, 185, 193, 194, 196, 198, 201, 202], "paus": [17, 139, 159, 161, 163, 164, 165], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 83, 88, 94, 127, 141, 142, 162, 163, 185, 194], "And": [17, 18, 166, 183, 184, 187, 188, 190, 197], "invalid": [17, 26, 155, 165, 174], "calibr": [17, 196, 205], "incredibli": 17, "across": [17, 27, 106, 112, 120, 141, 142, 155, 165, 166, 174, 177, 182, 183, 185, 189, 196, 203], "statu": [17, 27, 158, 160, 164, 167, 169, 170, 189, 197, 202], "checker": [17, 47, 97, 110, 127, 161, 169, 204], "section": [17, 18, 27, 90, 96, 106, 157, 158, 160, 164, 166, 171, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 190, 191, 193, 199], "guid": [17, 18, 19, 154, 156, 162, 164, 165, 166, 171, 173, 177, 178, 179, 181, 182, 183, 184, 186, 193, 200, 201], "These": [17, 18, 27, 106, 155, 160, 161, 162, 163, 164, 165, 166, 170, 171, 172, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 196, 197, 199, 202, 203], "exemplari": 17, "nav2_bt_navig": [17, 18, 93, 162, 163, 166, 174, 194, 203], "ones": [17, 141, 142, 164, 178, 182, 196], "seen": [17, 22, 113, 142, 164, 166, 170, 171, 181, 186, 189, 203], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 154, 155, 156, 164, 169, 170, 172, 173, 174, 181, 182, 184, 189, 194, 202, 203], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 94, 160, 170, 176, 194, 203], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 94, 170, 194], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 94, 170, 194], "distancecontrol": [17, 18, 94, 96, 162], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 83, 91, 92, 96, 99, 100, 102, 106, 109, 110, 127, 132, 141, 142, 147, 161, 162, 163, 166, 172, 176, 178, 181, 182, 183, 185, 194, 202, 204], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 83, 86, 88, 94, 170, 174, 187, 194], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 94, 97, 101, 102, 106, 109, 110, 162, 165, 166, 170, 172, 174, 178, 194, 204], "simpli": [17, 106, 141, 155, 158, 163, 164, 166, 169, 170, 181, 184, 185, 189, 191, 197, 199, 200, 203], "everi": [17, 19, 21, 23, 24, 61, 87, 96, 98, 102, 106, 109, 122, 126, 141, 158, 163, 164, 166, 170, 171], "meter": [17, 25, 26, 27, 91, 98, 99, 107, 110, 140, 141, 142, 188, 190, 196, 204], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 93, 164, 165, 170, 174, 186, 187, 203], "retri": [17, 21, 23, 24, 45, 81, 100, 167, 176, 202], "contextu": [17, 18, 21, 23, 24, 160, 165, 202], "automat": [17, 27, 93, 99, 106, 109, 123, 155, 158, 163, 164, 166, 179, 181, 183, 184, 185, 186, 189, 196, 197, 199, 202], "door": 17, "elev": [17, 27, 90, 97, 116, 156, 158, 166, 196], "api": [17, 27, 57, 160, 161, 163, 169, 171, 174, 182, 187, 189, 196], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 94, 170, 176], "dock": [17, 18, 26, 27, 28, 45, 62, 92, 166, 176, 177, 178, 205], "serv": [18, 22, 160, 164, 182, 189], "behavior_tre": [18, 26, 50, 51, 93, 162, 166, 174, 203], "sometim": [18, 158, 185, 203], "walk": [18, 19, 27, 155, 193, 196], "navigate_to_pose_w_replanning_and_recoveri": [18, 174], "familiar": [18, 27, 184, 189], "short": [18, 64, 77, 78, 79, 142, 169, 182, 183, 193, 203], "explan": [18, 95, 113, 202], "cpp": [18, 27, 160, 161, 162, 163, 164, 170, 171, 176, 191, 203], "v3": [18, 161, 162, 163], "describ": [18, 19, 106, 158, 159, 166, 171, 172, 173, 174, 178, 181, 184, 189, 191, 192, 196, 199, 200, 201, 203], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 85, 91, 92, 94, 96, 98, 102, 106, 108, 109, 117, 125, 130, 141, 142, 148, 149, 161, 162, 164, 165, 171, 172, 173, 176, 179, 181, 182, 183, 184, 185, 190, 195, 197, 199, 200], "period": [18, 89, 90, 91, 92, 93, 94, 96, 97, 105, 108, 114, 116, 117, 155, 161, 164, 166, 171, 174, 176], "hz": [18, 20, 21, 22, 23, 24, 86, 88, 89, 90, 91, 94, 97, 100, 106, 116, 170, 181, 188, 194], "primarili": [18, 164, 179, 185], "recoverynod": [18, 19, 21, 22, 23, 24, 94, 170], "number_of_retri": [18, 19, 21, 22, 23, 24, 81, 94, 170], "navigaterecoveri": [18, 21, 22, 23, 24, 94, 170], "ratecontrol": [18, 20, 21, 22, 23, 24, 94, 170, 194], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 94, 170, 187, 194], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 94, 107, 108, 115, 140, 141, 142, 163, 170, 173, 178, 187, 194], "reactivefallback": [18, 19, 21, 22, 23, 24, 94, 170], "computepathtoposerecoveryfallback": [18, 94], "goalupd": [18, 19, 21, 22, 23, 24, 66, 94, 170], "clearentirecostmap": [18, 21, 22, 23, 24, 94, 163, 170], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 94, 170], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 94, 170], "global_costmap": [18, 21, 22, 23, 24, 55, 92, 94, 98, 111, 112, 114, 118, 121, 124, 169, 170, 171, 179, 182, 187, 190, 196, 197, 199, 200], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 94, 170], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 94, 163, 166, 170, 194], "followpathrecoveryfallback": [18, 94], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 94, 170], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 90, 92, 94, 98, 119, 121, 169, 170, 171, 179, 182, 190, 197, 199], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 94, 170], "recoveryfallback": [18, 21, 22, 23, 94, 170], "roundrobin": [18, 21, 22, 23, 24, 94], "recoveryact": [18, 21, 22, 23, 24, 94, 170], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 94, 106, 155, 165, 176, 181, 186, 187, 189, 194], "clearingact": [18, 21, 22, 23, 24, 94], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 94, 170], "57": [18, 21, 22, 23, 24, 26, 59, 94, 100, 170, 196, 202], "wait_dur": [18, 21, 22, 23, 24, 63, 94, 170], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 94, 163], "15": [18, 26, 30, 46, 74, 92, 93, 94, 96, 97, 98, 100, 108, 114, 117, 126, 166, 182, 184, 200, 202], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 94, 163], "025": [18, 26, 30, 46, 94, 101, 132, 184], "still": [18, 19, 26, 103, 109, 116, 121, 153, 155, 156, 163, 164, 165, 166, 181, 182, 184, 185, 189, 191, 193, 196, 197], "bit": [18, 164, 185, 189, 191, 196], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 80, 81, 82, 85, 176, 192], "known": [18, 22, 26, 27, 91, 109, 164, 174, 176, 185, 188, 196, 200], "mainli": [18, 182, 183, 184], "actual": [18, 57, 90, 96, 106, 110, 141, 164, 174, 179, 183, 184, 185, 188, 189, 193, 195, 196, 201, 204], "calcul": [18, 26, 89, 90, 109, 118, 164, 171, 172, 173, 178, 181, 190, 196], "dealt": 18, "intern": [18, 21, 23, 24, 110, 160, 165, 166, 171, 174, 181, 186, 193, 196, 204], "hopefulli": [18, 106], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 97, 100, 103, 117, 140, 141, 142, 161, 163, 164, 165, 169, 174, 176, 189, 191], "enough": [18, 165, 179, 185, 188, 189, 196, 202], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 86, 87, 88, 106, 122, 126, 140, 141, 142, 160, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 184, 186, 187, 189, 191, 197, 199, 202], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 98, 122, 123, 125, 126, 158, 163, 164, 165, 166, 173, 176, 182, 185, 188, 193, 200, 202], "until": [18, 19, 20, 26, 27, 80, 90, 110, 127, 141, 142, 153, 155, 163, 172, 174, 176, 181, 191, 194, 196, 200, 202], "parent": [18, 19, 76, 155, 163, 169, 171, 172, 173, 181, 182, 183, 184, 191, 196], "exceed": [18, 98, 165], "gone": 18, "between": [18, 26, 27, 41, 89, 90, 91, 94, 99, 104, 106, 107, 111, 115, 140, 141, 142, 155, 156, 162, 163, 164, 165, 168, 174, 178, 179, 181, 182, 183, 184, 185, 189, 193, 196, 197, 202, 203, 204], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 80, 83, 86, 87, 88, 164, 170, 176], "succe": [18, 19, 80, 81, 176], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 90, 99, 103, 106, 116, 117, 141, 142, 153, 155, 159, 161, 183, 184, 189, 191, 194, 197, 202, 203], "recov": [18, 91, 103], "toler": [18, 27, 61, 67, 92, 93, 96, 98, 100, 102, 106, 107, 109, 110, 112, 114, 125, 127, 134, 136, 140, 141, 142, 151, 163, 164, 166, 173, 176, 187, 195, 202, 204], "outlin": [18, 20, 163, 179, 183, 189], "center": [18, 27, 38, 39, 99, 106, 121, 140, 141, 142, 164, 169, 179, 183, 184, 188, 195, 196], "decor": [18, 20, 22, 164, 170, 176, 194, 203], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 81, 88, 89, 90, 93, 97, 98, 100, 105, 106, 122, 126, 138, 139, 141, 142, 154, 155, 156, 162, 163, 164, 165, 166, 167, 170, 171, 172, 173, 176, 178, 181, 182, 183, 185, 188, 189, 192, 196, 201, 202], "frequenc": [18, 19, 89, 92, 97, 98, 100, 106, 108, 116, 141, 142, 166, 181, 193, 196], "flood": 18, "too": [18, 106, 115, 141, 142, 163, 164, 166, 185, 187], "useless": 18, "100hz": 18, "depend": [18, 27, 90, 102, 106, 124, 154, 155, 156, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 178, 179, 181, 184, 185, 189, 190, 191, 193, 195, 196, 197, 201, 202], "speedcontrol": [18, 94, 162], "big": [18, 196], "half": [18, 109, 141, 142, 182], "snippet": [18, 169, 172, 173, 174, 179, 181, 182, 184, 186, 191], "rest": [18, 38, 39, 90, 97, 106, 116, 138, 156, 166, 181, 182, 183, 186, 192, 196], "asynchron": [18, 19, 27, 162], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 84, 89, 90, 97, 110, 113, 116, 123, 125, 162, 164, 165, 166, 169, 172, 174, 176, 181, 182, 183, 185, 194, 196, 204], "halt": [18, 19, 22, 166], "quick": [18, 141, 142, 183, 197], "reaction": 18, "preempt": [18, 20, 26, 162, 170, 174, 176], "portion": [18, 90, 97, 116, 166, 187], "common": [18, 26, 27, 90, 100, 106, 155, 156, 160, 163, 164, 174, 181, 189, 193, 196, 201, 202], "pattern": [18, 19, 99, 188], "unless": [18, 19, 102, 103, 109, 142, 158], "pair": [18, 19, 106, 112, 124, 163, 166, 185, 188, 193, 196, 197, 199, 204], "imagin": [18, 27, 169, 176, 196], "wrap": [18, 26, 27], "whole": [18, 61, 158, 166, 171, 182, 188, 199, 201], "isbatterylow": [18, 19, 94], "batteri": [18, 19, 27, 70, 71, 100, 164, 165, 176, 189, 194, 202], "enter": [18, 21, 23, 24, 27, 106, 169, 172, 173, 174, 197, 202], "recharg": [18, 27], "never": [18, 27, 106, 141, 142, 164, 189, 197, 199], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 76, 80, 81, 83, 86, 87, 88, 164, 166, 176, 181, 182, 183, 184, 196], "sake": 18, "assum": [18, 19, 156, 163, 171, 172, 176, 179, 183, 184, 190, 191, 196, 197, 198, 199, 200, 201, 202, 203], "again": [18, 19, 20, 22, 81, 153, 155, 159, 161, 177, 181, 184, 189], "BUT": 18, "onto": [18, 21, 23, 106, 110, 164, 174, 176, 181, 183, 204], "hypothet": 18, "scenario": [18, 22, 102, 178, 201], "indefinit": [18, 19, 26, 55, 158, 194], "unlik": [18, 89, 169, 190], "vocabulari": 19, "larg": [19, 27, 90, 96, 102, 106, 109, 141, 142, 160, 162, 177, 181, 184, 185, 188, 202], "confus": 19, "first": [19, 27, 41, 80, 81, 89, 90, 106, 120, 125, 154, 155, 158, 160, 164, 165, 166, 172, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 191, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 85, 90, 91, 92, 93, 97, 98, 99, 102, 103, 106, 108, 109, 110, 114, 116, 117, 118, 119, 141, 142, 155, 162, 163, 164, 165, 166, 167, 172, 174, 176, 183, 185, 189, 190, 191, 192, 193, 194, 196, 197, 198, 201, 202, 204], "actionnod": 19, "necessarili": 19, "often": [19, 27, 96, 164, 181, 189, 196], "quit": [19, 156, 164, 191, 193, 196], "fashion": 19, "commonli": [19, 44, 49, 52, 53, 58, 174, 182, 193, 196], "nav2_behavior_tre": [19, 27, 94, 162, 163, 166, 170, 174, 203], "folder": [19, 155, 156, 182, 188, 196], "client": [19, 27, 99, 161, 163, 164, 169, 170, 174, 187, 202], "clearcostmapservic": 19, "believ": [19, 193], "correctli": [19, 27, 159, 163, 164, 179, 181, 182, 183, 196, 197, 199, 201], "servic": [19, 27, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 91, 93, 105, 109, 155, 156, 162, 163, 165, 167, 169, 176, 178, 181, 188, 189, 196], "goalreach": [19, 83, 86, 88, 94, 166], "initialposereceiv": [19, 94], "intial_pos": 19, "listen": [19, 89, 90, 92, 153, 162, 189], "probe": [19, 155], "aspect": [19, 155, 156, 187, 188], "kei": [19, 91, 99, 154, 155, 158, 159, 174, 185, 186, 189, 190, 193, 196, 202], "Will": [19, 57, 90, 176], "travel": [19, 27, 46, 65, 83, 106, 140, 141, 142, 164, 176, 181, 182], "certain": [19, 55, 106, 162, 164, 171, 178, 180, 182, 194], "constant": [19, 99, 102, 109, 166, 172, 184, 185], "expos": [19, 27, 114, 163, 165, 189, 196], "port": [19, 93, 158, 162, 163, 164, 170, 182, 187, 189, 194, 203], "subsequ": [19, 27, 91, 141, 142, 155, 176, 193], "proport": [19, 100, 106, 141, 142, 197, 200], "previou": [19, 24, 62, 90, 106, 141, 158, 163, 165, 166, 171, 174, 176, 179, 181, 182, 184, 185, 189, 196, 199, 200], "properti": [19, 90, 155, 181, 182, 201], "prior": [19, 85, 91, 161, 164], "resembl": 19, "water": 19, "pipe": [19, 165], "action_a": 19, "action_b": 19, "action_c": 19, "idl": 19, "therefor": [19, 22, 89, 106, 184, 185, 186, 191, 196, 197, 199, 201, 203], "retick": 19, "ing": 19, "even": [19, 20, 21, 23, 105, 106, 109, 116, 120, 141, 156, 160, 162, 163, 164, 166, 176, 178, 179, 180, 181, 185, 189, 191, 193, 197, 202], "though": [19, 21, 100, 106, 142, 185, 186, 189, 193, 196, 197, 199, 201], "recal": [19, 182], "loop": [19, 27, 89, 90, 97, 100, 102, 106, 109, 116, 164, 173, 174, 193, 202], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 113, 155, 163, 171, 181, 183, 186, 191, 192, 196, 197], "togeth": [19, 27, 99, 181, 183, 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127, 137, 141, 142, 159, 161, 162, 163, 164, 166, 169, 172, 174, 176, 179, 181, 182, 185, 187, 188, 189, 193, 194, 195, 196, 198, 201, 202], "goalupdat": [20, 94, 194], "newest": [20, 100, 185], "truncatepath": [20, 94, 162, 194], "least": [20, 90, 155, 158, 163, 181, 201, 202], "awai": [20, 96, 102, 106, 110, 140, 165, 182, 185, 188, 202, 203, 204], "smooth": [20, 26, 27, 57, 88, 96, 100, 102, 106, 110, 111, 112, 114, 116, 140, 141, 142, 160, 163, 164, 165, 166, 176, 181, 185, 187, 196, 201, 204], "off": [20, 106, 110, 116, 118, 158, 164, 165, 166, 169, 184, 189, 191, 202, 204], "toward": [20, 73, 89, 90, 96, 106, 110, 141, 142, 164, 166, 173, 176, 185, 188, 195, 196, 204], "probabl": [20, 105, 123, 141, 142, 165, 182, 187], "occupi": [20, 27, 55, 98, 105, 106, 122, 123, 125, 126, 165, 182, 197], "truncat": [20, 60, 61, 96, 176], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 75, 98, 103, 106, 110, 127, 143, 154, 164, 176, 192, 194, 197, 202, 204], "keeprunninguntilfailur": [20, 194], "mode": [20, 90, 99, 106, 116, 155, 165, 166, 193, 196, 197, 199, 203], "infinit": [20, 97, 122, 126, 141, 142, 193, 202], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 109, 115, 140, 141, 142, 159, 170, 172, 174, 176, 194], "controllerselector": [20, 21, 22, 23, 24, 94, 163], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 105, 197, 199], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 94, 163], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 84, 194], "output_go": [20, 21, 55, 56, 84, 194], "updated_go": [20, 84, 194], "error_code_id": [20, 21, 22, 23, 24, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 187], "compute_path_error_cod": [20, 21, 22, 23, 24, 42, 43, 93, 187], "input_path": [20, 60, 61, 194], "output_path": 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"dwb-controller"], [127, "dwb-controller"]], "Controller": [[101, "controller"]], "Plugins": [[101, "plugins"]], "Trajectory Critics": [[101, "trajectory-critics"]], "Graceful Controller": [[102, "graceful-controller"]], "Graceful Controller Parameters": [[102, "graceful-controller-parameters"]], "Lifecycle Manager": [[103, "lifecycle-manager"]], "Loopback Simulator": [[104, "loopback-simulator"]], "Map Server / Saver": [[105, "map-server-saver"]], "Map Saver Parameters": [[105, "map-saver-parameters"]], "Map Server Parameters": [[105, "map-server-parameters"]], "Costmap Filter Info Server Parameters": [[105, "costmap-filter-info-server-parameters"]], "Model Predictive Path Integral Controller": [[106, "model-predictive-path-integral-controller"]], "MPPI Parameters": [[106, "mppi-parameters"]], "Trajectory Visualization": [[106, "trajectory-visualization"]], "Path Handler": [[106, "path-handler"]], "Ackermann Motion Model": [[106, "ackermann-motion-model"]], "Constraint Critic": [[106, "constraint-critic"]], "Goal Angle Critic": [[106, "goal-angle-critic"]], "Goal Critic": [[106, "goal-critic"]], "Obstacles Critic": [[106, "obstacles-critic"]], "Cost Critic": [[106, "cost-critic"]], "Path Align Critic": [[106, "path-align-critic"]], "Path Angle Critic": [[106, "path-angle-critic"]], "Path Follow Critic": [[106, "path-follow-critic"]], "Prefer Forward Critic": [[106, "prefer-forward-critic"]], "Twirling Critic": [[106, "twirling-critic"]], "Velocity Deadband Critic": [[106, "velocity-deadband-critic"]], "Notes to Users": [[106, "notes-to-users"]], "General Words of Wisdom": [[106, "general-words-of-wisdom"]], "Prediction Horizon, Costmap Sizing, and Offsets": [[106, "prediction-horizon-costmap-sizing-and-offsets"]], "Obstacle, Inflation Layer, and Path Following": [[106, "obstacle-inflation-layer-and-path-following"]], "NavFn Planner": [[107, "navfn-planner"]], "Planner Server": [[108, "planner-server"], [178, "planner-server"]], "Regulated Pure Pursuit": [[109, "regulated-pure-pursuit"]], "Regulated Pure Pursuit Parameters": [[109, "regulated-pure-pursuit-parameters"]], "Rotation Shim Controller": [[110, "rotation-shim-controller"]], "Rotation Shim Controller Parameters": [[110, "rotation-shim-controller-parameters"]], "Savitzky-Golay Smoother": [[111, "savitzky-golay-smoother"], [165, "savitzky-golay-smoother"]], "Savitzky-Golay Smoother Parameters": [[111, "savitzky-golay-smoother-parameters"]], "Simple Smoother": [[112, "simple-smoother"]], "Simple Smoother Parameters": [[112, "simple-smoother-parameters"]], "Smac Planner": [[113, "smac-planner"]], "Description": [[113, "description"]], "Smoother Server": [[114, "smoother-server"]], "Theta Star Planner": [[115, "theta-star-planner"]], "Velocity Smoother": [[116, "velocity-smoother"]], "Velocity Smoother Parameters": [[116, "velocity-smoother-parameters"]], "Waypoint Follower": [[117, "waypoint-follower"]], "Default Plugin": [[117, "default-plugin"]], "Binary Filter Parameters": [[118, "binary-filter-parameters"]], "Denoise Layer Parameters": [[119, "denoise-layer-parameters"]], "Inflation Layer Parameters": [[120, "inflation-layer-parameters"]], "Keepout Filter Parameters": [[121, "keepout-filter-parameters"]], "Obstacle Layer Parameters": [[122, "obstacle-layer-parameters"]], "Range Sensor Parameters": [[123, "range-sensor-parameters"]], "Speed Filter Parameters": [[124, "speed-filter-parameters"]], "Static Layer Parameters": [[125, "static-layer-parameters"]], "Voxel Layer Parameters": [[126, "voxel-layer-parameters"]], "XYTheta Iterator": [[128, "xytheta-iterator"]], "Kinematic Parameters": [[129, "kinematic-parameters"]], "Publisher": [[130, "publisher"]], "LimitedAccelGenerator": [[131, "limitedaccelgenerator"]], "StandardTrajectoryGenerator": [[132, "standardtrajectorygenerator"]], "PoseProgressChecker": [[133, "poseprogresschecker"]], "SimpleGoalChecker": [[134, "simplegoalchecker"]], "SimpleProgressChecker": [[135, "simpleprogresschecker"]], "StoppedGoalChecker": [[136, "stoppedgoalchecker"]], "InputAtWaypoint": [[137, "inputatwaypoint"]], "PhotoAtWaypoint": [[138, "photoatwaypoint"]], "WaitAtWaypoint": [[139, "waitatwaypoint"]], "Smac 2D Planner": [[140, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[141, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[142, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[143, "baseobstaclecritic"]], "GoalAlignCritic": [[144, "goalaligncritic"]], "GoalDistCritic": [[145, "goaldistcritic"]], "ObstacleFootprintCritic": [[146, "obstaclefootprintcritic"]], "OscillationCritic": [[147, "oscillationcritic"]], "PathAlignCritic": [[148, "pathaligncritic"]], "PathDistCritic": [[149, "pathdistcritic"]], "PreferForwardCritic": [[150, "preferforwardcritic"]], "RotateToGoalCritic": [[151, "rotatetogoalcritic"]], "TwirlingCritic": [[152, "twirlingcritic"]], "Build Troubleshooting Guide": [[153, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[153, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[153, "reporting-issue"]], "Build and Install": [[154, "build-and-install"]], "Install": [[154, "install"]], "Build": [[154, "build"]], "Released Distribution Binaries": [[154, "released-distribution-binaries"]], "Rolling Development Source": [[154, "rolling-development-source"]], "Docker Container Images": [[154, "docker-container-images"]], "Generate Doxygen": [[154, "generate-doxygen"]], "Help": [[154, "help"]], "Dev Container Guide": [[155, "dev-container-guide"]], "Creating Dev Containers": [[155, "creating-dev-containers"]], "Building the image": [[155, "building-the-image"]], "Starting the container": [[155, "starting-the-container"]], "Using Dev Containers": [[155, "using-dev-containers"]], "Terminals": [[155, "terminals"]], "Lifecycle": [[155, "lifecycle"]], "Rebuilding": [[155, "rebuilding"]], "Dev Containers": [[156, "dev-containers"]], "What, Why, How?": [[156, "what-why-how"]], "What is a Dev Container?": [[156, "what-is-a-dev-container"]], "Why use a Dev Container?": [[156, "why-use-a-dev-container"]], "How do Dev Containers work?": [[156, "how-do-dev-containers-work"]], "Getting started": [[156, "getting-started"]], "Security": [[156, "security"]], "Development Guides": [[157, "development-guides"]], "Getting Involved": [[158, "getting-involved"], [158, "id1"]], "Process": [[158, "process"]], "Licensing": [[158, "licensing"]], "Developer Certification of Origin (DCO)": [[158, "developer-certification-of-origin-dco"]], "Getting Started": [[159, "getting-started"]], "Installation": [[159, "installation"]], "Running the Example": [[159, "running-the-example"]], "Navigating": [[159, "navigating"]], "Nav2": [[160, "lpn"]], "Our Sponsors": [[160, "our-sponsors"]], "Services": [[160, "services"]], "Citations": [[160, "citations"]], "Dashing to Eloquent": [[161, "dashing-to-eloquent"]], "New Packages": [[161, "new-packages"]], "New Plugins": [[161, "new-plugins"], [162, "new-plugins"], [163, "new-plugins"]], "Navigation2 Architectural Changes": [[161, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[162, "eloquent-to-foxy"]], "General": [[162, "general"]], "Server Updates": [[162, "server-updates"]], "Map Server Re-Work": [[162, "map-server-re-work"]], "New Particle Filter Messages": [[162, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[162, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[162, "followpoint-capability"]], "New Costmap Layer": [[162, "new-costmap-layer"]], "Foxy to Galactic": [[163, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[163, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[163, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[163, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[163, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[163, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[163, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[163, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[163, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[163, "followpath-goal-checker-id-attribute"]], "Groot Support": [[163, "groot-support"]], "SmacPlanner": [[163, "smacplanner"]], "ThetaStarPlanner": [[163, "thetastarplanner"]], "RegulatedPurePursuitController": [[163, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[163, "costmap2d-current-usage"]], "Standard time units in parameters": [[163, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[163, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[163, "obstacle-marking-parameters"]], "Recovery Action Changes": [[163, "recovery-action-changes"]], "Default Behavior Tree Changes": [[163, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[163, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[163, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[163, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[163, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[163, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[163, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[163, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[164, "galactic-to-humble"]], "Major improvements to Smac Planners": [[164, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[164, "simple-python-commander"]], "Reduce Nodes and Executors": [[164, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[164, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[164, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[164, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[164, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[164, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[164, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[164, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[164, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[164, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[164, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[164, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[164, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[164, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[164, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[164, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[164, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[164, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[164, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[164, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[164, "dynamic-composition"]], "BT Cancel Node": [[164, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[164, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[164, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[164, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[164, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[164, "euclidean-distance-2d"]], "Recovery To Behavior": [[164, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[164, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[164, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[164, "goal-checker-api-changed"]], "Added Assisted Teleop": [[164, "added-assisted-teleop"]], "Humble to Iron": [[165, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[165, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[165, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[165, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[165, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[165, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[165, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[165, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[165, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[165, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[165, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[165, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[165, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[165, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[165, "smootherselector-bt-node"]], "Publish Costmap Layers": [[165, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[165, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[165, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[165, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[165, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[165, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[165, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[165, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[165, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[165, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[165, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[165, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[165, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[165, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[165, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[165, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[165, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[166, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[166, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[166, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[166, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[166, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[166, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[166, "opennav-coverage-project"]], "opennav_docking Project": [[166, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[166, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[166, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[166, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[166, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[166, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[166, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[166, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[166, "mppi-acceleration"]], "Move Error Code Enumerations": [[166, "move-error-code-enumerations"]], "Substitution in parameter file": [[166, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[166, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[166, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[166, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[166, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[166, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[166, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[166, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[166, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[166, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[166, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[166, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[166, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[166, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[166, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[166, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[166, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[166, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[166, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[166, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[166, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[166, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[166, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[166, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[166, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[166, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[166, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[166, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[166, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[166, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[166, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[166, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[166, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[166, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[167, "jazzy-to-k-turtle"]], "New Nav2 Loopback Simulator": [[167, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[167, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[167, "new-rviz-panel-for-docking"]], "New BT Nodes": [[167, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[167, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[167, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[167, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[167, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Migration Guides": [[168, "migration-guides"]], "Writing a New Behavior Plugin": [[169, "writing-a-new-behavior-plugin"]], "Requirements": [[169, "requirements"], [170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [187, "requirements"], [188, "requirements"], [190, "requirements"], [195, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [201, "requirements"], [202, "requirements"]], "Tutorial Steps": [[169, "tutorial-steps"], [170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [187, "tutorial-steps"], [188, "tutorial-steps"], [190, "tutorial-steps"], [194, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[169, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[169, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[169, "pass-the-plugin-name-through-params-file"], [173, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[169, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[170, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new 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Prepare filter mask": [[197, "prepare-filter-mask"], [199, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[197, "configure-costmap-filter-info-publisher-server"], [199, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[197, "enable-keepout-filter"]], "4. Run Nav2 stack": [[197, "run-nav2-stack"], [199, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[198, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[198, "launch-robot-interfaces"]], "1- Launch Navigation2": [[198, "launch-navigation2"]], "2- Launch SLAM": [[198, "launch-slam"]], "3- Working with SLAM": [[198, "working-with-slam"]], "4- Getting Started Simplification": [[198, "getting-started-simplification"]], "Navigating with Speed Limits": [[199, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[199, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[200, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[200, "costmap2d-and-stvl"]], "0- Setup": [[200, "setup"]], "1- Install STVL": [[200, "install-stvl"]], "1- Modify Navigation2 Parameter": [[200, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[200, "launch-navigation2"]], "3-  RVIZ": [[200, "rviz"]], "Using Collision Monitor": [[201, "using-collision-monitor"]], "Configuring Collision Monitor": [[201, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[201, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[201, "preparing-nav2-stack"]], "Demo Execution": [[201, "demo-execution"], [204, "demo-execution"]], "Using Docking Server": [[202, "using-docking-server"]], "ChargingDock Plugins": [[202, "chargingdock-plugins"]], "Dock Database": [[202, "dock-database"]], "Configuring Docking Server": [[202, "configuring-docking-server"]], "Adding Docking Server to Launch": [[202, "adding-docking-server-to-launch"]], "Docking Action API": [[202, "docking-action-api"]], "Putting It All Together": [[202, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[203, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[203, "visualize-behavior-trees"]], "Edit Behavior Trees": [[203, "edit-behavior-trees"]], "Adding A Custom Node": [[203, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[204, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[204, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[204, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[204, "configuring-primary-controller"]], "General Tutorials": [[205, "general-tutorials"]]}, "indexentries": {}})
\ No newline at end of file
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123, 142, 155, 160, 163, 164, 166, 171, 178, 179, 181, 182, 183, 184, 185, 189, 201], "take": [1, 9, 12, 17, 21, 22, 26, 27, 41, 42, 43, 47, 50, 51, 66, 67, 68, 69, 85, 88, 89, 90, 91, 92, 93, 97, 99, 103, 106, 108, 110, 111, 112, 114, 117, 125, 138, 140, 141, 155, 158, 159, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 202, 204], "posit": [1, 4, 61, 89, 90, 97, 100, 102, 134, 135, 136, 159, 161, 163, 164, 166, 170, 171, 172, 173, 174, 181, 182, 183, 184, 185, 190, 193, 194, 195, 196, 198], "veloc": [1, 4, 9, 13, 28, 88, 89, 90, 92, 95, 97, 100, 102, 104, 109, 110, 124, 128, 129, 132, 136, 147, 150, 151, 160, 163, 166, 169, 172, 176, 177, 178, 181, 185, 201, 204], "command": [1, 9, 22, 29, 44, 49, 52, 53, 58, 84, 90, 97, 104, 109, 110, 116, 132, 154, 155, 156, 160, 162, 167, 169, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 191, 193, 194, 195, 198, 199, 204], "attempt": [1, 18, 20, 21, 23, 24, 26, 27, 85, 100, 103, 105, 106, 112, 119, 140, 141, 142, 156, 166, 189, 191, 193, 197, 202], "follow": [1, 2, 3, 9, 10, 17, 18, 21, 23, 24, 26, 28, 47, 57, 84, 90, 92, 96, 97, 98, 102, 105, 108, 109, 116, 124, 137, 138, 139, 141, 142, 154, 156, 158, 159, 160, 161, 162, 163, 164, 165, 169, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 204, 205], "exampl": [1, 7, 15, 16, 17, 18, 19, 22, 27, 113, 154, 155, 156, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 197, 199, 200, 201, 202, 203, 204], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 89, 90, 92, 93, 96, 97, 100, 106, 108, 114, 117, 153, 155, 160, 161, 164, 165, 166, 169, 171, 174, 176, 178, 185, 186, 189, 190, 191, 192, 193, 194, 196, 199, 200, 202, 203, 204], "drive": [1, 25, 26, 35, 46, 96, 106, 109, 113, 141, 142, 160, 163, 172, 176, 178, 179, 181, 182, 184, 185, 196, 197, 202], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 103, 106, 115, 122, 126, 141, 142, 155, 158, 159, 160, 162, 163, 164, 165, 166, 171, 176, 178, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 196, 197, 198, 199, 200, 202, 204], "space": [1, 4, 10, 20, 27, 89, 90, 91, 98, 105, 106, 107, 109, 115, 118, 122, 125, 126, 140, 141, 142, 155, 156, 163, 164, 176, 178, 181, 185, 189, 190, 195, 197, 202], "visit": [1, 27, 141, 142, 158, 196], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 156, 157, 159, 160, 164, 165, 169, 170, 171, 172, 173, 174, 183, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 73, 164, 176, 185], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 96, 99, 106, 110, 118, 142, 158, 160, 161, 164, 165, 166, 170, 172, 173, 174, 176, 183, 184, 185, 189, 196, 202, 203], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 141, 142, 153, 155, 156, 158, 160, 166, 171, 179, 181, 182, 183, 184, 185, 188, 189, 191, 192, 193, 194, 195, 197, 198, 199, 200, 203], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 99, 106, 117, 139, 141, 142, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 174, 181, 184, 185, 189, 193, 196, 198, 201], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 83, 86, 87, 88, 90, 96, 97, 98, 106, 107, 110, 112, 113, 115, 125, 140, 141, 142, 154, 158, 160, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 199, 200, 201, 202, 203, 204], "excel": [1, 7, 9, 196, 204], "chanc": [1, 7, 9, 19, 164], "substanti": [1, 106, 141, 158, 161, 185], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 90, 91, 97, 103, 104, 106, 116, 154, 155, 156, 158, 159, 160, 161, 164, 166, 167, 174, 178, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 195, 201, 202], "hundr": [1, 27], "futur": [1, 4, 8, 11, 21, 27, 89, 90, 91, 118, 121, 124, 162, 164, 166, 194], "could": [1, 2, 3, 6, 7, 9, 10, 20, 27, 89, 90, 97, 115, 155, 156, 162, 163, 164, 165, 170, 171, 172, 176, 183, 185, 187, 189, 191, 194, 196, 197, 199, 200, 201], "also": [1, 3, 4, 6, 7, 11, 18, 19, 20, 21, 22, 23, 24, 26, 27, 89, 90, 91, 92, 94, 97, 98, 99, 100, 103, 105, 106, 108, 109, 110, 111, 113, 114, 116, 117, 120, 141, 142, 154, 155, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 202, 204], "good": [1, 6, 27, 91, 106, 115, 116, 141, 158, 160, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 188, 189, 191, 193, 196], "candid": [1, 7, 99, 106, 158, 178], "roscon": [1, 198, 200], "talk": [1, 155, 160, 181, 183, 189, 191, 198, 200], "event": [1, 13, 158, 164, 189, 202], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 177], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 106, 160, 176, 189, 191, 193], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 109, 160, 176], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 198, 200], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158, 160, 185, 186, 202], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 19, 115, 158, 164, 181, 182, 183, 184, 189, 196, 201], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 22, 27, 55, 88, 100, 106, 115, 123, 142, 154, 161, 163, 169, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 189, 190, 191, 192, 196, 197, 198, 199, 200, 202, 203, 204], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 106, 191, 205], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 90, 98, 99, 104, 106, 140, 141, 142, 160, 163, 164, 167, 170, 171, 178, 181, 182, 183, 184, 186, 187, 191, 192, 193, 196, 197, 199, 201, 202, 203], "either": [1, 18, 19, 26, 27, 90, 91, 100, 105, 106, 123, 125, 155, 156, 165, 166, 176, 178, 181, 182, 185, 189, 192, 199, 202, 203], "set": [1, 2, 3, 9, 10, 13, 17, 21, 23, 24, 26, 27, 29, 30, 41, 42, 43, 45, 46, 47, 48, 55, 57, 59, 61, 62, 64, 71, 89, 90, 91, 96, 97, 98, 99, 100, 102, 103, 105, 106, 107, 109, 110, 113, 115, 116, 117, 118, 122, 124, 125, 126, 127, 140, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 176, 180, 185, 186, 187, 188, 189, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204], "successfulli": [1, 18, 27, 164, 169, 174, 181, 183, 184, 186, 189, 194, 202], "user": [1, 2, 3, 7, 9, 14, 17, 21, 22, 23, 24, 26, 27, 28, 41, 81, 85, 89, 90, 91, 112, 117, 123, 137, 141, 155, 156, 158, 160, 162, 163, 164, 165, 166, 167, 174, 176, 180, 182, 185, 186, 189, 191, 192, 193, 196, 198, 200, 201, 202, 204], "without": [1, 4, 14, 26, 27, 61, 89, 90, 96, 97, 104, 106, 111, 119, 121, 141, 155, 156, 162, 163, 164, 166, 167, 171, 174, 179, 180, 182, 185, 189, 191, 193, 194, 196, 197, 198, 204], "collis": [1, 7, 9, 27, 28, 29, 55, 57, 92, 96, 98, 104, 106, 109, 110, 114, 120, 121, 123, 151, 160, 161, 163, 164, 169, 176, 177, 178, 179, 181, 182, 184, 185, 204, 205], "allot": [1, 9, 11], "tune": [1, 9, 25, 105, 106, 110, 115, 141, 164, 180, 193, 196, 197, 199, 201, 204], "ad": [1, 9, 10, 13, 21, 23, 24, 41, 91, 93, 106, 141, 142, 155, 156, 158, 161, 162, 167, 169, 171, 172, 173, 174, 178, 179, 183, 185, 190, 191, 192, 193, 196, 197, 199, 200, 201, 204, 205], "critic": [1, 7, 9, 27, 127, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 178, 185, 186, 191], "dwb": [1, 3, 9, 21, 23, 24, 27, 28, 128, 129, 130, 131, 132, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 162, 176, 178, 185, 204], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 21, 22, 23, 24, 28, 42, 43, 52, 78, 90, 95, 96, 98, 99, 106, 109, 110, 111, 112, 116, 121, 130, 148, 149, 160, 161, 162, 167, 169, 171, 175, 177, 179, 180, 186, 187, 194, 197, 200, 204], "improv": [1, 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203, 204], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 104, 153, 159, 166, 167, 169, 170, 171, 172, 173, 174, 179, 180, 184, 185, 189, 190, 195, 197, 199, 200], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 90, 93, 106, 110, 131, 132, 153, 159, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 189, 191, 192, 195, 196, 197, 198, 199, 200], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 99, 106, 160, 161, 166, 169, 170, 174, 193, 196], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 122, 126, 153, 155, 157, 158, 159, 160, 164, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 188, 189, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 109, 158, 165, 182, 185, 186, 189, 191], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 109, 154, 155, 156, 160, 169, 171, 172, 173, 177, 179, 181, 182, 184, 185, 189, 197, 199, 200], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 27, 153, 158, 162, 163, 164, 185, 191, 203], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 157], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 26, 27, 39, 80, 90, 91, 92, 93, 99, 103, 106, 109, 111, 113, 115, 116, 119, 123, 141, 146, 154, 155, 156, 158, 160, 161, 162, 163, 164, 166, 169, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 196, 197, 199, 200, 203, 204], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 99, 141, 158, 166, 182, 185, 186], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 20, 93, 122, 125, 126, 155, 156, 158, 162, 163, 164, 165, 169, 170, 176, 178, 179, 181, 182, 184, 187, 189, 191, 193, 196, 200, 202], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 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114, 117, 141, 154, 155, 156, 158, 160, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203], "A": [2, 3, 6, 10, 13, 17, 18, 19, 22, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 67, 77, 78, 79, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 102, 103, 105, 106, 107, 110, 113, 115, 117, 118, 121, 124, 127, 140, 142, 155, 156, 158, 160, 162, 163, 164, 165, 170, 176, 178, 179, 181, 182, 183, 185, 186, 187, 188, 189, 191, 193, 194, 195, 196, 199, 200, 202, 204], "extrem": [2, 18, 89, 102, 106, 121, 163, 182], "benefici": [2, 27, 106, 121, 174, 191], "wai": [2, 9, 18, 21, 23, 24, 27, 85, 93, 103, 106, 117, 119, 141, 142, 152, 154, 163, 164, 165, 166, 179, 183, 185, 186, 187, 189, 191, 196, 198, 200, 202, 204], "minim": [2, 11, 106, 159, 164, 165, 174, 178, 181, 185, 193], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 90, 91, 93, 94, 98, 100, 105, 106, 111, 116, 122, 126, 148, 149, 154, 155, 156, 158, 159, 160, 164, 165, 166, 169, 170, 171, 172, 173, 174, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 193, 194, 195, 196, 198, 202, 203], "gui": [2, 156, 159, 181, 184, 188, 189, 196, 203], "tool": [2, 4, 15, 27, 153, 154, 155, 156, 158, 160, 162, 163, 174, 180, 182, 183, 184, 189, 191, 192, 196, 197, 202], "cover": [2, 27, 90, 123, 158, 163, 166, 178, 185, 186, 189, 191, 196, 197, 199, 201], "broad": [2, 7, 180, 185, 202], "stroke": [2, 180], "visual": [2, 89, 90, 93, 94, 98, 109, 155, 156, 160, 164, 166, 181, 185, 187, 192, 193, 196, 198, 199, 200, 201], "show": [2, 26, 124, 142, 156, 159, 164, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202], "what": [2, 6, 19, 27, 106, 127, 157, 158, 164, 177, 181, 182, 183, 184, 186, 187, 189, 195, 196, 202], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 93, 105, 106, 113, 117, 140, 141, 155, 156, 158, 159, 160, 163, 164, 166, 169, 170, 171, 174, 176, 179, 180, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 89, 90, 91, 106, 107, 110, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 155, 156, 163, 165, 167, 170, 171, 176, 179, 180, 182, 184, 187, 190, 191, 192, 194, 197, 199, 202, 203, 204], "layer": [2, 4, 7, 10, 11, 98, 118, 121, 123, 124, 140, 141, 143, 155, 160, 161, 163, 164, 171, 182, 185, 189, 196, 197, 200], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 81, 92, 93, 94, 160, 161, 162, 165, 169, 170, 174, 176, 187], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 83, 86, 88, 101, 155, 161, 162, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 190, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "urdf": [2, 27, 159, 179, 180, 183, 185, 193, 198], "footprint": [2, 55, 89, 90, 92, 98, 106, 114, 121, 122, 125, 126, 141, 142, 146, 164, 165, 166, 167, 171, 176, 178, 180, 184, 201], "frame": [2, 27, 41, 56, 61, 65, 67, 76, 83, 89, 90, 91, 92, 93, 96, 98, 99, 100, 104, 105, 114, 117, 118, 121, 122, 124, 126, 130, 153, 161, 172, 173, 179, 181, 182, 183, 184, 188, 193, 196, 201, 202], "option": [2, 3, 6, 9, 42, 43, 89, 90, 91, 96, 99, 106, 141, 156, 163, 164, 165, 171, 182, 184, 187, 188, 189, 190, 191, 192, 193, 194, 200, 202, 203], "compli": [2, 178, 181, 196], "standard": [2, 6, 10, 91, 106, 158, 182, 183, 188, 196, 197, 199, 202, 203], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 77, 78, 79, 81, 82, 83, 84, 88, 90, 98, 100, 109, 113, 116, 124, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 160, 161, 162, 167, 169, 170, 171, 174, 175, 177, 179, 180, 181, 184, 186, 187, 189, 191, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205], "minimum": [2, 9, 27, 71, 88, 89, 90, 91, 92, 96, 98, 99, 100, 102, 105, 106, 109, 116, 119, 122, 126, 129, 133, 135, 141, 142, 147, 150, 163, 164, 165, 166, 167, 176, 178, 182, 183], "maximum": [2, 27, 45, 57, 61, 62, 88, 89, 90, 91, 92, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 112, 116, 122, 124, 126, 129, 133, 135, 140, 141, 142, 163, 164, 165, 166, 172, 176, 182, 190, 193, 197, 199, 202], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 88, 90, 92, 96, 97, 98, 105, 106, 109, 116, 121, 129, 140, 141, 142, 154, 155, 163, 164, 166, 172, 174, 176, 178, 185, 193, 196, 201, 202, 205], "kinemat": [2, 100, 101, 106, 110, 112, 113, 160, 163, 166, 176, 178, 181, 184, 185, 196, 204], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 89, 90, 91, 92, 93, 95, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 111, 115, 116, 117, 122, 124, 125, 126, 140, 141, 142, 144, 147, 148, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 167, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "dropdown": 2, "possibl": [2, 14, 27, 92, 102, 106, 109, 155, 160, 163, 164, 165, 166, 172, 174, 178, 179, 185, 190, 191, 193, 196, 197, 199, 201], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 90, 91, 92, 96, 97, 98, 99, 100, 103, 105, 108, 109, 114, 116, 117, 121, 124, 142, 158, 160, 164, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 195, 196, 197, 199, 200, 202, 203, 204], "throughout": [2, 66, 155, 161, 164, 184, 186, 193], "prompt": [2, 156, 189, 191], "aid": [2, 22], "appropri": [2, 18, 97, 106, 108, 116, 124, 158, 164, 165, 166, 174, 178, 181, 183, 184, 185, 191, 193, 201, 203], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 89, 90, 91, 96, 97, 100, 101, 102, 106, 109, 110, 116, 118, 121, 124, 140, 141, 142, 150, 154, 155, 156, 158, 160, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 94, 98, 106, 109, 142, 155, 156, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 178, 181, 182, 183, 185, 187, 188, 189, 191, 197, 198, 202, 203, 204], "after": [2, 10, 20, 21, 23, 24, 26, 27, 90, 91, 93, 100, 106, 109, 110, 111, 116, 125, 127, 134, 136, 139, 140, 141, 142, 158, 159, 163, 164, 166, 167, 171, 172, 173, 174, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202, 203, 204], "item": [2, 11, 18, 26, 27, 177], "preview": 2, "how": [2, 7, 17, 26, 27, 81, 90, 91, 94, 96, 102, 106, 115, 122, 126, 130, 144, 145, 148, 149, 155, 157, 158, 161, 165, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "effect": [2, 4, 90, 96, 123, 140, 155, 162, 164, 181, 185, 197], "high": [2, 3, 4, 5, 6, 8, 27, 90, 102, 106, 109, 112, 115, 116, 126, 140, 141, 142, 158, 160, 161, 163, 178, 181, 185, 190, 193], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 83, 88, 89, 90, 91, 92, 93, 96, 98, 100, 102, 104, 105, 106, 111, 113, 114, 118, 121, 124, 133, 141, 142, 143, 144, 145, 146, 148, 149, 154, 155, 156, 158, 160, 161, 163, 164, 165, 167, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 190, 191, 193, 196, 197, 199, 200, 201, 203], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 89, 109, 113, 153, 155, 156, 160, 161, 162, 165, 167, 176, 178, 182, 184, 185, 189, 190, 197, 199, 200, 202, 203], "panel": [2, 113, 184, 203], "displai": [2, 89, 108, 141, 142, 163, 167, 179, 181, 182, 184, 185, 189, 190, 196, 199, 203], "python3": [2, 12, 13, 26, 160, 163, 164, 165], "json": [2, 155, 156], "pars": [2, 27, 99, 155], "3d": [2, 4, 9, 27, 106, 126, 159, 176, 181, 182, 184, 185, 195, 196, 200], "program": [2, 26, 27, 96, 113, 141, 142, 155, 160, 164, 189, 191, 192, 194], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 84, 90, 96, 98, 140, 141, 142, 157, 162, 163, 166, 179, 181, 182, 184, 187, 196, 197, 199], "number": [3, 11, 26, 27, 41, 45, 81, 89, 90, 91, 96, 97, 98, 99, 100, 106, 111, 112, 115, 119, 126, 128, 140, 141, 142, 161, 162, 163, 164, 165, 166, 167, 169, 170, 173, 176, 181, 182, 183, 184, 185, 188, 189, 190, 191, 199, 202, 203], "interfac": [3, 5, 13, 19, 27, 90, 93, 114, 155, 156, 160, 161, 162, 165, 169, 170, 171, 174, 176, 182, 187, 189, 195, 196, 200], "plan": [3, 10, 17, 18, 20, 21, 22, 27, 57, 83, 96, 99, 102, 106, 107, 109, 112, 113, 115, 122, 125, 126, 127, 130, 140, 141, 142, 158, 160, 161, 163, 164, 165, 166, 170, 172, 173, 174, 176, 177, 178, 179, 182, 183, 185, 187, 197, 200, 202], "two": [3, 18, 19, 27, 81, 89, 90, 96, 107, 113, 115, 140, 155, 163, 164, 165, 166, 169, 172, 173, 174, 178, 181, 182, 183, 184, 186, 189, 190, 192, 193, 196, 199, 200, 201, 202], "area": [3, 7, 27, 38, 39, 90, 98, 118, 121, 123, 124, 140, 141, 142, 158, 163, 164, 165, 166, 169, 171, 176, 182, 184, 185, 188, 189, 192, 197, 199], "algorithm": [3, 15, 17, 21, 23, 24, 27, 96, 100, 106, 109, 111, 112, 113, 140, 158, 160, 161, 163, 164, 165, 166, 171, 172, 176, 179, 182, 184, 185, 187, 190, 192, 193], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 74, 83, 85, 93, 94, 96, 97, 99, 100, 102, 105, 107, 108, 109, 110, 111, 112, 113, 114, 115, 127, 138, 140, 141, 142, 143, 148, 149, 153, 154, 155, 160, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 179, 181, 182, 184, 185, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 202, 203, 204], "refer": [3, 18, 27, 65, 67, 83, 90, 92, 93, 97, 98, 102, 109, 111, 113, 118, 121, 124, 154, 155, 156, 161, 162, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 189, 190, 194, 196, 197, 199, 201, 202, 203], "trajectori": [3, 4, 10, 90, 95, 102, 116, 127, 130, 132, 143, 144, 145, 146, 148, 149, 150, 163, 165, 166, 173, 176, 178, 179, 185], "simpl": [3, 27, 28, 100, 111, 119, 141, 142, 156, 158, 161, 169, 170, 171, 173, 176, 178, 179, 183, 184, 185, 187, 191, 194, 196, 198, 202, 203, 204], "tutori": [3, 8, 15, 18, 89, 90, 93, 94, 163, 165, 166, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 201, 202, 203, 204], "found": [3, 8, 19, 22, 26, 27, 76, 90, 95, 106, 110, 113, 127, 140, 141, 142, 155, 156, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 184, 186, 192, 195, 196, 197, 198, 199, 200], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 83, 86, 88, 89, 90, 93, 99, 100, 106, 108, 109, 110, 116, 117, 118, 121, 123, 124, 142, 154, 158, 160, 162, 163, 164, 165, 166, 167, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 189, 194, 196, 201, 202, 203, 204], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 80, 84, 90, 96, 103, 106, 111, 142, 155, 156, 162, 163, 164, 166, 170, 171, 174, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203, 204], "navfn": [3, 28, 106, 110, 111, 113, 161, 176, 178, 179, 185, 187, 204], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 83, 84, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 100, 102, 103, 105, 106, 108, 109, 113, 114, 116, 117, 118, 119, 121, 123, 124, 155, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 81, 91, 92, 93, 97, 98, 99, 100, 102, 103, 105, 106, 107, 108, 109, 113, 114, 115, 116, 117, 122, 123, 125, 126, 140, 141, 142, 156, 158, 161, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 185, 186, 187, 198, 200, 202, 203], "dijkstra": [3, 107, 164, 176, 178], "teb": [3, 106, 161, 165, 176, 178, 185, 204], "dwa": [3, 176, 178], "elast": [3, 161, 178, 204], "band": [3, 161, 178, 196, 204], "optim": [3, 17, 22, 27, 96, 99, 106, 113, 120, 121, 140, 141, 155, 160, 163, 164, 165, 166, 176, 178, 179, 185, 186, 188, 193, 202, 204], "techniqu": [3, 4, 6, 27, 90, 100, 111, 112, 113, 163, 182, 185, 193, 196], "There": [3, 14, 18, 19, 27, 105, 106, 153, 154, 158, 161, 163, 164, 171, 176, 178, 182, 183, 189, 191, 196, 197, 202, 204], "hybrid": [3, 110, 113, 140, 142, 155, 160, 163, 164, 165, 176, 178, 179, 185, 204], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 21, 23, 24, 27, 90, 113, 115, 153, 155, 156, 164, 166, 177, 184, 185, 186, 191, 202, 204, 205], "your": [3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 17, 18, 26, 27, 90, 93, 103, 105, 106, 109, 110, 113, 115, 116, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 180, 182, 183, 184, 185, 186, 188, 191, 192, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204], "qualiti": [3, 8, 25, 27, 96, 106, 112, 113, 141, 142, 158, 160, 164, 166, 181, 193, 196, 202], "altern": [3, 22, 27, 61, 155, 156, 163, 166, 179, 181, 191], "consid": [3, 14, 18, 29, 30, 46, 55, 59, 89, 90, 91, 93, 94, 98, 106, 136, 141, 142, 151, 158, 162, 163, 165, 166, 169, 170, 172, 173, 174, 176, 178, 185, 186, 189, 193, 196, 197, 201, 202], "approv": [3, 158], "phase": [3, 6, 142], "discuss": [3, 6, 19, 27, 93, 158, 162, 163, 164, 172, 173, 178, 179, 180, 181, 182, 183, 184, 186, 189, 196, 202, 204], "d": [3, 20, 104, 123, 158, 166, 167, 174, 179, 181, 184, 189, 191, 192, 193, 195, 198, 202, 203, 204], "variant": [3, 6, 27, 106, 109, 163, 176, 178, 189], "vornoi": 3, "graph": [3, 10, 115, 142, 165, 177, 192], "rout": [3, 10, 26, 27, 41, 99, 106, 141, 174, 177, 185, 186], "state": [3, 15, 19, 21, 23, 24, 26, 66, 90, 96, 97, 98, 100, 101, 102, 103, 106, 109, 110, 113, 116, 118, 134, 136, 140, 159, 160, 162, 163, 164, 167, 169, 170, 172, 173, 174, 176, 178, 179, 181, 182, 183, 185, 186, 196, 198, 199, 202, 203, 204], "lattic": [3, 110, 113, 140, 141, 160, 164, 165, 176, 177, 178, 185, 204], "kinodynam": 3, "method": [3, 4, 6, 17, 21, 23, 24, 26, 27, 99, 100, 103, 106, 122, 126, 144, 145, 148, 149, 158, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 191, 192, 202, 203], "given": [3, 6, 22, 26, 27, 30, 33, 34, 46, 57, 59, 90, 92, 99, 106, 111, 112, 118, 162, 163, 164, 165, 166, 170, 171, 172, 173, 176, 178, 181, 185, 187, 189, 192, 196, 202, 203], "static": [3, 27, 89, 90, 91, 98, 122, 126, 141, 142, 158, 160, 164, 170, 176, 179, 182, 185, 186, 190, 196, 200, 201, 202], "cilqr": 3, "ilqr": 3, "mpc": [3, 106, 165, 176, 178], "spline": 3, "addit": [3, 11, 19, 21, 22, 23, 24, 27, 41, 89, 90, 93, 95, 141, 154, 155, 163, 164, 165, 170, 174, 178, 181, 182, 184, 185, 191, 192, 193, 196, 201], "complet": [3, 4, 5, 12, 17, 18, 19, 22, 26, 27, 34, 57, 90, 99, 100, 102, 106, 109, 110, 134, 136, 141, 142, 151, 155, 158, 159, 160, 161, 162, 163, 164, 165, 166, 169, 170, 174, 176, 177, 178, 179, 181, 182, 184, 186, 187, 188, 189, 192, 193, 195, 196, 198, 200, 202, 203, 204], "50": [3, 90, 100, 106, 118, 164, 182, 191, 196, 199, 202], "greater": [3, 102, 106, 115, 155, 172, 186], "coverag": [3, 4, 6, 12, 17, 27, 28, 34, 41, 160, 166, 174, 176, 177, 185, 186], "motion": [3, 4, 27, 91, 96, 100, 102, 141, 142, 150, 151, 163, 176, 178, 181, 183, 193, 196, 201, 203], "pluginlib": [3, 27, 161, 169, 171, 172, 173, 174, 187, 189, 200], "robust": [4, 6, 27, 203], "wide": [4, 18, 27, 141, 166, 169, 185, 193], "rang": [4, 7, 71, 89, 90, 91, 98, 109, 122, 124, 126, 155, 162, 163, 166, 176, 177, 184, 185, 186, 190, 191, 193, 197, 199, 201, 202], "environ": [4, 5, 9, 10, 12, 27, 100, 102, 113, 153, 154, 155, 156, 158, 159, 160, 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174, 181, 182, 184, 186, 188, 189, 191, 193, 196, 197, 199, 200, 202], "progress": [4, 73, 97, 106, 109, 133, 135, 155, 158, 165, 177, 185, 204], "deploi": [4, 106, 160, 166, 178, 189], "fill": [4, 158, 162, 170, 188, 197, 199, 203], "consider": [4, 106, 185, 189], "must": [4, 14, 19, 26, 27, 65, 91, 98, 99, 102, 105, 109, 112, 116, 119, 122, 126, 133, 135, 141, 142, 143, 154, 158, 162, 164, 165, 166, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 186, 187, 188, 189, 192, 195, 198, 200, 201, 202, 203], "taken": [4, 67, 81, 89, 90, 96, 106, 124, 138, 163, 171, 174, 197, 199], "respect": [4, 27, 110, 121, 163, 164, 170, 177, 178, 181, 182, 184, 185, 196, 200, 204], "peopl": [4, 9, 21, 23, 24, 90, 180], "cart": 4, "anim": [4, 190], "exist": [4, 8, 11, 12, 27, 41, 89, 90, 100, 105, 106, 119, 140, 153, 155, 158, 162, 163, 164, 166, 172, 174, 185, 189, 192, 193, 194, 196, 202, 203], "machin": [4, 27, 155, 156, 181, 182, 183, 186, 189, 203], "learn": [4, 7, 11, 18, 27, 94, 156, 160, 169, 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90, 91, 92, 93, 97, 105, 108, 114, 116, 117, 171, 191, 193], "git": [5, 154, 156, 158, 188, 189, 197, 198, 199, 200], "pick": [5, 26, 27, 98, 117, 179, 195, 196], "befor": [5, 11, 18, 21, 22, 23, 24, 25, 27, 44, 49, 52, 53, 58, 65, 81, 83, 85, 90, 91, 97, 99, 102, 105, 106, 112, 121, 122, 126, 137, 140, 141, 142, 150, 155, 156, 161, 162, 163, 164, 166, 167, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 184, 185, 186, 187, 189, 190, 191, 192, 195, 196, 197, 198, 199, 200, 202, 203, 204], "coordin": [5, 26, 27, 41, 91, 98, 99, 117, 164, 181, 183, 184, 193, 194, 196], "transform": [5, 15, 27, 76, 89, 90, 91, 92, 93, 98, 102, 106, 109, 114, 118, 121, 124, 127, 153, 159, 160, 162, 163, 164, 172, 176, 179, 180, 181, 182, 184, 185, 193, 197, 198], "amcl": [6, 7, 26, 27, 28, 54, 69, 159, 162, 176, 182, 183, 185, 193, 196], "engin": [6, 154, 156, 161, 192, 193], "last": [6, 14, 19, 21, 23, 48, 60, 61, 90, 91, 96, 99, 106, 107, 113, 115, 116, 132, 140, 141, 142, 144, 145, 148, 149, 155, 164, 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178, 179, 181, 184, 189, 191, 192, 194, 203], "modular": [6, 156, 160, 176], "compon": [6, 41, 80, 81, 82, 83, 84, 85, 86, 87, 88, 106, 115, 116, 150, 163, 164, 166, 180, 184, 186, 193, 197, 199], "sampl": [6, 27, 106, 110, 128, 132, 138, 165, 166, 178, 179, 181, 182, 185, 194, 196], "lidar": [6, 9, 27, 122, 179, 181, 182, 185, 190, 196, 200], "ndt": 6, "scan": [6, 9, 26, 89, 90, 91, 98, 104, 176, 182, 183, 201], "match": [6, 41, 64, 77, 78, 79, 91, 92, 93, 106, 114, 141, 142, 165, 170, 172, 179, 185, 186, 189, 196, 201], "dure": [6, 22, 89, 90, 96, 103, 106, 141, 142, 155, 162, 163, 164, 165, 166, 170, 171, 179, 184, 185, 192, 195, 198, 202, 203], "sinc": [6, 27, 41, 96, 99, 106, 109, 110, 112, 121, 141, 142, 163, 164, 166, 171, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 197, 199, 201, 202, 203, 204], "yet": [6, 19, 26, 106, 155, 164, 166, 183, 185, 196], "slam": [6, 15, 98, 125, 160, 161, 162, 182, 183, 185, 191, 193, 195, 205], "emerg": [6, 9, 90, 95], "accept": [6, 26, 67, 91, 115, 141, 142, 158, 166, 174, 178, 179, 193, 194, 202], "input": [6, 19, 26, 27, 90, 93, 96, 106, 111, 112, 122, 123, 126, 137, 160, 163, 165, 166, 167, 169, 170, 171, 172, 173, 176, 181, 184, 187, 189, 191, 194, 196, 201, 203], "multipl": [6, 11, 21, 23, 24, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 106, 113, 114, 156, 160, 162, 163, 166, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 199, 201, 202], "strictli": [6, 142, 165], "65": [6, 105, 199], "reliabl": [6, 12, 44, 49, 52, 53, 58, 156, 160, 182, 184, 202], "particl": [6, 7, 27, 91, 159, 176, 185, 190], "filter": [6, 13, 29, 91, 97, 100, 111, 181, 185, 189, 193, 196, 200, 201, 202, 205], "abil": [6, 7, 27, 90, 106, 165, 166, 201], "read": [6, 8, 18, 27, 89, 90, 123, 156, 163, 176, 182, 189, 191, 196, 197, 199], "academ": 6, "significantli": [7, 9, 17, 22, 23, 24, 85, 106, 110, 141, 164, 166, 176, 185, 196, 204], "leverag": [7, 11, 26, 154, 156, 164, 185, 187, 194, 196, 202], 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18, 19, 160, 163, 178, 182, 183, 186, 197, 199, 202, 203], "Then": [7, 19, 163, 170, 171, 172, 173, 174, 181, 182, 189, 191, 192, 195, 202], "obtain": [7, 27, 28, 90, 99, 100, 162, 165, 181, 182, 188, 189, 193, 202], "while": [7, 9, 13, 18, 21, 23, 24, 26, 93, 103, 106, 109, 111, 121, 141, 151, 154, 155, 156, 163, 164, 165, 166, 170, 174, 178, 179, 181, 182, 185, 186, 187, 189, 190, 191, 193, 195, 196, 197, 201, 202, 203, 204, 205], "great": [7, 14, 18, 158, 164, 191, 193, 196], "deal": [7, 27, 181, 183, 185], "valuabl": [7, 11, 158], "skillset": 7, "analysi": [7, 27, 158, 160, 192], "benefit": [7, 155, 185], "non": [7, 10, 26, 27, 90, 93, 97, 100, 103, 104, 106, 110, 113, 118, 120, 121, 124, 140, 141, 142, 155, 160, 164, 166, 167, 170, 174, 176, 178, 179, 183, 184, 185, 189, 191, 192, 193, 197, 201, 202, 204], "trivial": [7, 27, 158, 165, 169, 201, 202, 203], "quickli": [7, 100, 155, 158, 164, 183, 185, 203], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 19, 21, 23, 26, 27, 89, 102, 105, 106, 113, 154, 156, 163, 164, 170, 178, 181, 182, 183, 184, 185, 187, 189, 191, 193, 196, 200, 203, 204], "signific": [8, 9, 106, 185, 196], "stride": 8, "world": [8, 9, 26, 27, 155, 159, 160, 169, 181, 182, 183, 185, 189, 190, 194, 197, 198, 199, 200], "gain": [8, 106, 109], "reput": 8, "fair": 8, "unfair": 8, "rel": [8, 27, 61, 89, 90, 98, 100, 106, 116, 162, 166, 178, 179, 181, 183, 185, 192, 193, 196, 202], "limit": [8, 27, 90, 97, 105, 106, 116, 124, 132, 140, 141, 142, 155, 163, 166, 172, 176, 178, 181, 185, 189, 194, 201, 205], "type": [8, 17, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 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91, 93, 100, 102, 106, 112, 153, 155, 156, 159, 160, 162, 164, 165, 169, 171, 172, 173, 174, 176, 184, 185, 194, 196, 197, 201, 202], "effort": [8, 14, 27, 99, 100, 116, 158, 160, 163, 178, 182, 185, 200, 202], "differenti": [8, 91, 102, 106, 110, 113, 115, 160, 163, 164, 166, 176, 178, 179, 181, 182, 184, 185, 193, 196, 204], "moveit": [8, 14], "land": 8, "consist": [8, 17, 106, 156, 158, 163, 164, 176, 181, 182, 183, 185, 186, 196, 202, 203], "graphic": [8, 156, 189, 197, 199], "color": [8, 96, 138, 182, 184, 185, 190, 197, 199, 200], "scheme": [8, 182], "logo": 8, "catchi": 8, "name": [8, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 58, 59, 63, 89, 90, 91, 92, 93, 94, 95, 97, 98, 100, 103, 106, 107, 108, 114, 115, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 158, 162, 163, 164, 171, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 196, 197, 199, 200, 201, 202, 203, 204], "doc": [8, 15, 154, 159, 162, 166, 185, 189, 196], "just": [8, 20, 21, 23, 24, 27, 85, 98, 106, 147, 156, 158, 164, 170, 171, 179, 181, 182, 183, 184, 185, 189, 191, 192, 196, 197], "technic": [8, 21, 23, 24, 158, 169, 171, 172, 173, 174, 197], "analog": [8, 90, 163, 165, 166, 170, 191, 202, 204], "expans": [8, 107, 115, 141, 142, 163, 164, 165, 166, 176], "blog": 8, "highlight": [8, 17, 26, 96, 155, 178, 188, 189, 193, 203], "demo": [8, 10, 22, 27, 164, 166, 167, 179, 186, 189, 196, 197, 199, 202], "come": [8, 13, 14, 27, 99, 106, 109, 136, 141, 158, 164, 165, 169, 172, 173, 174, 181, 183, 184], "element": [8, 161, 169, 181, 184], "migrat": [8, 166, 177], "document": [8, 10, 15, 18, 22, 27, 154, 155, 158, 159, 162, 181, 182, 183, 184, 189, 190, 191, 192, 193, 197, 198, 199], "edit": [8, 163, 176, 181, 182, 187, 202], 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38, 61, 85, 89, 90, 96, 98, 102, 106, 109, 120, 158, 163, 176, 182, 183, 184, 185, 188, 189, 196, 198, 204], "signal": [9, 111, 172, 176, 192, 196], "stop": [9, 20, 27, 80, 90, 95, 97, 103, 106, 116, 117, 127, 136, 151, 162, 163, 165, 166, 172, 184, 189, 193, 201, 202], "less": [9, 67, 90, 92, 93, 97, 106, 108, 109, 114, 116, 117, 119, 141, 161, 164, 181, 190, 193, 196, 197, 204], "consum": [9, 164], "drop": [9, 102, 162, 166, 193, 203], "cost": [9, 18, 26, 27, 55, 89, 90, 92, 96, 98, 109, 113, 115, 120, 121, 130, 140, 141, 142, 155, 160, 163, 164, 171, 176, 182, 185, 190], "logic": [9, 17, 18, 21, 23, 24, 27, 165, 166, 167, 170, 174, 186, 203], "wouldn": [9, 185], "t": [9, 14, 38, 80, 100, 106, 140, 141, 142, 146, 153, 158, 159, 160, 163, 164, 166, 169, 170, 172, 173, 174, 179, 183, 184, 185, 187, 189, 190, 191, 193, 194, 195, 196, 197, 198, 202], "certifi": [9, 90, 158], "safe": [9, 13, 27, 109, 154, 163, 169, 170, 178, 182, 183, 185], "injuri": 9, "sit": 9, "most": [9, 18, 21, 23, 24, 90, 91, 92, 93, 97, 106, 108, 110, 113, 114, 117, 159, 164, 170, 176, 181, 182, 183, 185, 187, 189, 191, 192, 193, 196, 204], "recent": [9, 56, 159, 185, 193], "rgbd": 9, "n": [9, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 67, 77, 78, 79, 84, 85, 89, 90, 93, 96, 99, 100, 103, 105, 106, 110, 118, 119, 121, 124, 127, 163, 166, 181, 196, 202], "second": [9, 18, 19, 21, 23, 24, 27, 29, 30, 46, 48, 57, 59, 74, 75, 80, 81, 85, 90, 92, 93, 97, 103, 105, 106, 108, 110, 114, 117, 137, 138, 140, 141, 142, 163, 164, 166, 170, 176, 181, 182, 183, 186, 188, 189, 190, 196, 197, 199], "result": [9, 19, 26, 27, 60, 61, 84, 90, 92, 93, 96, 97, 99, 100, 106, 108, 109, 111, 112, 114, 115, 117, 158, 160, 162, 163, 169, 170, 171, 174, 176, 185, 186, 188, 190, 193, 201, 202, 203, 204], "measur": [9, 25, 97, 106, 122, 126, 141, 142, 163, 165, 176, 181, 182, 183, 184, 190, 193, 196, 202], "scale": [9, 27, 101, 102, 106, 109, 111, 127, 141, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 163, 176, 183, 184, 185, 197, 199, 201], "alwai": [9, 16, 20, 76, 89, 90, 93, 103, 116, 142, 153, 163, 164, 166, 184, 185, 196, 197, 201, 202, 204], "flag": [9, 155, 181, 184, 188, 189, 191, 192], "m": [9, 25, 26, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 46, 47, 50, 51, 54, 56, 59, 63, 65, 67, 83, 85, 88, 90, 91, 97, 98, 99, 100, 102, 105, 106, 109, 113, 116, 126, 127, 129, 133, 134, 135, 136, 141, 147, 151, 158, 160, 163, 172, 181, 184, 199, 201], "bound": [9, 61, 90, 102, 109, 112, 140, 141, 142, 164, 171, 201], "enact": [9, 85, 160, 204], "safer": 9, "product": [9, 27, 144, 145, 148, 149, 155, 156, 160, 189, 193, 202], "research": [9, 14, 27], "goe": [9, 19, 22, 124, 164, 169, 172, 173, 174, 187], "those": [9, 14, 27, 55, 111, 155, 164, 178, 182, 184, 185, 186, 187, 189, 191], "creation": [9, 162, 185], "prevent": [9, 18, 27, 29, 90, 91, 95, 96, 102, 106, 109, 116, 122, 126, 141, 142, 147, 152, 155, 163, 164, 165, 166, 176, 185, 186, 190, 197], "40hz": 9, "adjust": [9, 11, 27, 28, 41, 83, 86, 88, 90, 92, 93, 97, 98, 106, 108, 114, 116, 117, 141, 160, 165, 166, 179, 184, 193, 199, 201, 202], "accordingli": [9, 90, 166, 196, 197, 199], "major": [10, 13, 27, 113, 160, 163, 166, 169, 174, 177, 179, 184, 191], "enabl": [10, 13, 22, 56, 89, 90, 91, 98, 100, 102, 106, 109, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 137, 138, 139, 141, 142, 155, 156, 163, 164, 165, 169, 172, 173, 174, 176, 181, 182, 184, 185, 186, 189, 193, 198, 200, 201, 202, 203], "represent": [10, 98, 141, 178, 182, 183, 196], "format": [10, 41, 89, 90, 96, 106, 138, 142, 155, 163, 181, 182, 184, 189, 196, 197, 199, 203], "repres": [10, 12, 18, 27, 106, 109, 141, 160, 163, 172, 177, 181, 182, 184, 191, 193, 196], "within": [10, 18, 19, 21, 27, 64, 89, 90, 91, 92, 93, 95, 97, 99, 100, 106, 108, 110, 114, 117, 120, 122, 126, 140, 141, 142, 155, 156, 158, 164, 165, 166, 171, 174, 176, 181, 182, 184, 185, 186, 189, 192, 200, 201, 202, 203, 204], "server": [10, 11, 13, 17, 18, 19, 22, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 57, 58, 59, 62, 63, 77, 78, 79, 85, 90, 91, 93, 98, 101, 103, 106, 111, 112, 116, 117, 118, 121, 124, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 143, 144, 145, 146, 147, 150, 151, 152, 153, 159, 160, 161, 163, 167, 169, 170, 171, 172, 173, 174, 176, 177, 181, 185, 187, 189, 191, 192, 196, 200, 201, 203, 204, 205], "pre": [10, 67, 90, 92, 93, 94, 105, 106, 109, 142, 155, 160, 176, 185, 195, 196, 197, 202, 204], "free": [10, 27, 98, 105, 106, 123, 140, 153, 156, 161, 176, 181, 182, 184, 185, 190, 193, 195, 196, 197], "choic": [10, 26, 27, 185, 186, 193, 198], "hard": [10, 14, 21, 57, 90, 97, 116, 161, 163, 166, 174, 185, 196], "easi": [10, 11, 14, 18, 27, 41, 155, 156, 158, 160, 166, 180, 182, 189, 193, 198, 202], "retriev": [10, 167, 172, 173, 174], "custom": [10, 17, 18, 19, 21, 23, 24, 26, 27, 60, 61, 82, 84, 91, 92, 93, 99, 106, 113, 117, 142, 154, 155, 156, 160, 164, 165, 169, 172, 173, 174, 176, 178, 180, 182, 189, 196, 200, 201, 202], "purpos": [10, 27, 89, 158, 160, 165, 170, 174, 178, 184, 193, 194, 196, 198, 199], "differ": [10, 17, 18, 19, 21, 22, 23, 24, 27, 66, 89, 90, 94, 99, 100, 102, 109, 110, 113, 115, 118, 121, 124, 141, 155, 156, 158, 160, 162, 164, 165, 166, 171, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 194, 196, 197, 199, 201, 202, 203, 204], "rule": [10, 27, 172, 173, 183], "room": [10, 106, 185, 195, 197, 199], "stori": 10, "info": [10, 14, 96, 101, 118, 121, 124, 156, 160, 163, 171, 181, 188, 189], "execut": [10, 11, 18, 20, 21, 23, 24, 26, 27, 45, 81, 85, 90, 93, 97, 110, 116, 117, 155, 156, 158, 162, 163, 164, 166, 170, 171, 174, 176, 178, 179, 181, 182, 183, 184, 186, 189, 190, 191, 192, 196, 197, 199, 202, 203], "manipul": [10, 26, 27, 98, 179, 184, 193], "percept": [10, 27, 100, 160, 176, 180, 182, 188, 189, 200], 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171, 174, 182, 184, 185, 186, 189, 191, 192, 193, 196, 197, 199, 200, 201, 202, 204], "dd": [11, 155], "particip": [11, 158], "network": [11, 27, 155, 161, 164, 170, 189, 202], "import": [11, 17, 26, 27, 41, 96, 106, 113, 116, 155, 158, 174, 177, 179, 182, 183, 184, 185, 186, 190, 191, 192, 196, 197, 199, 202, 203, 204], "overhead": [11, 185, 202], "each": [11, 18, 21, 23, 24, 25, 26, 27, 66, 89, 90, 91, 92, 93, 97, 98, 106, 108, 110, 114, 116, 139, 156, 158, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 196, 197, 199, 201, 202, 203], "usag": [11, 26, 118, 155, 166, 167, 183, 184, 186, 189, 196, 201], "executor": [11, 26, 27, 117, 163, 165], "further": [11, 19, 22, 106, 112, 141, 142, 155, 158, 164, 166, 183, 191, 193], "dai": [11, 90, 189], "when": [11, 18, 19, 20, 21, 23, 27, 41, 61, 65, 69, 71, 75, 83, 85, 86, 88, 89, 90, 91, 92, 97, 98, 99, 102, 103, 106, 108, 109, 110, 115, 116, 117, 118, 121, 124, 138, 141, 142, 147, 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185, 186, 187, 189, 194, 195, 196, 197, 199, 201, 203], "request": [11, 14, 18, 20, 26, 27, 92, 93, 97, 99, 104, 105, 106, 107, 108, 110, 114, 140, 141, 142, 155, 156, 158, 162, 163, 164, 165, 166, 167, 169, 170, 172, 174, 176, 185, 186, 187, 191, 198, 199, 202, 203, 204], "callback": [11, 13, 27, 163, 174], "now": [11, 18, 19, 21, 22, 90, 159, 161, 162, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 187, 189, 191, 192, 193, 194, 195, 196, 200, 202, 203], "spinner": 11, "group": [11, 13, 14, 27, 86, 119, 158, 165, 176, 190], "individu": [11, 27, 89, 90, 95, 113, 158, 161, 164, 165, 185, 189, 198, 202], "f": [11, 109, 155, 160, 198], "bt": [11, 17, 18, 19, 20, 21, 22, 23, 24, 27, 56, 82, 93, 96, 100, 159, 160, 162, 174, 176, 186, 194, 202, 203, 205], "spin": [11, 18, 19, 21, 22, 23, 24, 25, 26, 27, 36, 94, 152, 162, 163, 164, 165, 166, 169, 170, 176, 189], "messag": [11, 26, 27, 29, 30, 41, 42, 43, 44, 45, 46, 49, 52, 53, 58, 59, 62, 89, 90, 91, 92, 95, 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169, 170, 172, 173, 174, 181, 184, 185, 186, 187, 194, 196, 198, 199, 201, 202, 204], "let": [11, 18, 19, 27, 99, 137, 139, 153, 156, 163, 164, 169, 170, 173, 181, 182, 183, 184, 185, 189, 193, 194, 196, 199, 201], "hood": [11, 164], "rclcpp": [11, 99, 171, 172, 173, 174], "give": [11, 90, 97, 106, 116, 158, 159, 160, 162, 166, 169, 170, 177, 178, 181, 182, 183, 184, 185, 186, 189, 191, 199, 202, 204], "insight": [11, 164, 177, 185], "career": 11, "put": [11, 96, 164, 171, 176, 184, 186, 189, 196, 201], "know": [11, 14, 27, 99, 109, 113, 153, 158, 162, 163, 170, 171, 176, 183, 184, 189, 193, 196, 199, 202, 203], "degre": [11, 25, 89, 90, 141, 163, 166, 196], "remov": [11, 20, 21, 55, 56, 60, 61, 99, 105, 111, 119, 122, 126, 141, 142, 155, 161, 162, 167, 176, 181, 182, 185, 187, 190, 191, 192, 193, 196, 200, 201, 203, 204], "excess": 11, "determinist": [11, 27, 103, 111, 186], "compos": [11, 164, 171, 185, 186, 189, 191, 192, 197, 202], "had": [12, 14, 164, 165, 166, 182, 196], "focu": [12, 18, 26, 184, 201, 203], "ci": [12, 14, 154, 155, 156, 158, 177], "entir": [12, 19, 21, 23, 24, 90, 154, 155, 158, 176, 178, 185, 193, 201], "increas": [12, 27, 96, 100, 102, 106, 115, 120, 141, 164, 165, 183, 185, 186, 188, 189], "90": [12, 25, 90, 97, 109, 116, 177, 196], "realist": [12, 202], "activ": [12, 26, 27, 64, 77, 78, 79, 90, 92, 93, 97, 99, 103, 108, 114, 117, 153, 158, 159, 162, 163, 164, 165, 169, 172, 173, 174, 181, 182, 185, 186, 196, 202], "block": [12, 13, 26, 27, 90, 153, 164, 171, 173, 181, 184, 185, 200, 204], "worst": 12, "condit": [12, 18, 21, 23, 24, 27, 29, 30, 46, 59, 72, 73, 76, 112, 155, 164, 165, 170, 176, 181, 184, 193, 196, 197, 203, 204], "line": [12, 26, 111, 115, 140, 162, 165, 169, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 187, 189, 191, 192, 196, 201], "report": [12, 91, 106, 158, 163, 165, 170, 182], "codecov": 12, "advantag": [12, 27, 165, 204], "fault": [12, 26, 27], "un": [12, 18], "gtest": 12, "repo": [12, 27, 115, 154, 156, 194, 196, 200], "compris": [13, 160, 184], "smaller": [13, 18, 27, 102, 109, 119, 141, 142, 164, 193, 197, 199], "easili": [13, 18, 27, 93, 155, 162, 163, 164, 166, 185, 192, 201, 202], "subproject": 13, "place": [13, 26, 27, 59, 98, 102, 109, 110, 120, 122, 125, 126, 140, 142, 158, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 184, 187, 188, 190, 197, 199, 201, 204], "cmd_vel": [13, 89, 90, 166, 172, 181, 192, 201], "thing": [13, 27, 156, 164, 165, 171, 172, 173, 181, 184, 185, 189, 191, 192, 199], "yuk": 13, "previous": [13, 163, 164, 165, 166, 172, 174, 182, 189, 191, 192, 196, 201], "shown": [13, 18, 26, 106, 158, 159, 163, 170, 174, 178, 179, 181, 182, 186, 187, 194, 196, 199, 201, 202, 203], "onc": [13, 18, 19, 22, 76, 87, 90, 91, 99, 100, 103, 106, 110, 140, 141, 142, 154, 155, 156, 158, 159, 162, 163, 164, 166, 174, 182, 183, 184, 189, 191, 192, 195, 196, 201, 202, 204], "ve": [13, 26, 153, 158, 159, 170, 183, 186, 202, 204], "submit": [13, 158, 176], "pr": [13, 92, 93, 97, 108, 114, 117, 158, 162, 163, 164, 165, 166, 167], "instead": [13, 18, 21, 23, 24, 84, 89, 91, 92, 93, 100, 106, 107, 108, 112, 115, 127, 132, 140, 141, 142, 154, 155, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 195, 196, 197, 201, 202], "b": [13, 158, 160, 171, 188, 194, 198, 199, 200], "reconfigur": [13, 17, 163, 164, 178, 186, 196], "meantim": 13, "wait": [13, 18, 19, 21, 22, 23, 24, 26, 27, 37, 55, 91, 92, 93, 94, 98, 100, 117, 137, 139, 156, 159, 161, 164, 166, 169, 170, 176, 182, 186, 189, 202], "done": [13, 18, 19, 27, 90, 155, 161, 162, 163, 171, 172, 173, 174, 177, 178, 182, 191, 192, 193, 202, 203], "via": [13, 19, 20, 21, 23, 24, 27, 41, 44, 49, 52, 53, 69, 89, 90, 91, 95, 113, 154, 155, 156, 158, 160, 164, 165, 166, 169, 174, 176, 183, 185, 186, 187, 192, 198, 200, 202, 203], "remain": [13, 18, 19, 20, 27, 96, 106, 130, 155, 156, 161, 162, 163, 164, 166, 169, 170, 171, 172, 173, 189, 190, 204], "miss": [13, 90, 97, 116, 154, 163, 166, 184, 185, 189, 192, 203], "lock": [13, 172, 174], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 91, 93, 123, 153, 154, 155, 159, 166, 169, 170, 172, 173, 182, 187, 189, 197, 199, 200, 203], "lower": [14, 18, 71, 90, 92, 106, 118, 141, 164, 165, 182, 185, 186], "barrier": 14, "entri": [14, 181, 187, 191, 192, 201, 202], "flagship": 14, "along": [14, 26, 27, 61, 72, 88, 102, 106, 109, 110, 118, 121, 124, 141, 142, 146, 162, 163, 164, 165, 176, 178, 182, 184, 186, 187, 191, 193, 196, 197, 199, 202], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 81, 106, 163, 164, 165, 166, 169, 170, 176, 184, 190, 196, 202, 204], "nav": [14, 26, 99, 163, 164], "educ": 14, "industri": [14, 27, 90, 109, 163, 176, 178, 197], "thank": [14, 100, 166, 202], "david": [14, 101, 176], "lu": [14, 101, 160, 176], "mike": 14, "ferguson": [14, 160], "tireless": 14, "span": [14, 160, 196, 201], "keep": [14, 18, 27, 90, 99, 106, 155, 162, 163, 166, 170, 172, 173, 176, 181, 183, 184, 189, 196, 197, 203], "aliv": 14, "happen": [14, 18, 158, 172, 189], "asla": 14, "move": [14, 18, 22, 27, 85, 89, 90, 102, 106, 118, 133, 135, 137, 141, 142, 147, 150, 160, 161, 162, 163, 164, 165, 167, 173, 176, 177, 183, 184, 185, 188, 189, 193, 194, 195, 196, 197, 198, 201, 202], "rememb": [14, 109, 153, 155, 183, 184, 196], "fondli": 14, "ish": 14, "With": [14, 17, 27, 141, 183, 189, 196, 200], "redesign": 14, "flexibl": [14, 93, 106, 169], "feedback": [14, 26, 27, 93, 102, 116, 158, 164, 167, 174, 202], "gather": [14, 27], "strive": [14, 158], "alik": 14, "pull": [14, 154, 155, 156, 158, 162, 163, 164, 176, 185, 189, 191, 203], "kept": [14, 119], "dedic": [14, 109], "past": [14, 179, 181, 182, 184, 189, 196, 200], "contributor": [14, 158], "organ": [14, 154, 155, 172, 173, 189, 203], "sponsor": [14, 100, 166, 202], "lead": [14, 106, 138, 158, 163, 164, 199], "leadership": 14, "team": [14, 156, 194], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 89, 90, 94, 99, 100, 107, 115, 140, 141, 142, 155, 156, 167, 170, 172, 173, 174, 176, 181, 189, 191, 194, 201, 202, 203], "role": [14, 27, 170, 174, 178, 179, 191], "ruffin": [14, 155, 160], "white": [14, 155, 160, 190, 197], "uc": 14, "san": [14, 193], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 176], "wallac": [14, 160, 176], "locu": 14, "joshuawallac": 14, "former": [14, 89, 90], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 176], "wilcox": [14, 176], "bpwilcox": 14, "carl": [14, 176], "delsei": [14, 176], "crdelsei": 14, "alexei": [14, 160, 176], "merzlyakov": [14, 160, 176], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 160], "org": [14, 15, 158, 160, 162, 184, 185], "intention": [14, 96, 197], "find": [14, 27, 61, 92, 93, 97, 99, 102, 106, 108, 109, 114, 116, 117, 141, 142, 155, 156, 158, 159, 162, 163, 165, 166, 167, 172, 174, 178, 184, 185, 187, 189, 190, 191, 192, 194, 195, 202], "inquiri": 14, "bug": [14, 158, 177, 196], "privat": 14, "connect": [14, 19, 27, 99, 103, 107, 115, 119, 140, 155, 156, 162, 163, 164, 176, 178, 181, 182, 183, 184, 190, 196, 203], "independ": [14, 27, 92, 124, 160, 163, 165, 170, 182, 193, 201, 202], "consult": 14, "contractor": 14, "offici": [15, 154, 159, 179, 181, 182, 183, 184, 189], "websit": [15, 18, 166], "navigation2_tutori": [15, 166, 171, 179, 181, 184, 197, 199], "navigation2_dynam": 15, "robot_loc": [15, 27, 117, 181, 183, 193, 196], "tom": 15, "moor": [15, 160], "estim": [15, 90, 91, 111, 116, 159, 161, 163, 171, 172, 173, 174, 181, 182, 183, 195, 196], "odometri": [15, 17, 89, 90, 91, 93, 97, 100, 104, 116, 130, 167, 174, 180, 182, 183, 205], "fusion": [15, 27, 181, 183, 193, 196], "gp": [15, 27, 41, 99, 117, 176, 177, 181, 182, 193, 205], "slam_toolbox": [15, 154, 191, 198], "default": [15, 17, 18, 19, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 71, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 101, 102, 103, 104, 105, 106, 107, 109, 110, 111, 112, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 156, 159, 161, 162, 164, 167, 170, 171, 174, 176, 178, 179, 181, 182, 185, 188, 189, 190, 193, 194, 196, 197, 201, 202, 203], "ship": [16, 26], "encount": [16, 178, 182, 191, 192], "click": [16, 156, 159, 167, 171, 172, 173, 174, 179, 182, 188, 195, 196, 203], "imag": [16, 22, 27, 96, 111, 138, 142, 161, 163, 184, 187, 188, 190, 196, 197, 199], "introduct": [17, 94, 184, 189], "To": [17, 20, 26, 27, 90, 97, 106, 115, 116, 140, 141, 143, 154, 155, 156, 158, 160, 163, 165, 166, 169, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 188, 190, 191, 192, 194, 196, 197, 198, 199, 200, 202, 203], "walkthrough": [17, 189], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 84, 91, 96, 100, 102, 106, 107, 109, 115, 132, 134, 136, 140, 141, 142, 144, 145, 153, 159, 160, 161, 162, 163, 164, 166, 167, 171, 172, 173, 174, 176, 181, 182, 184, 185, 193, 194, 196, 198, 201, 202], "paus": [17, 139, 159, 161, 163, 164, 165], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 83, 88, 94, 127, 141, 142, 162, 163, 185, 194], "And": [17, 18, 166, 183, 184, 187, 188, 190, 197], "invalid": [17, 26, 155, 165, 174], "calibr": [17, 196, 205], "incredibli": 17, "across": [17, 27, 106, 112, 120, 141, 142, 155, 165, 166, 174, 177, 182, 183, 185, 189, 196, 203], "statu": [17, 27, 158, 160, 164, 167, 169, 170, 189, 197, 202], "checker": [17, 47, 97, 110, 127, 161, 169, 204], "section": [17, 18, 27, 90, 96, 106, 157, 158, 160, 164, 166, 171, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 190, 191, 193, 199], "guid": [17, 18, 19, 154, 156, 162, 164, 165, 166, 171, 173, 177, 178, 179, 181, 182, 183, 184, 186, 193, 200, 201], "These": [17, 18, 27, 106, 155, 160, 161, 162, 163, 164, 165, 166, 170, 171, 172, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 196, 197, 199, 202, 203], "exemplari": 17, "nav2_bt_navig": [17, 18, 93, 162, 163, 166, 174, 194, 203], "ones": [17, 141, 142, 164, 178, 182, 196], "seen": [17, 22, 113, 142, 164, 166, 170, 171, 181, 186, 189, 203], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 154, 155, 156, 164, 169, 170, 172, 173, 174, 181, 182, 184, 189, 194, 202, 203], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 94, 160, 170, 176, 194, 203], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 94, 170, 194], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 94, 170, 194], "distancecontrol": [17, 18, 94, 96, 162], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 83, 91, 92, 96, 99, 100, 102, 106, 109, 110, 127, 132, 141, 142, 147, 161, 162, 163, 166, 172, 176, 178, 181, 182, 183, 185, 194, 202, 204], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 83, 86, 88, 94, 170, 174, 187, 194], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 94, 97, 101, 102, 106, 109, 110, 162, 165, 166, 170, 172, 174, 178, 194, 204], "simpli": [17, 106, 141, 155, 158, 163, 164, 166, 169, 170, 181, 184, 185, 189, 191, 197, 199, 200, 203], "everi": [17, 19, 21, 23, 24, 61, 87, 96, 98, 102, 106, 109, 122, 126, 141, 158, 163, 164, 166, 170, 171], "meter": [17, 25, 26, 27, 91, 98, 99, 107, 110, 140, 141, 142, 188, 190, 196, 204], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 93, 164, 165, 170, 174, 186, 187, 203], "retri": [17, 21, 23, 24, 45, 81, 100, 167, 176, 202], "contextu": [17, 18, 21, 23, 24, 160, 165, 202], "automat": [17, 27, 93, 99, 106, 109, 123, 155, 158, 163, 164, 166, 179, 181, 183, 184, 185, 186, 189, 196, 197, 199, 202], "door": 17, "elev": [17, 27, 90, 97, 116, 156, 158, 166, 196], "api": [17, 27, 57, 160, 161, 163, 169, 171, 174, 182, 187, 189, 196], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 94, 170, 176], "dock": [17, 18, 26, 27, 28, 45, 62, 92, 166, 176, 177, 178, 205], "serv": [18, 22, 160, 164, 182, 189], "behavior_tre": [18, 26, 50, 51, 93, 162, 166, 174, 203], "sometim": [18, 158, 185, 203], "walk": [18, 19, 27, 155, 193, 196], "navigate_to_pose_w_replanning_and_recoveri": [18, 174], "familiar": [18, 27, 184, 189], "short": [18, 64, 77, 78, 79, 142, 169, 182, 183, 193, 203], "explan": [18, 95, 113, 202], "cpp": [18, 27, 160, 161, 162, 163, 164, 170, 171, 176, 191, 203], "v3": [18, 161, 162, 163], "describ": [18, 19, 106, 158, 159, 166, 171, 172, 173, 174, 178, 181, 184, 189, 191, 192, 196, 199, 200, 201, 203], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 85, 91, 92, 94, 96, 98, 102, 106, 108, 109, 117, 125, 130, 141, 142, 148, 149, 161, 162, 164, 165, 171, 172, 173, 176, 179, 181, 182, 183, 184, 185, 190, 195, 197, 199, 200], "period": [18, 89, 90, 91, 92, 93, 94, 96, 97, 105, 108, 114, 116, 117, 155, 161, 164, 166, 171, 174, 176], "hz": [18, 20, 21, 22, 23, 24, 86, 88, 89, 90, 91, 94, 97, 100, 106, 116, 170, 181, 188, 194], "primarili": [18, 164, 179, 185], "recoverynod": [18, 19, 21, 22, 23, 24, 94, 170], "number_of_retri": [18, 19, 21, 22, 23, 24, 81, 94, 170], "navigaterecoveri": [18, 21, 22, 23, 24, 94, 170], "ratecontrol": [18, 20, 21, 22, 23, 24, 94, 170, 194], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 94, 170, 187, 194], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 94, 107, 108, 115, 140, 141, 142, 163, 170, 173, 178, 187, 194], "reactivefallback": [18, 19, 21, 22, 23, 24, 94, 170], "computepathtoposerecoveryfallback": [18, 94], "goalupd": [18, 19, 21, 22, 23, 24, 66, 94, 170], "clearentirecostmap": [18, 21, 22, 23, 24, 94, 163, 170], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 94, 170], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 94, 170], "global_costmap": [18, 21, 22, 23, 24, 55, 92, 94, 98, 111, 112, 114, 118, 121, 124, 169, 170, 171, 179, 182, 187, 190, 196, 197, 199, 200], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 94, 170], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 94, 163, 166, 170, 194], "followpathrecoveryfallback": [18, 94], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 94, 170], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 90, 92, 94, 98, 119, 121, 169, 170, 171, 179, 182, 190, 197, 199], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 94, 170], "recoveryfallback": [18, 21, 22, 23, 94, 170], "roundrobin": [18, 21, 22, 23, 24, 94], "recoveryact": [18, 21, 22, 23, 24, 94, 170], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 94, 106, 155, 165, 176, 181, 186, 187, 189, 194], "clearingact": [18, 21, 22, 23, 24, 94], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 94, 170], "57": [18, 21, 22, 23, 24, 26, 59, 94, 100, 170, 196, 202], "wait_dur": [18, 21, 22, 23, 24, 63, 94, 170], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 94, 163], "15": [18, 26, 30, 46, 74, 92, 93, 94, 96, 97, 98, 100, 108, 114, 117, 126, 166, 182, 184, 200, 202], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 94, 163], "025": [18, 26, 30, 46, 94, 101, 132, 184], "still": [18, 19, 26, 103, 109, 116, 121, 153, 155, 156, 163, 164, 165, 166, 181, 182, 184, 185, 189, 191, 193, 196, 197], "bit": [18, 164, 185, 189, 191, 196], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 80, 81, 82, 85, 176, 192], "known": [18, 22, 26, 27, 91, 109, 164, 174, 176, 185, 188, 196, 200], "mainli": [18, 182, 183, 184], "actual": [18, 57, 90, 96, 106, 110, 141, 164, 174, 179, 183, 184, 185, 188, 189, 193, 195, 196, 201, 204], "calcul": [18, 26, 89, 90, 109, 118, 164, 171, 172, 173, 178, 181, 190, 196], "dealt": 18, "intern": [18, 21, 23, 24, 110, 160, 165, 166, 171, 174, 181, 186, 193, 196, 204], "hopefulli": [18, 106], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 97, 100, 103, 117, 140, 141, 142, 161, 163, 164, 165, 169, 174, 176, 189, 191], "enough": [18, 165, 179, 185, 188, 189, 196, 202], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 86, 87, 88, 106, 122, 126, 140, 141, 142, 160, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 184, 186, 187, 189, 191, 197, 199, 202], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 98, 122, 123, 125, 126, 158, 163, 164, 165, 166, 173, 176, 182, 185, 188, 193, 200, 202], "until": [18, 19, 20, 26, 27, 80, 90, 110, 127, 141, 142, 153, 155, 163, 172, 174, 176, 181, 191, 194, 196, 200, 202], "parent": [18, 19, 76, 155, 163, 169, 171, 172, 173, 181, 182, 183, 184, 191, 196], "exceed": [18, 98, 165], "gone": 18, "between": [18, 26, 27, 41, 89, 90, 91, 94, 99, 104, 106, 107, 111, 115, 140, 141, 142, 155, 156, 162, 163, 164, 165, 168, 174, 178, 179, 181, 182, 183, 184, 185, 189, 193, 196, 197, 202, 203, 204], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 80, 83, 86, 87, 88, 164, 170, 176], "succe": [18, 19, 80, 81, 176], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 90, 99, 103, 106, 116, 117, 141, 142, 153, 155, 159, 161, 183, 184, 189, 191, 194, 197, 202, 203], "recov": [18, 91, 103], "toler": [18, 27, 61, 67, 92, 93, 96, 98, 100, 102, 106, 107, 109, 110, 112, 114, 125, 127, 134, 136, 140, 141, 142, 151, 163, 164, 166, 173, 176, 187, 195, 202, 204], "outlin": [18, 20, 163, 179, 183, 189], "center": [18, 27, 38, 39, 99, 106, 121, 140, 141, 142, 164, 169, 179, 183, 184, 188, 195, 196], "decor": [18, 20, 22, 164, 170, 176, 194, 203], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 81, 88, 89, 90, 93, 97, 98, 100, 105, 106, 122, 126, 138, 139, 141, 142, 154, 155, 156, 162, 163, 164, 165, 166, 167, 170, 171, 172, 173, 176, 178, 181, 182, 183, 185, 188, 189, 192, 196, 201, 202], "frequenc": [18, 19, 89, 92, 97, 98, 100, 106, 108, 116, 141, 142, 166, 181, 193, 196], "flood": 18, "too": [18, 106, 115, 141, 142, 163, 164, 166, 185, 187], "useless": 18, "100hz": 18, "depend": [18, 27, 90, 102, 106, 124, 154, 155, 156, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 178, 179, 181, 184, 185, 189, 190, 191, 193, 195, 196, 197, 201, 202], "speedcontrol": [18, 94, 162], "big": [18, 196], "half": [18, 109, 141, 142, 182], "snippet": [18, 169, 172, 173, 174, 179, 181, 182, 184, 186, 191], "rest": [18, 38, 39, 90, 97, 106, 116, 138, 156, 166, 181, 182, 183, 186, 192, 196], "asynchron": [18, 19, 27, 162], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 84, 89, 90, 97, 110, 113, 116, 123, 125, 162, 164, 165, 166, 169, 172, 174, 176, 181, 182, 183, 185, 194, 196, 204], "halt": [18, 19, 22, 166], "quick": [18, 141, 142, 183, 197], "reaction": 18, "preempt": [18, 20, 26, 162, 170, 174, 176], "portion": [18, 90, 97, 116, 166, 187], "common": [18, 26, 27, 90, 100, 106, 155, 156, 160, 163, 164, 174, 181, 189, 193, 196, 201, 202], "pattern": [18, 19, 99, 188], "unless": [18, 19, 102, 103, 109, 142, 158], "pair": [18, 19, 106, 112, 124, 163, 166, 185, 188, 193, 196, 197, 199, 204], "imagin": [18, 27, 169, 176, 196], "wrap": [18, 26, 27], "whole": [18, 61, 158, 166, 171, 182, 188, 199, 201], "isbatterylow": [18, 19, 94], "batteri": [18, 19, 27, 70, 71, 100, 164, 165, 176, 189, 194, 202], "enter": [18, 21, 23, 24, 27, 106, 169, 172, 173, 174, 197, 202], "recharg": [18, 27], "never": [18, 27, 106, 141, 142, 164, 189, 197, 199], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 76, 80, 81, 83, 86, 87, 88, 164, 166, 176, 181, 182, 183, 184, 196], "sake": 18, "assum": [18, 19, 156, 163, 171, 172, 176, 179, 183, 184, 190, 191, 196, 197, 198, 199, 200, 201, 202, 203], "again": [18, 19, 20, 22, 81, 153, 155, 159, 161, 177, 181, 184, 189], "BUT": 18, "onto": [18, 21, 23, 106, 110, 164, 174, 176, 181, 183, 204], "hypothet": 18, "scenario": [18, 22, 102, 178, 201], "indefinit": [18, 19, 26, 55, 158, 194], "unlik": [18, 89, 169, 190], "vocabulari": 19, "larg": [19, 27, 90, 96, 102, 106, 109, 141, 142, 160, 162, 177, 181, 184, 185, 188, 202], "confus": 19, "first": [19, 27, 41, 80, 81, 89, 90, 106, 120, 125, 154, 155, 158, 160, 164, 165, 166, 172, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 191, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 85, 90, 91, 92, 93, 97, 98, 99, 102, 103, 106, 108, 109, 110, 114, 116, 117, 118, 119, 141, 142, 155, 162, 163, 164, 165, 166, 167, 172, 174, 176, 183, 185, 189, 190, 191, 192, 193, 194, 196, 197, 198, 201, 202, 204], "actionnod": 19, "necessarili": 19, "often": [19, 27, 96, 164, 181, 189, 196], "quit": [19, 156, 164, 191, 193, 196], "fashion": 19, "commonli": [19, 44, 49, 52, 53, 58, 174, 182, 193, 196], "nav2_behavior_tre": [19, 27, 94, 162, 163, 166, 170, 174, 203], "folder": [19, 155, 156, 182, 188, 196], "client": [19, 27, 99, 161, 163, 164, 169, 170, 174, 187, 202], "clearcostmapservic": 19, "believ": [19, 193], "correctli": [19, 27, 159, 163, 164, 179, 181, 182, 183, 196, 197, 199, 201], "servic": [19, 27, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 91, 93, 105, 109, 155, 156, 162, 163, 165, 167, 169, 176, 178, 181, 188, 189, 196], "goalreach": [19, 83, 86, 88, 94, 166], "initialposereceiv": [19, 94], "intial_pos": 19, "listen": [19, 89, 90, 92, 153, 162, 189], "probe": [19, 155], "aspect": [19, 155, 156, 187, 188], "kei": [19, 91, 99, 154, 155, 158, 159, 174, 185, 186, 189, 190, 193, 196, 202], "Will": [19, 57, 90, 176], "travel": [19, 27, 46, 65, 83, 106, 140, 141, 142, 164, 176, 181, 182], "certain": [19, 55, 106, 162, 164, 171, 178, 180, 182, 194], "constant": [19, 99, 102, 109, 166, 172, 184, 185], "expos": [19, 27, 114, 163, 165, 189, 196], "port": [19, 93, 158, 162, 163, 164, 170, 182, 187, 189, 194, 203], "subsequ": [19, 27, 91, 141, 142, 155, 176, 193], "proport": [19, 100, 106, 141, 142, 197, 200], "previou": [19, 24, 62, 90, 106, 141, 158, 163, 165, 166, 171, 174, 176, 179, 181, 182, 184, 185, 189, 196, 199, 200], "properti": [19, 90, 155, 181, 182, 201], "prior": [19, 85, 91, 161, 164], "resembl": 19, "water": 19, "pipe": [19, 165], "action_a": 19, "action_b": 19, "action_c": 19, "idl": 19, "therefor": [19, 22, 89, 106, 184, 185, 186, 191, 196, 197, 199, 201, 203], "retick": 19, "ing": 19, "even": [19, 20, 21, 23, 105, 106, 109, 116, 120, 141, 156, 160, 162, 163, 164, 166, 176, 178, 179, 180, 181, 185, 189, 191, 193, 197, 202], "though": [19, 21, 100, 106, 142, 185, 186, 189, 193, 196, 197, 199, 201], "recal": [19, 182], "loop": [19, 27, 89, 90, 97, 100, 102, 106, 109, 116, 164, 173, 174, 193, 202], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 113, 155, 163, 171, 181, 183, 186, 191, 192, 196, 197], "togeth": [19, 27, 99, 181, 183, 193, 196], "suggest": [19, 96, 106, 178, 183, 184, 189], "promot": 19, "respons": [19, 21, 23, 24, 27, 38, 39, 40, 55, 90, 103, 164, 169, 174, 178, 186], "round": [19, 82, 90, 176, 180], "robin": [19, 82, 176], "untick": 19, "That": [19, 27, 141, 158, 163, 164, 178, 179, 189], "retain": [19, 66, 111, 112, 140, 141, 142], "rather": [19, 21, 23, 24, 27, 91, 96, 98, 106, 141, 155, 161, 162, 163, 164, 166, 174, 176, 183, 185, 191, 198, 202], "step": [19, 27, 90, 92, 99, 106, 142, 182, 184, 189, 191, 192, 193, 201], "did": [19, 20, 166, 169, 172, 173, 182, 184, 191, 192, 202], "On": [19, 176, 179, 182, 186, 190, 196], "circl": [19, 27, 89, 90, 185, 188, 201], "person": [20, 22, 26, 155, 158, 194], "virtual": [20, 90, 106, 164, 166, 169, 170, 171, 172, 173, 174, 181, 184, 202], "carrot": [20, 109, 166], "anyth": [20, 27, 89, 163, 170, 171, 174, 185, 189, 197, 203], "publish": [20, 44, 49, 52, 53, 58, 89, 90, 91, 92, 93, 97, 98, 101, 104, 105, 106, 108, 109, 114, 116, 117, 118, 121, 124, 126, 127, 137, 141, 142, 159, 161, 162, 163, 164, 166, 169, 172, 174, 176, 179, 181, 182, 185, 187, 188, 189, 193, 194, 195, 196, 198, 201, 202], "goalupdat": [20, 94, 194], "newest": [20, 100, 185], "truncatepath": [20, 94, 162, 194], "least": [20, 90, 155, 158, 163, 181, 201, 202], "awai": [20, 96, 102, 106, 110, 140, 165, 182, 185, 188, 202, 203, 204], "smooth": [20, 26, 27, 57, 88, 96, 100, 102, 106, 110, 111, 112, 114, 116, 140, 141, 142, 160, 163, 164, 165, 166, 176, 181, 185, 187, 196, 201, 204], "off": [20, 106, 110, 116, 118, 158, 164, 165, 166, 169, 184, 189, 191, 202, 204], "toward": [20, 73, 89, 90, 96, 106, 110, 141, 142, 164, 166, 173, 176, 185, 188, 195, 196, 204], "probabl": [20, 105, 123, 141, 142, 165, 182, 187], "occupi": [20, 27, 55, 98, 105, 106, 122, 123, 125, 126, 165, 182, 197], "truncat": [20, 60, 61, 96, 176], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 75, 98, 103, 106, 110, 127, 143, 154, 164, 176, 192, 194, 197, 202, 204], "keeprunninguntilfailur": [20, 194], "mode": [20, 90, 99, 106, 116, 155, 165, 166, 193, 196, 197, 199, 203], "infinit": [20, 97, 122, 126, 141, 142, 193, 202], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 109, 115, 140, 141, 142, 159, 170, 172, 174, 176, 194], "controllerselector": [20, 21, 22, 23, 24, 94, 163], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 105, 197, 199], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 94, 163], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 84, 194], "output_go": [20, 21, 55, 56, 84, 194], "updated_go": [20, 84, 194], "error_code_id": [20, 21, 22, 23, 24, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 187], "compute_path_error_cod": [20, 21, 22, 23, 24, 42, 43, 93, 187], "input_path": [20, 60, 61, 194], "output_path": [20, 60, 61, 194], "truncated_path": [20, 60, 194], "follow_path_error_cod": [20, 21, 22, 23, 24, 47, 77, 93], "intermediari": [21, 142, 160, 163], "constraint": [21, 110, 116, 142, 163, 164, 174, 176, 178, 185, 204], "final": [21, 22, 26, 27, 102, 103, 106, 140, 141, 142, 155, 163, 170, 174, 182, 185, 186, 187, 189, 193, 196, 204], "freespac": [21, 23, 24, 185], "opportun": [21, 23, 24, 166, 170, 174], "computepaththroughpos": [21, 55, 56, 94], "util": [21, 22, 23, 24, 27, 41, 99, 106, 142, 155, 160, 163, 164, 165, 166, 170, 178, 179, 181, 184, 189, 192, 197, 199, 200, 202], "By": [21, 23, 24, 27, 71, 155, 158, 159, 162, 166, 179, 182, 189, 191, 193, 197, 201], "convent": [21, 23, 24, 27, 182, 183, 186, 196], "style": [21, 23, 24, 104, 167, 185, 200], "worri": [21, 23, 24, 27, 156, 185, 191], "want": [21, 23, 24, 26, 27, 89, 106, 155, 163, 166, 169, 170, 171, 172, 173, 174, 181, 183, 184, 185, 186, 187, 189, 191, 192, 193, 195, 196, 198, 202, 203], "caller": [21, 23, 24, 202], "ampl": [21, 23, 24], "transient": [21, 23, 24, 44, 49, 52, 53, 58], "crowd": [21, 23, 24, 178], "temporari": [21, 22, 23, 24, 92, 93, 97, 108, 114, 117, 193, 199], "nomin": [21, 23, 24], "vector": [21, 27, 41, 42, 50, 55, 56, 66, 68, 88, 89, 90, 92, 93, 97, 98, 99, 100, 103, 106, 107, 108, 111, 114, 115, 116, 121, 122, 123, 126, 127, 140, 164, 165, 166, 171, 173, 174, 178, 179, 185, 191, 197, 199, 200], "removepassedgo": [21, 94, 163, 166], "cull": [21, 55, 56, 176], "awar": [21, 23, 24, 96, 106, 113, 115, 140, 141, 142, 160, 163, 182, 185, 202], "similarli": [21, 23, 89, 95, 109, 166, 181, 189], "impact": [21, 23, 99, 106, 166, 185, 191], "worth": [21, 23, 27, 106, 185, 189, 190], "reactiv": [21, 23, 194], "fallback": [21, 23, 24, 90, 201, 202], "exit": [21, 23, 27, 97, 100, 103, 162, 164, 189, 191, 192, 202], "preemption": [21, 23, 166, 170, 174], "immedi": [21, 23, 90, 103, 163, 166, 169, 172, 174, 181, 184, 189, 191, 202], "reserv": [21, 23, 24, 165, 186, 193], "resolv": [21, 23, 24, 103, 162, 164, 187, 200], "bad": [21, 23, 24, 27, 91, 169, 193], "spot": [21, 23, 24, 142, 159, 169], "iter": [21, 23, 24, 26, 27, 41, 56, 90, 93, 96, 101, 106, 112, 115, 116, 140, 141, 142, 165, 166, 171, 193], "reattempt": [21, 23, 24], "goalcheckerselector": [21, 23, 24, 94, 163], "hardcod": [21, 23, 24, 165, 170, 174], "advis": [21, 23, 24, 27, 181], "uniqu": [21, 23, 24, 27, 90, 155, 160, 162, 163, 166, 169, 170, 174], "selector": [21, 23, 24, 166, 176], "better": [21, 23, 24, 27, 89, 90, 97, 109, 115, 116, 141, 155, 163, 164, 166, 182, 185, 186, 192, 199, 204], "profession": [21, 23, 24, 160], "333": 21, "reactivesequ": [21, 22, 24], "radiu": [21, 27, 56, 89, 90, 96, 98, 99, 100, 102, 106, 109, 120, 133, 135, 141, 142, 143, 164, 176, 178, 179, 182, 184], "wouldaplannerrecoveryhelp": [21, 23, 94, 165], "error_cod": [21, 23, 64, 77, 78, 79, 186, 187, 202], "wouldacontrollerrecoveryhelp": [21, 23, 94, 165], "spin_error_cod": [21, 23, 59], "30": [21, 22, 23, 24, 26, 27, 62, 96, 100, 106, 165, 181, 182, 184, 193, 196, 199, 201, 202], "05": [21, 22, 23, 24, 30, 46, 89, 90, 91, 98, 100, 101, 106, 109, 142, 147, 171, 179, 182, 184, 200, 201, 202], "backup_error_cod": [21, 30], "prerequisit": [22, 157, 182], "sequencestar": [22, 170], "retryuntilsucessful": 22, "soft": [22, 90, 97, 106, 116], "extens": [22, 27, 106, 155, 156, 165, 166, 193], "apart": [22, 204], "effici": [22, 27, 113, 182, 185, 186], "forklift": 22, "close": [22, 27, 56, 85, 89, 90, 98, 106, 109, 116, 142, 145, 151, 155, 163, 164, 166, 172, 179, 185, 189, 196, 201, 202], "shorter": [22, 60, 61, 141, 142, 176, 184, 194], "expir": [22, 74, 176, 200], "ultim": 22, "solv": [22, 153, 173, 191], "problem": [22, 54, 103, 164, 173, 174, 176, 185, 191, 202], "cycl": [22, 89, 90, 109, 141, 142, 164, 169], "caus": [22, 30, 46, 89, 90, 91, 106, 141, 142, 159, 164, 185, 190, 193, 197, 199], "becaus": [22, 27, 103, 106, 155, 156, 158, 163, 166, 169, 181, 183, 185, 191, 192, 195, 196, 203, 204], "present": [22, 90, 116, 122, 126, 155, 162, 164, 165, 166, 171, 172, 174, 176, 182, 185, 201], "depict": [22, 96], "monitorandfollowpath": 22, "intent": [22, 106, 185], "kind": [22, 160, 181, 189, 191], "monitor": [22, 28, 89, 104, 160, 163, 177, 203, 205], "exhibit": 22, "exclus": 22, "pathlongeronapproach": [22, 94, 176], "decid": [22, 91, 166, 183, 184, 186], "approach": [22, 27, 85, 90, 100, 101, 106, 107, 109, 113, 115, 140, 141, 142, 160, 163, 165, 176, 178, 181, 185, 187, 201, 204], "proxim": [22, 56, 85, 106, 109, 163, 164, 166, 201], "retryuntilsuccesful": 22, "inturn": 22, "firstli": 22, "cancelcontrol": [22, 94, 164], "gif": [22, 166, 196], "consequ": 22, "controller_serv": [22, 97, 101, 102, 103, 106, 109, 110, 162, 163, 164, 166, 172, 178, 186, 192, 199, 204], "conclus": 22, "readi": [22, 154, 155, 158, 159, 164, 171, 184, 185, 189, 191, 193, 197, 199, 201, 202], "organiz": 22, "prox_len": [22, 85], "length_factor": [22, 85], "retryuntilsuccess": 22, "num_attempt": 22, "cancelingcontrolandwait": 22, "controlcancel": 22, "video": [22, 155, 171, 189, 193, 194, 195, 200, 202, 203], "matur": [23, 24], "version": [23, 24, 27, 92, 93, 96, 107, 108, 115, 127, 140, 141, 142, 153, 154, 156, 159, 163, 169, 171, 172, 173, 174, 178, 182, 184, 189], "backup_code_id": 23, "ratecontrollercomputepathtopos": 24, "recoverycomputepathtopos": 24, "fallbackcomputepathtopos": 24, "checkifnewpathneed": 24, "invert": [24, 106, 163], "globalupdatedgo": [24, 66], "ispathvalid": [24, 94, 98], "recoveryfollowpath": 24, "fallbackrecoveri": 24, "spinrecoveri": 24, "waitrecoveri": 24, "backuprecoveri": 24, "ccw": 25, "squar": [25, 38, 39, 89, 90, 98, 166, 188], "three": [25, 27, 113, 165, 183, 185, 186, 196], "driveonhead": [25, 26, 94, 165, 166], "travers": [25, 27, 106, 120, 140, 141, 142, 164, 166, 183], "side": [25, 38, 39, 98, 106, 138, 155, 182, 184, 186, 190, 192, 203], "turn": [25, 41, 96, 99, 106, 109, 116, 118, 141, 142, 155, 163, 164, 165, 166, 176, 178, 184, 185, 187, 190, 191, 196, 202, 204], "primit": [25, 27, 141, 142, 164, 166, 184], "odometr": [25, 27, 193], "accuraci": [25, 90, 104, 161, 167, 193, 196], "repeat": [25, 106, 154, 166, 171, 183, 184], "num_cycl": 25, "dist_to_travel": [25, 46], "time_allow": [25, 26, 29, 30, 46, 59, 92, 164], "12": [25, 182, 184], "570796": 25, "is_recoveri": [25, 29, 59], "fals": [25, 26, 29, 55, 57, 71, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 101, 102, 103, 106, 107, 109, 110, 115, 116, 117, 118, 120, 122, 123, 124, 125, 126, 127, 130, 132, 140, 141, 142, 143, 146, 159, 163, 164, 165, 166, 167, 169, 171, 173, 174, 181, 182, 185, 190, 191, 193, 195, 196, 197, 200, 201, 202, 203], "nav2_simple_command": [26, 164, 196], "gotopos": [26, 164], "gothroughpos": 26, "followwaypoint": [26, 165], "istaskcomplet": [26, 164], "poll": 26, "collect": [26, 180, 182, 185, 192, 193], "switch": [26, 90, 106, 118, 155, 156, 162, 163, 164, 165, 166], "robot_navig": 26, "basicnavig": [26, 164, 196], "rclpy": [26, 164, 202], "init": [26, 164, 189], "setinitialpos": [26, 164], "init_pos": 26, "waituntilnav2act": [26, 164], "autostart": 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"parameters"], [115, "parameters"], [117, "parameters"], [127, "parameters"], [128, "parameters"], [129, "parameters"], [130, "parameters"], [131, "parameters"], [132, "parameters"], [133, "parameters"], [134, "parameters"], [135, "parameters"], [136, "parameters"], [137, "parameters"], [138, "parameters"], [139, "parameters"], [140, "parameters"], [141, "parameters"], [142, "parameters"], [143, "parameters"], [144, "parameters"], [145, "parameters"], [146, "parameters"], [147, "parameters"], [148, "parameters"], [149, "parameters"], [150, "parameters"], [151, "parameters"], [152, "parameters"]], "GloballyUpdatedGoal": [[66, "globallyupdatedgoal"]], "GoalReached": [[67, "goalreached"]], "Parameter": [[67, "parameter"]], "GoalUpdated": [[68, "goalupdated"]], "InitialPoseReceived": [[69, "initialposereceived"]], "IsBatteryCharging": [[70, "isbatterycharging"]], "IsBatteryLow": [[71, "isbatterylow"]], "IsPathValid": [[72, "ispathvalid"]], "IsStuck": [[73, "isstuck"]], "PathExpiringTimer": [[74, "pathexpiringtimer"]], "TimeExpired": [[75, "timeexpired"]], "TransformAvailable": [[76, "transformavailable"]], "WouldAControllerRecoveryHelp": [[77, "wouldacontrollerrecoveryhelp"]], "Input Port": [[77, "input-port"], [78, "input-port"], [79, "input-port"]], "WouldAPlannerRecoveryHelp": [[78, "wouldaplannerrecoveryhelp"]], "WouldASmootherRecoveryHelp": [[79, "wouldasmootherrecoveryhelp"]], "PipelineSequence": [[80, "pipelinesequence"]], "RecoveryNode": [[81, "recoverynode"]], "RoundRobin": [[82, "roundrobin"]], "DistanceController": [[83, "distancecontroller"]], "GoalUpdater": [[84, "goalupdater"]], "PathLongerOnApproach": [[85, "pathlongeronapproach"]], "RateController": [[86, "ratecontroller"]], "SingleTrigger": [[87, "singletrigger"]], "SpeedController": [[88, "speedcontroller"]], "Collision Detector Node": [[89, "collision-detector-node"]], "Features": [[89, "features"], [90, "features"]], "Polygons parameters": [[89, "polygons-parameters"], [90, "polygons-parameters"]], "Observation sources parameters": [[89, "observation-sources-parameters"], [90, "observation-sources-parameters"]], "Collision Monitor Node": [[90, "collision-monitor-node"]], "VelocityPolygon parameters": [[90, "velocitypolygon-parameters"]], "AMCL": [[91, "amcl"]], "Behavior Server": [[92, "behavior-server"]], "Behavior Server Parameters": [[92, "behavior-server-parameters"]], "Default Plugins": [[92, "default-plugins"], [97, "default-plugins"], [98, "default-plugins"], [108, "default-plugins"]], "Spin Behavior Parameters": [[92, "spin-behavior-parameters"]], "BackUp Behavior Parameters": [[92, "backup-behavior-parameters"]], "DriveOnHeading Behavior Parameters": [[92, "driveonheading-behavior-parameters"]], "AssistedTeleop Behavior Parameters": [[92, "assistedteleop-behavior-parameters"]], "Behavior-Tree Navigator": [[93, "behavior-tree-navigator"]], "Behavior Tree XML Nodes": [[94, "behavior-tree-xml-nodes"]], "Action Plugins": [[94, "action-plugins"]], "Condition Plugins": [[94, "condition-plugins"]], "Control Plugins": [[94, "control-plugins"]], "Decorator Plugins": [[94, "decorator-plugins"]], "Collision Monitor": [[95, "collision-monitor"]], "Provided Nodes": [[95, "provided-nodes"]], "Constrained smoother": [[96, "constrained-smoother"]], "Smoother Server Parameters": [[96, "smoother-server-parameters"], [114, "smoother-server-parameters"]], "Controller Server": [[97, "controller-server"], [178, "controller-server"]], "Provided Plugins": [[97, "provided-plugins"], [113, "provided-plugins"], [117, "provided-plugins"]], "Costmap 2D": [[98, "costmap-2d"], [182, "costmap-2d"]], "Costmap2D ROS Parameters": [[98, "costmap2d-ros-parameters"]], "Plugin Parameters": [[98, "plugin-parameters"]], "Costmap Filters Parameters": [[98, "costmap-filters-parameters"]], "Coverage Server": [[99, "coverage-server"]], "Docking Server": [[100, "docking-server"]], "SimpleChargingDock Parameters": [[100, "simplechargingdock-parameters"]], "DWB Controller": [[101, "dwb-controller"], [127, "dwb-controller"]], "Controller": [[101, "controller"]], "Plugins": [[101, "plugins"]], "Trajectory Critics": [[101, "trajectory-critics"]], "Graceful Controller": [[102, "graceful-controller"]], "Graceful Controller Parameters": [[102, "graceful-controller-parameters"]], "Lifecycle Manager": [[103, "lifecycle-manager"]], "Loopback Simulator": [[104, "loopback-simulator"]], "Map Server / Saver": [[105, "map-server-saver"]], "Map Saver Parameters": [[105, "map-saver-parameters"]], "Map Server Parameters": [[105, "map-server-parameters"]], "Costmap Filter Info Server Parameters": [[105, "costmap-filter-info-server-parameters"]], "Model Predictive Path Integral Controller": [[106, "model-predictive-path-integral-controller"]], "MPPI Parameters": [[106, "mppi-parameters"]], "Trajectory Visualization": [[106, "trajectory-visualization"]], "Path Handler": [[106, "path-handler"]], "Ackermann Motion Model": [[106, "ackermann-motion-model"]], "Constraint Critic": [[106, "constraint-critic"]], "Goal Angle Critic": [[106, "goal-angle-critic"]], "Goal Critic": [[106, "goal-critic"]], "Obstacles Critic": [[106, "obstacles-critic"]], "Cost Critic": [[106, "cost-critic"]], "Path Align Critic": [[106, "path-align-critic"]], "Path Angle Critic": [[106, "path-angle-critic"]], "Path Follow Critic": [[106, "path-follow-critic"]], "Prefer Forward Critic": [[106, "prefer-forward-critic"]], "Twirling Critic": [[106, "twirling-critic"]], "Velocity Deadband Critic": [[106, "velocity-deadband-critic"]], "Notes to Users": [[106, "notes-to-users"]], "General Words of Wisdom": [[106, "general-words-of-wisdom"]], "Prediction Horizon, Costmap Sizing, and Offsets": [[106, "prediction-horizon-costmap-sizing-and-offsets"]], "Obstacle, Inflation Layer, and Path Following": [[106, "obstacle-inflation-layer-and-path-following"]], "NavFn Planner": [[107, "navfn-planner"]], "Planner Server": [[108, "planner-server"], [178, "planner-server"]], "Regulated Pure Pursuit": [[109, "regulated-pure-pursuit"]], "Regulated Pure Pursuit Parameters": [[109, "regulated-pure-pursuit-parameters"]], "Rotation Shim Controller": [[110, "rotation-shim-controller"]], "Rotation Shim Controller Parameters": [[110, "rotation-shim-controller-parameters"]], "Savitzky-Golay Smoother": [[111, "savitzky-golay-smoother"], [165, "savitzky-golay-smoother"]], "Savitzky-Golay Smoother Parameters": [[111, "savitzky-golay-smoother-parameters"]], "Simple Smoother": [[112, "simple-smoother"]], "Simple Smoother Parameters": [[112, "simple-smoother-parameters"]], "Smac Planner": [[113, "smac-planner"]], "Description": [[113, "description"]], "Smoother Server": [[114, "smoother-server"]], "Theta Star Planner": [[115, "theta-star-planner"]], "Velocity Smoother": [[116, "velocity-smoother"]], "Velocity Smoother Parameters": [[116, "velocity-smoother-parameters"]], "Waypoint Follower": [[117, "waypoint-follower"]], "Default Plugin": [[117, "default-plugin"]], "Binary Filter Parameters": [[118, "binary-filter-parameters"]], "Denoise Layer Parameters": [[119, "denoise-layer-parameters"]], "Inflation Layer Parameters": [[120, "inflation-layer-parameters"]], "Keepout Filter Parameters": [[121, "keepout-filter-parameters"]], "Obstacle Layer Parameters": [[122, "obstacle-layer-parameters"]], "Range Sensor Parameters": [[123, "range-sensor-parameters"]], "Speed Filter Parameters": [[124, "speed-filter-parameters"]], "Static Layer Parameters": [[125, "static-layer-parameters"]], "Voxel Layer Parameters": [[126, "voxel-layer-parameters"]], "XYTheta Iterator": [[128, "xytheta-iterator"]], "Kinematic Parameters": [[129, "kinematic-parameters"]], "Publisher": [[130, "publisher"]], "LimitedAccelGenerator": [[131, "limitedaccelgenerator"]], "StandardTrajectoryGenerator": [[132, "standardtrajectorygenerator"]], "PoseProgressChecker": [[133, "poseprogresschecker"]], "SimpleGoalChecker": [[134, "simplegoalchecker"]], "SimpleProgressChecker": [[135, "simpleprogresschecker"]], "StoppedGoalChecker": [[136, "stoppedgoalchecker"]], "InputAtWaypoint": [[137, "inputatwaypoint"]], "PhotoAtWaypoint": [[138, "photoatwaypoint"]], "WaitAtWaypoint": [[139, "waitatwaypoint"]], "Smac 2D Planner": [[140, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[141, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[142, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[143, "baseobstaclecritic"]], "GoalAlignCritic": [[144, "goalaligncritic"]], "GoalDistCritic": [[145, "goaldistcritic"]], "ObstacleFootprintCritic": [[146, "obstaclefootprintcritic"]], "OscillationCritic": [[147, "oscillationcritic"]], "PathAlignCritic": [[148, "pathaligncritic"]], "PathDistCritic": [[149, "pathdistcritic"]], "PreferForwardCritic": [[150, "preferforwardcritic"]], "RotateToGoalCritic": [[151, "rotatetogoalcritic"]], "TwirlingCritic": [[152, "twirlingcritic"]], "Build Troubleshooting Guide": [[153, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[153, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[153, "reporting-issue"]], "Build and Install": [[154, "build-and-install"]], "Install": [[154, "install"]], "Build": [[154, "build"]], "Released Distribution Binaries": [[154, "released-distribution-binaries"]], "Rolling Development Source": [[154, "rolling-development-source"]], "Docker Container Images": [[154, "docker-container-images"]], "Generate Doxygen": [[154, "generate-doxygen"]], "Help": [[154, "help"]], "Dev Container Guide": [[155, "dev-container-guide"]], "Creating Dev Containers": [[155, "creating-dev-containers"]], "Building the image": [[155, "building-the-image"]], "Starting the container": [[155, "starting-the-container"]], "Using Dev Containers": [[155, "using-dev-containers"]], "Terminals": [[155, "terminals"]], "Lifecycle": [[155, "lifecycle"]], "Rebuilding": [[155, "rebuilding"]], "Dev Containers": [[156, "dev-containers"]], "What, Why, How?": [[156, "what-why-how"]], "What is a Dev Container?": [[156, "what-is-a-dev-container"]], "Why use a Dev Container?": [[156, "why-use-a-dev-container"]], "How do Dev Containers work?": [[156, "how-do-dev-containers-work"]], "Getting started": [[156, "getting-started"]], "Security": [[156, "security"]], "Development Guides": [[157, "development-guides"]], "Getting Involved": [[158, "getting-involved"], [158, "id1"]], "Process": [[158, "process"]], "Licensing": [[158, "licensing"]], "Developer Certification of Origin (DCO)": [[158, "developer-certification-of-origin-dco"]], "Getting Started": [[159, "getting-started"]], "Installation": [[159, "installation"]], "Running the Example": [[159, "running-the-example"]], "Navigating": [[159, "navigating"]], "Nav2": [[160, "lpn"]], "Our Sponsors": [[160, "our-sponsors"]], "Services": [[160, "services"]], "Citations": [[160, "citations"]], "Dashing to Eloquent": [[161, "dashing-to-eloquent"]], "New Packages": [[161, "new-packages"]], "New Plugins": [[161, "new-plugins"], [162, "new-plugins"], [163, "new-plugins"]], "Navigation2 Architectural Changes": [[161, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[162, "eloquent-to-foxy"]], "General": [[162, "general"]], "Server Updates": [[162, "server-updates"]], "Map Server Re-Work": [[162, "map-server-re-work"]], "New Particle Filter Messages": [[162, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[162, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[162, "followpoint-capability"]], "New Costmap Layer": [[162, "new-costmap-layer"]], "Foxy to Galactic": [[163, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[163, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[163, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[163, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[163, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[163, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[163, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[163, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[163, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[163, "followpath-goal-checker-id-attribute"]], "Groot Support": [[163, "groot-support"]], "SmacPlanner": [[163, "smacplanner"]], "ThetaStarPlanner": [[163, "thetastarplanner"]], "RegulatedPurePursuitController": [[163, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[163, "costmap2d-current-usage"]], "Standard time units in parameters": [[163, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[163, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[163, "obstacle-marking-parameters"]], "Recovery Action Changes": [[163, "recovery-action-changes"]], "Default Behavior Tree Changes": [[163, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[163, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[163, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[163, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[163, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[163, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[163, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[163, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[164, "galactic-to-humble"]], "Major improvements to Smac Planners": [[164, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[164, "simple-python-commander"]], "Reduce Nodes and Executors": [[164, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[164, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[164, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[164, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[164, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[164, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[164, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[164, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[164, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[164, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[164, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[164, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[164, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[164, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[164, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[164, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[164, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[164, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[164, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[164, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[164, "dynamic-composition"]], "BT Cancel Node": [[164, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[164, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[164, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[164, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[164, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[164, "euclidean-distance-2d"]], "Recovery To Behavior": [[164, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[164, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[164, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[164, "goal-checker-api-changed"]], "Added Assisted Teleop": [[164, "added-assisted-teleop"]], "Humble to Iron": [[165, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[165, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[165, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[165, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[165, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[165, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[165, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[165, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[165, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[165, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[165, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[165, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[165, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[165, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[165, "smootherselector-bt-node"]], "Publish Costmap Layers": [[165, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[165, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[165, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[165, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[165, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[165, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[165, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[165, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[165, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[165, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[165, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[165, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[165, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[165, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[165, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[165, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[165, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[166, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[166, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[166, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[166, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[166, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[166, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[166, "opennav-coverage-project"]], "opennav_docking Project": [[166, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[166, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[166, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[166, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[166, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[166, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[166, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[166, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[166, "mppi-acceleration"]], "Move Error Code Enumerations": [[166, "move-error-code-enumerations"]], "Substitution in parameter file": [[166, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[166, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[166, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[166, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[166, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[166, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[166, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[166, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[166, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[166, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[166, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[166, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[166, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[166, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[166, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[166, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[166, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[166, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[166, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[166, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[166, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[166, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[166, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[166, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[166, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[166, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[166, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[166, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[166, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[166, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[166, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[166, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[166, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[166, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[167, "jazzy-to-k-turtle"]], "New Nav2 Loopback Simulator": [[167, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[167, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[167, "new-rviz-panel-for-docking"]], "New BT Nodes": [[167, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[167, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[167, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[167, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[167, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Migration Guides": [[168, "migration-guides"]], "Writing a New Behavior Plugin": [[169, "writing-a-new-behavior-plugin"]], "Requirements": [[169, "requirements"], [170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [187, "requirements"], [188, "requirements"], [190, "requirements"], [195, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [201, "requirements"], [202, "requirements"]], "Tutorial Steps": [[169, "tutorial-steps"], [170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [187, "tutorial-steps"], [188, "tutorial-steps"], [190, "tutorial-steps"], [194, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[169, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[169, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[169, "pass-the-plugin-name-through-params-file"], [173, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[169, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[170, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[170, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[170, "exporting-the-planner-plugin"], [173, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[170, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[170, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[171, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[171, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[171, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[171, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[171, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[172, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[172, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[172, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[172, "pass-the-plugin-name-through-the-params-file"], [174, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[172, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[173, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[173, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[173, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[174, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[174, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[174, "exporting-the-navigator-plugin"]], "4- Run plugin": [[174, "run-plugin"]], "Plugin Tutorials": [[175, "plugin-tutorials"]], "Navigation Plugins": [[176, "navigation-plugins"]], "Behavior-Tree Navigators": [[176, "behavior-tree-navigators"]], "Costmap Layers": [[176, "costmap-layers"]], "Waypoint Task Executors": [[176, "waypoint-task-executors"]], "Goal Checkers": [[176, "goal-checkers"]], "Progress Checkers": [[176, "progress-checkers"]], "Behavior Tree Nodes": [[176, "behavior-tree-nodes"]], "Roadmaps": [[177, "roadmaps"]], "Jazzy Roadmap": [[177, "jazzy-roadmap"]], "Iron Roadmap": [[177, "iron-roadmap"]], "Humble Roadmap": [[177, "humble-roadmap"]], "Setting Up Navigation Plugins": [[178, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[178, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[178, "selecting-the-algorithm-plugins"]], "Summary": [[178, "summary"], [178, "id1"]], "Example Configuration": [[178, "example-configuration"], [178, "id2"]], "Conclusion": [[178, "conclusion"], [179, "conclusion"], [181, "conclusion"], [182, "conclusion"], [183, "conclusion"], [184, "conclusion"], [186, "conclusion"], [189, "conclusion"], [196, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[179, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[179, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[179, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[179, "build-run-and-verification"], [181, "build-run-and-verification"], [181, "id4"], [182, "build-run-and-verification"], [182, "id2"]], "Visualizing Footprint in RViz": [[179, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[180, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[181, "setting-up-odometry"]], "Odometry Introduction": [[181, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[181, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[181, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[181, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[181, "adding-gazebo-plugins-to-a-urdf"], [182, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[181, "launch-and-build-files"], [181, "id3"], [182, "launch-and-build-files"]], "Robot Localization Demo": [[181, "robot-localization-demo"]], "Configuring Robot Localization": [[181, "configuring-robot-localization"]], "Setting Up Sensors": [[182, "setting-up-sensors"]], "Sensor Introduction": [[182, "sensor-introduction"]], "Common Sensor Messages": [[182, "common-sensor-messages"]], "sensor_msgs/LaserScan": [[182, "sensor-msgs-laserscan"]], "sensor_msgs/PointCloud2": [[182, "sensor-msgs-pointcloud2"]], "sensor_msgs/Range": [[182, "sensor-msgs-range"]], "sensor_msgs/Image": [[182, "sensor-msgs-image"]], "Simulating Sensors using Gazebo": [[182, "simulating-sensors-using-gazebo"]], "Mapping and Localization": [[182, "mapping-and-localization"]], "Configuring nav2_costmap_2d": [[182, "configuring-nav2-costmap-2d"]], "Launching Description Nodes, RViz and Gazebo": [[182, "launching-description-nodes-rviz-and-gazebo"]], "Launching slam_toolbox": [[182, "launching-slam-toolbox"]], "Launching Nav2": [[182, "launching-nav2"]], "Visualizing Costmaps in RViz": [[182, "visualizing-costmaps-in-rviz"]], "Setting Up Transformations": [[183, "setting-up-transformations"]], "Transforms Introduction": [[183, "transforms-introduction"]], "Static Transform Publisher Demo": [[183, "static-transform-publisher-demo"]], "Transforms in Navigation2": [[183, "transforms-in-navigation2"]], "Setting Up The URDF": [[184, "setting-up-the-urdf"]], "URDF and the Robot State Publisher": [[184, "urdf-and-the-robot-state-publisher"]], "Setting Up the Environment": [[184, "setting-up-the-environment"]], "Writing the URDF": [[184, "writing-the-urdf"]], "Build and Launch": [[184, "build-and-launch"]], "Visualization using RVIZ": [[184, "visualization-using-rviz"]], "Adding Physical Properties": [[184, "adding-physical-properties"]], "Tuning Guide": [[185, "tuning-guide"]], "Inflation Potential Fields": [[185, "inflation-potential-fields"]], "Robot Footprint vs Radius": [[185, "robot-footprint-vs-radius"]], "Rotate in Place Behavior": [[185, "rotate-in-place-behavior"]], "Planner Plugin Selection": [[185, "planner-plugin-selection"]], "Controller Plugin Selection": [[185, "controller-plugin-selection"]], "Caching Obstacle Heuristic in Smac Planners": [[185, "caching-obstacle-heuristic-in-smac-planners"]], "Costmap2D Plugins": [[185, "costmap2d-plugins"]], "Nav2 Launch Options": [[185, "nav2-launch-options"]], "Other Pages We\u2019d Love To Offer": [[185, "other-pages-we-d-love-to-offer"]], "Adding a New Nav2 Task Server": [[186, "adding-a-new-nav2-task-server"]], "Lifecycle Nodes": [[186, "lifecycle-nodes"]], "Composition": [[186, "composition"]], "Error codes": [[186, "error-codes"]], "Adding a Smoother to a BT": [[187, "adding-a-smoother-to-a-bt"]], "0- Familiarization with the Smoother BT Node": [[187, "familiarization-with-the-smoother-bt-node"]], "1- Specifying a Smoother Plugin": [[187, "specifying-a-smoother-plugin"]], "2- Modifying your BT XML": [[187, "modifying-your-bt-xml"]], "Camera Calibration": [[188, "camera-calibration"]], "Docker for Development: Zero to Hero": [[189, "docker-for-development-zero-to-hero"]], "Preliminaries": [[189, "preliminaries"], [191, "preliminaries"], [192, "preliminaries"]], "Important Docker Commands": [[189, "important-docker-commands"]], "Exploring Your First Container": [[189, "exploring-your-first-container"]], "Understanding ROS Docker Images": [[189, "understanding-ros-docker-images"]], "For Docker-Based Development": [[189, "for-docker-based-development"]], "Building a Development Image": [[189, "building-a-development-image"]], "Visualizations from Docker": [[189, "visualizations-from-docker"]], "For Docker-Based Deployment": [[189, "for-docker-based-deployment"]], "Appendix": [[189, "appendix"]], "Nav2 Development Image": [[189, "nav2-development-image"]], "Nav2 Deployment Image": [[189, "nav2-deployment-image"]], "Filtering of Noise-Induced Obstacles": [[190, "filtering-of-noise-induced-obstacles"]], "1. Enable Denoise Layer": [[190, "enable-denoise-layer"]], "2. Run Nav2 stack": [[190, "run-nav2-stack"]], "How it works": [[190, "how-it-works"]], "Get Backtrace in ROS 2 / Nav2": [[191, "get-backtrace-in-ros-2-nav2"]], "From a Node": [[191, "from-a-node"]], "From a Launch File": [[191, "from-a-launch-file"]], "From Large Project": [[191, "from-large-project"]], "From Nav2 Bringup": [[191, "from-nav2-bringup"], [192, "from-nav2-bringup"]], "Automatic backtrace on crash": [[191, "automatic-backtrace-on-crash"]], "Profiling in ROS 2 / Nav2": [[192, "profiling-in-ros-2-nav2"]], "Profile from a Node": [[192, "profile-from-a-node"]], "Profile from a Launch File": [[192, "profile-from-a-launch-file"]], "Interpreting Results": [[192, "interpreting-results"]], "Using VIO to Augment Robot Odometry": [[193, "using-vio-to-augment-robot-odometry"]], "Setting Up the ZED X Camera": [[193, "setting-up-the-zed-x-camera"]], "Setting Up ZED ROS": [[193, "setting-up-zed-ros"]], "Fusing VIO Into Local State Estimate": [[193, "fusing-vio-into-local-state-estimate"]], "Fusing VSLAM Into Global State Estimate": [[193, "fusing-vslam-into-global-state-estimate"]], "Testing it Out!": [[193, "testing-it-out"]], "Dynamic Object Following": [[194, "dynamic-object-following"]], "0- Create the Behavior Tree": [[194, "create-the-behavior-tree"]], "1- Setup Rviz clicked point": [[194, "setup-rviz-clicked-point"]], "2- Run Dynamic Object Following in Nav2 Simulation": [[194, "run-dynamic-object-following-in-nav2-simulation"]], "Navigating with a Physical Turtlebot 3": [[195, "navigating-with-a-physical-turtlebot-3"]], "0- Setup Your Environment Variables": [[195, "setup-your-environment-variables"]], "1- Launch Turtlebot 3": [[195, "launch-turtlebot-3"]], "2- Launch Nav2": [[195, "launch-nav2"]], "3-  Launch RVIZ": [[195, "launch-rviz"]], "4- Initialize the Location of Turtlebot 3": [[195, "initialize-the-location-of-turtlebot-3"]], "5-  Send a Goal Pose": [[195, "send-a-goal-pose"]], "Navigating Using GPS Localization": [[196, "navigating-using-gps-localization"]], "GPS Localization Overview": [[196, "gps-localization-overview"]], "0- Setup Gazebo World": [[196, "setup-gazebo-world"]], "1- Setup GPS Localization system": [[196, "setup-gps-localization-system"]], "Local Odometry": [[196, "local-odometry"]], "Global Odometry": [[196, "global-odometry"]], "Navsat Transform": [[196, "navsat-transform"]], "Localization Testing": [[196, "localization-testing"]], "2- Setup Navigation system": [[196, "setup-navigation-system"]], "3-  Interactive GPS Waypoint Follower": [[196, "interactive-gps-waypoint-follower"]], "4-  Logged GPS Waypoint Follower & Waypoint Logging": [[196, "logged-gps-waypoint-follower-waypoint-logging"]], "Navigating with Keepout Zones": [[197, "navigating-with-keepout-zones"]], "1. Prepare filter mask": [[197, "prepare-filter-mask"], [199, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[197, "configure-costmap-filter-info-publisher-server"], [199, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[197, "enable-keepout-filter"]], "4. Run Nav2 stack": [[197, "run-nav2-stack"], [199, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[198, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[198, "launch-robot-interfaces"]], "1- Launch Navigation2": [[198, "launch-navigation2"]], "2- Launch SLAM": [[198, "launch-slam"]], "3- Working with SLAM": [[198, "working-with-slam"]], "4- Getting Started Simplification": [[198, "getting-started-simplification"]], "Navigating with Speed Limits": [[199, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[199, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[200, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[200, "costmap2d-and-stvl"]], "0- Setup": [[200, "setup"]], "1- Install STVL": [[200, "install-stvl"]], "1- Modify Navigation2 Parameter": [[200, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[200, "launch-navigation2"]], "3-  RVIZ": [[200, "rviz"]], "Using Collision Monitor": [[201, "using-collision-monitor"]], "Configuring Collision Monitor": [[201, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[201, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[201, "preparing-nav2-stack"]], "Demo Execution": [[201, "demo-execution"], [204, "demo-execution"]], "Using Docking Server": [[202, "using-docking-server"]], "ChargingDock Plugins": [[202, "chargingdock-plugins"]], "Dock Database": [[202, "dock-database"]], "Configuring Docking Server": [[202, "configuring-docking-server"]], "Adding Docking Server to Launch": [[202, "adding-docking-server-to-launch"]], "Docking Action API": [[202, "docking-action-api"]], "Putting It All Together": [[202, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[203, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[203, "visualize-behavior-trees"]], "Edit Behavior Trees": [[203, "edit-behavior-trees"]], "Adding A Custom Node": [[203, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[204, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[204, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[204, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[204, "configuring-primary-controller"]], "General Tutorials": [[205, "general-tutorials"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html
index b8de1718d..35d34d95b 100644
--- a/setup_guides/footprint/setup_footprint.html
+++ b/setup_guides/footprint/setup_footprint.html
@@ -1118,12 +1118,12 @@ 
      Configuring the Robot’s Footprintsam_bot such that footprint (polygon) is used for the local costmap and robot_radius (circular) is used for the global costmap. We will utilize the default configuration file of Nav2 with a modified footprint parameter for the global and local costmaps.
      
 
      
 
      Note
      
-
      The complete source code for sam_bot can be found in navigation2_tutorials repository.
      
+
      The complete source code for sam_bot can be found in navigation2_tutorials repository.
      
 
      
-
      Under the config directory, create a new file named  nav2_params.yaml. Next, copy the contents of config/nav2_params.yaml and paste them into the newly created file. The contents of config/nav2_params.yaml are copied from the default configuration file of Nav2 but with changes in the footprint and  robot_radius parameters to match the shape of sam_bot.
      
+
      Under the config directory, create a new file named  nav2_params.yaml. Next, copy the contents of config/nav2_params.yaml and paste them into the newly created file. The contents of config/nav2_params.yaml are copied from the default configuration file of Nav2 but with changes in the footprint and  robot_radius parameters to match the shape of sam_bot.
      
 
      
 
      See also
      
-
      The default configuration file for Nav2 can be found in the official Navigation2 repository.
      
+
      The default configuration file for Nav2 can be found in the official Navigation2 repository.
      
 
      
 
      Below is the code snippet from nav2_params.yaml defining the local costmap footprint. In this configuration file, the footprint parameter of the local costmap has already been set with a rectangular-shaped footprint. This box is centered at the base_link frame of sam_bot.
      
 
      188resolution: 0.05
@@ -1141,7 +1141,7 @@ 
      Configuring the Robot’s Footprint
 
      Build, Run and Verification
      
 
      We will now confirm that we have properly set up sam_bot’s footprint.
      
-
      First, we launch launch/display.launch.py to launch the robot state publisher, spawn sam_bot in Gazebo, and visualize sam_bot and its footprint in Rviz. The robot state publisher publishes the base_link => sensors transforms defined in sam_bot’s URDF, while Gazebo’s differential drive plugin publishes the odom => base_link transform. Open a new terminal and execute the lines below.
      
+
      First, we launch launch/display.launch.py to launch the robot state publisher, spawn sam_bot in Gazebo, and visualize sam_bot and its footprint in Rviz. The robot state publisher publishes the base_link => sensors transforms defined in sam_bot’s URDF, while Gazebo’s differential drive plugin publishes the odom => base_link transform. Open a new terminal and execute the lines below.
      
 
      colcon build
 . install/setup.bash
 ros2 launch sam_bot_description display.launch.py
diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html
index 52a7424cc..f2794710d 100644
--- a/setup_guides/odom/setup_odom.html
+++ b/setup_guides/odom/setup_odom.html
@@ -1103,7 +1103,7 @@ 
      Setting Up Odometrysam_bot (the robot that we built in the previous section) using Gazebo. Afterwards, we will discuss how various sources of odometry can be fused to provide a smoothed odometry using the robot_localization package. Lastly, we will also show how to publish the odom => base_link transform using robot_localization.
      
 
      
 
      See also
      
-
      The complete source code in this tutorial can be found in navigation2_tutorials repository under the sam_bot_description package. Note that the repository contains the full code after accomplishing all the tutorials in this guide.
      
+
      The complete source code in this tutorial can be found in navigation2_tutorials repository under the sam_bot_description package. Note that the repository contains the full code after accomplishing all the tutorials in this guide.
      
 
      
 
      
 
      Odometry Introduction
      
@@ -1148,7 +1148,7 @@ 
      Setting Up Odometry on your Robot
 
      Simulating an Odometry System using Gazebo
      
-
      In this section, we will be using Gazebo to simulate the odometry system of sam_bot, the robot that we built in the previous section of this tutorial series. You may go through that guide first or grab the complete source here.
      
+
      In this section, we will be using Gazebo to simulate the odometry system of sam_bot, the robot that we built in the previous section of this tutorial series. You may go through that guide first or grab the complete source here.
      
 
      
 
      Note
      
 
      If you are working on your own physical robot and have already set up your odometry sensors, you may opt to skip this section and head onto the next one where we fuse IMU and odometry messages to provide a smooth odom => base_link transformation.
      
@@ -1299,7 +1299,7 @@ 
      Adding Gazebo Plugins to a URDF
 
      Launch and Build Files
      
-
      We will now edit our launch file, launch/display.launch.py, to spawn sam_bot in Gazebo. Since we will be simulating our robot, we can remove the GUI for the joint state publisher by deleting the following lines inside the generate_launch_description():
      
+
      We will now edit our launch file, launch/display.launch.py, to spawn sam_bot in Gazebo. Since we will be simulating our robot, we can remove the GUI for the joint state publisher by deleting the following lines inside the generate_launch_description():
      
 
      joint_state_publisher_gui_node = launch_ros.actions.Node(
   package='joint_state_publisher_gui',
   executable='joint_state_publisher_gui',
@@ -1324,7 +1324,7 @@ 
      Launch and Build Files)
 
      
 
      
-
      Next, open package.xml and delete the line:
      
+
      Next, open package.xml and delete the line:
      
 
      <exec_depend>joint_state_publisher_gui</exec_depend>
 
      
 
      
@@ -1332,7 +1332,7 @@ 
      Launch and Build Files
      launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], output='screen'),
 
      
 
      
-
      We will now add a node that spawns sam_bot in Gazebo. Open launch/display.launch.py again and paste the following lines before the return launch.LaunchDescription([ line.
      
+
      We will now add a node that spawns sam_bot in Gazebo. Open launch/display.launch.py again and paste the following lines before the return launch.LaunchDescription([ line.
      
 
      spawn_entity = launch_ros.actions.Node(
   package='gazebo_ros',
   executable='spawn_entity.py',
diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html
index ebb3d4104..045d2e2e3 100644
--- a/setup_guides/sensors/setup_sensors.html
+++ b/setup_guides/sensors/setup_sensors.html
@@ -1147,7 +1147,7 @@ 
      Simulating Sensors using GazeboSetup and Prerequisites of the previous tutorial to setup Gazebo.
      
 
      
 
      Adding Gazebo Plugins to a URDF
      
-
      Let us first add a lidar sensor to sam_bot. Open the URDF file, src/description/sam_bot_description.urdf and paste the following lines before the </robot> tag.
      
+
      Let us first add a lidar sensor to sam_bot. Open the URDF file, src/description/sam_bot_description.urdf and paste the following lines before the </robot> tag.
      
 
      251<link name="lidar_link">
 252  <inertial>
 253    <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1294,8 +1294,8 @@ 
      Adding Gazebo Plugins to a URDF
      
 
      To verify that the sensors are set up properly and that they can see objects in our environment, let us launch sam_bot in a Gazebo world with objects.
 Let us create a Gazebo world with a single cube and a single sphere that are within the range of sam_bot’s sensors so we can verify if it can see the objects correctly.
      
-
      To create the world, create a directory named world at the root of your project and create a file named my_world.sdf inside the world folder . Then copy the contents of world/my_world.sdf and paste them inside my_world.sdf.
      
-
      Now, let us edit our launch file, launch/display.launch.py, to launch Gazebo with the world we just created. First, add the path of my_world.sdf by adding the following lines inside the generate_launch_description():
      
+
      To create the world, create a directory named world at the root of your project and create a file named my_world.sdf inside the world folder . Then copy the contents of world/my_world.sdf and paste them inside my_world.sdf.
      
+
      Now, let us edit our launch file, launch/display.launch.py, to launch Gazebo with the world we just created. First, add the path of my_world.sdf by adding the following lines inside the generate_launch_description():
      
 
      world_path=os.path.join(pkg_share, 'world/my_world.sdf')
 
      
 
      
@@ -1303,7 +1303,7 @@ 
      Launch and Build Files
      launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world_path], output='screen'),
 
      
 
      
-
      We also have to add the world directory to our CMakeLists.txt file. Open CmakeLists.txt and append the world directory inside the install(DIRECTORY…), as shown in the snippet below.
      
+
      We also have to add the world directory to our CMakeLists.txt file. Open CmakeLists.txt and append the world directory inside the install(DIRECTORY…), as shown in the snippet below.
      
 
      install(
   DIRECTORY src launch rviz config world
   DESTINATION share/${PROJECT_NAME}
diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html
index 57f4c20e6..657976b83 100644
--- a/setup_guides/urdf/setup_urdf.html
+++ b/setup_guides/urdf/setup_urdf.html
@@ -1103,7 +1103,7 @@
 
      For this guide, we will be creating the Unified Robot Description Format (URDF) file for a simple differential drive robot to give you hands-on experience on working with URDF. We will also setup the robot state publisher and visualize our model in RVIZ. Lastly, we will be adding some kinematic properties to our robot URDF to prepare it for simulation purposes. These steps are necessary to represent all the sensor, hardware, and robot transforms of your robot for use in navigation.
      
 
      
 
      See also
      
-
      The complete source code in this tutorial can be found in navigation2_tutorials repository under the sam_bot_description package. Note that the repository contains the full code after accomplishing all the tutorials in this guide.
      
+
      The complete source code in this tutorial can be found in navigation2_tutorials repository under the sam_bot_description package. Note that the repository contains the full code after accomplishing all the tutorials in this guide.
      
 
      
 
      
 
      URDF and the Robot State Publisher
      
diff --git a/tuning/index.html b/tuning/index.html
index 2c77b9cff..0ea891c5c 100644
--- a/tuning/index.html
+++ b/tuning/index.html
@@ -1270,7 +1270,7 @@ 
      Nav2 Launch Options
 
      Other Pages We’d Love To Offer
      
-
      If you are willing to chip in, some ideas are in https://github.com/ros-planning/docs.nav2.org/issues/204, but we’d be open to anything you think would be insightful!
      
+
      If you are willing to chip in, some ideas are in https://github.com/ros-navigation/docs.nav2.org/issues/204, but we’d be open to anything you think would be insightful!
      
 
      
 
      
 
diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html
index c0a84d962..383d802cc 100644
--- a/tutorials/docs/adding_a_nav2_task_server.html
+++ b/tutorials/docs/adding_a_nav2_task_server.html
@@ -1211,15 +1211,15 @@ 
      Error codes
      Controller Server
      
+
      Controller Server
      
 
      NONE=0, UNKNOWN=100
      
 
      101-199
      
 
-
      Planner Server (compute_path_to_pose)
      
+
      Planner Server (compute_path_to_pose)
      
 
      NONE=0, UNKNOWN=200
      
 
      201-299
      
 
-
      Planner Server (compute_path_through_poses)
      
+
      Planner Server (compute_path_through_poses)
      
 
      NONE=0, UNKNOWN=300
      
 
      301-399
      
 
@@ -1227,15 +1227,15 @@ 
      Error codes
      Smoother Server
      
+
      Smoother Server
      
 
      NONE=0, UNKNOWN=500
      
 
      501-599
      
 
-
      Waypoint Follower Server
      
+
      Waypoint Follower Server
      
 
      NONE=0, UNKNOWN=600
      
 
      601-699
      
 
-
      Behavior Server
      
+
      Behavior Server
      
 
      NONE=0
      
 
      701-799
      
 
diff --git a/tutorials/docs/docker_dev.html b/tutorials/docs/docker_dev.html
index 2e563d995..687c7f46a 100644
--- a/tutorials/docs/docker_dev.html
+++ b/tutorials/docs/docker_dev.html
@@ -1462,7 +1462,7 @@ 
      Nav2 Development Image /root/nav2_ws
 RUN mkdir -p ~/nav2_ws/src
-RUN git clone https://github.com/ros-planning/navigation2.git --branch main ./src/navigation2
+RUN git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2
 RUN rosdep init
 RUN apt update && apt upgrade -y \
     && rosdep update \
@@ -1485,7 +1485,7 @@ 
      Nav2 Deployment Image# For Rolling or want to build from source a particular branch / fork
 WORKDIR /root/nav2_ws
 RUN mkdir -p ~/nav2_ws/src
-RUN git clone https://github.com/ros-planning/navigation2.git --branch main ./src/navigation2
+RUN git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2
 RUN rosdep init
 RUN apt update && apt upgrade -y \
     && rosdep update \
diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html
index e2abc83dc..c51231069 100644
--- a/tutorials/docs/navigation2_dynamic_point_following.html
+++ b/tutorials/docs/navigation2_dynamic_point_following.html
@@ -1199,7 +1199,7 @@ 
      0- Create the Behavior Treemade available to you batteries included in the nav2_bt_navigator package.
      
+
      For reference, this exact behavior tree is made available to you batteries included in the nav2_bt_navigator package.
      
 
      
 
      
 
      1- Setup Rviz clicked point
      
diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html
index fb55d0376..3463e53b4 100644
--- a/tutorials/docs/navigation2_with_gps.html
+++ b/tutorials/docs/navigation2_with_gps.html
@@ -1127,7 +1127,7 @@ 
      Requirementsnav2_gps_waypoint_follower_demo. Though we will go through the most important steps of the setup, it’s highly recommended that you clone and build the package when setting up your dev environment.
      
+
      The code for this tutorial is hosted on nav2_gps_waypoint_follower_demo. Though we will go through the most important steps of the setup, it’s highly recommended that you clone and build the package when setting up your dev environment.
      
 
      You may also need to install gazebo and turtlebot3 simulation if you have not executed previous tutorials or Nav2 demos. See Nav2’s Getting Started page for more information.
      
 
      
 
      
@@ -1159,7 +1159,7 @@ 
      GPS Localization Overview
      
 
      
 
      0- Setup Gazebo World
      
-
      To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the Sonoma Raceway because its aligned with the real location. A sample world has been setup here using gazebo’s spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
      
+
      To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the Sonoma Raceway because its aligned with the real location. A sample world has been setup here using gazebo’s spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
      
 
      <spherical_coordinates>
   <!-- currently gazebo has a bug: instead of outputting lat, long, altitude in ENU
   (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
@@ -1173,7 +1173,7 @@ 
      0- Setup Gazebo World</spherical_coordinates>
 
      
 
      
-
      To get GPS readings from Gazebo we need to create a robot model with a GPS sensor. An updated Turtlebot model with such sensor is provided in the tutorial repo, it outputs NavSatFix messages on the topic /gps/fix:
      
+
      To get GPS readings from Gazebo we need to create a robot model with a GPS sensor. An updated Turtlebot model with such sensor is provided in the tutorial repo, it outputs NavSatFix messages on the topic /gps/fix:
      
 
      <sensor name="tb3_gps" type="gps">
   <always_on>true</always_on>
   <update_rate>1</update_rate>
@@ -1222,7 +1222,7 @@ 
      1- Setup GPS Localization systemtf chain with the structure map -> odom -> base_link -> [sensor frames]; global localization (map -> odom) is usually provided by amcl, while odom -> base_link is usually provided by the user’s odometry system (wheel odometry, visual odometry, etc).
      
 
      In this tutorial, the GPS sensor on the robot will replace amcl in providing global localization. Though you may build a custom module that takes in the NavSatFix and Imu messages of your GPS and imu, and outputs a tf between your map and odom frames using a planar projection, Nav2’s GPS waypoint follower currently uses robot_localization for converting GPS goals to cartesian goals, and thus at a navsat_transform_node should be active. Additionally, robot_localization features reconfigurable state estimation nodes that use Kalman Filters to fuse multiple sources of data, which is yet another reason to use it.
      
 
      We will setup one Extended Kalman Filter for local odometry, fusing wheel odometry and IMU data; a second one for global localization, fusing the local cartesian converted GPS coordinates, the wheel odometry and the IMU data; and a navsat_transform node to output cartesian odometry messages from GPS data. This is a common setup on robot_localization when using GPS data and more details around its configuration can be found in RL’s docs.
      
-
      A configuration file and a launch file are provided for this purpose. You may take a while before continuing to understand these two files and what they configure. Let’s walk through the most relevant setting of each node.
      
+
      A configuration file and a launch file are provided for this purpose. You may take a while before continuing to understand these two files and what they configure. Let’s walk through the most relevant setting of each node.
      
 
      
 
      Local Odometry
      
 
      The local odometry is provided by the ekf_filter_node_odom, which publishes the transform between odom and base_footprint, the base frame of the turtlebot’s diff drive plugin in gazebo. The robot state publisher provides a static transform between base_footprint and base_link, however make sure to set the base frame properly in RL according to your configuration. Note that the EKFs are set to work in 2D mode, this is because nav2’s costmap environment representation is 2-Dimensional, and several layers rely on the base_link frame being on the same plane as their global frame for the height related parameters to make sense. This is encoded in the following parameters:
      
@@ -1299,7 +1299,7 @@ 
      Localization Testing
      ros2 launch nav2_gps_waypoint_follower_demo dual_ekf_navsat.launch.py
 
      
 
      
-
      On a different terminal launch mapviz using the pre-built config file in the repo. Get a bing maps API key and use it to display satellite pictures.
      
+
      On a different terminal launch mapviz using the pre-built config file in the repo. Get a bing maps API key and use it to display satellite pictures.
      
 
      ros2 launch nav2_gps_waypoint_follower_demo mapviz.launch.py
 
      
 
      
@@ -1362,7 +1362,7 @@ 
      2- Setup Navigation system      origin_y: 25.0
 
      
 
      
-
      We provide a Nav2 params file with the rolling costmap setup and a launch file to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot:
      
+
      We provide a Nav2 params file with the rolling costmap setup and a launch file to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot:
      
 
      ros2 launch nav2_gps_waypoint_follower_demo gps_waypoint_follower.launch.py use_rviz:=True
 
      
 
      
@@ -1372,7 +1372,7 @@ 
      2- Setup Navigation system
 
      3-  Interactive GPS Waypoint Follower
      
 
      Now that we have performed our complete system setup, let’s leverage Nav2 GPS waypoint follower capabilities to navigate to goals that are expressed directly in GPS coordinates. For this demo we want to build an interactive interface similar to rviz’s, that allows us to click over a map to make the robot navigate to the clicked location. For that we will use mapviz’s point click publisher on the wgs84 reference frame, which will publish a PointStamped message with the GPS coordinates of the point clicked over the satellite image. This is a great way to get started in your custom GPS navigation setup!
      
-
      For this purpose we provide the interactive_waypoint_follower python node, which subscribes to mapviz’s topic and calls the /follow_gps_waypoints action server with the clicked point as goal using the BasicNavigator in nav2_simple_commander. To run it source your workspace and with the rest of the system running type:
      
+
      For this purpose we provide the interactive_waypoint_follower python node, which subscribes to mapviz’s topic and calls the /follow_gps_waypoints action server with the clicked point as goal using the BasicNavigator in nav2_simple_commander. To run it source your workspace and with the rest of the system running type:
      
 
      ros2 run nav2_gps_waypoint_follower_demo interactive_waypoint_follower
 
      
 
      
@@ -1381,7 +1381,7 @@ 
      3-  Interactive GPS Waypoint Follower
 
      4-  Logged GPS Waypoint Follower & Waypoint Logging
      
-
      Finally let’s make a robot go through a set of predefined GPS waypoints. We provide a waypoint logging tool that subscribes to the robot’s GPS and IMU and offers a simple GUI to save the robot coordinates and heading on demand to a yaml file with the format:
      
+
      Finally let’s make a robot go through a set of predefined GPS waypoints. We provide a waypoint logging tool that subscribes to the robot’s GPS and IMU and offers a simple GUI to save the robot coordinates and heading on demand to a yaml file with the format:
      
 
      waypoints:
 - latitude: 38.161491054181276
   longitude: -122.45464431092836
@@ -1397,7 +1397,7 @@ 
      4-  Logged GPS Waypoint Follower & Waypoint Logging
 
      If you don’t provide a path to save your waypoints, they will be saved in your home folder by default with the name gps_waypoints.yaml. Once the node launches you should see a small GUI with a button to log waypoints, you may now move the robot around and click that button to record its position as the gif below shows:
      
       ../../_images/waypoint_logging.gif
-
      After that you should get a yaml file in the location you specified with the format shown above; let’s now make the robot follow the logged waypoints. For this purpose we provide the logged_waypoint_follower node, which takes in the path to the waypoints file as an argument and uses the BasicNavigator in nav2_simple_commander to send the logged goals to the /follow_gps_waypoints action server. If not provided, the node uses the default waypoints in the nav2_gps_waypoint_follower_demo package.
      
+
      After that you should get a yaml file in the location you specified with the format shown above; let’s now make the robot follow the logged waypoints. For this purpose we provide the logged_waypoint_follower node, which takes in the path to the waypoints file as an argument and uses the BasicNavigator in nav2_simple_commander to send the logged goals to the /follow_gps_waypoints action server. If not provided, the node uses the default waypoints in the nav2_gps_waypoint_follower_demo package.
      
 
      To run this node source your workspace and with the rest of the system running type:
      
 
      ros2 run nav2_gps_waypoint_follower_demo logged_waypoint_follower </path/to/yaml/file.yaml>
 
      
diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html
index 3171e1c22..b1403652e 100644
--- a/tutorials/docs/navigation2_with_keepout_filter.html
+++ b/tutorials/docs/navigation2_with_keepout_filter.html
@@ -1122,7 +1122,7 @@ 
      Tutorial Steps
 
      1. Prepare filter mask
      
 
      As was written in Navigation Concepts, any Costmap Filter (including Keepout Filter) are reading the data marked in a filter mask file. Filter mask - is the usual Nav2 2D-map distributed through PGM, PNG or BMP raster file with its metadata containing in a YAML file. The following steps help to understand how to make a new filter mask:
      
-
      Create a new image with a PGM/PNG/BMP format: copy turtlebot3_world.pgm main map which will be used in a world simulation from a Nav2 repository to a new keepout_mask.pgm file.
      
+
      Create a new image with a PGM/PNG/BMP format: copy turtlebot3_world.pgm main map which will be used in a world simulation from a Nav2 repository to a new keepout_mask.pgm file.
      
 
      Open keepout_mask.pgm in your favourite raster graphics editor (as an example could be taken GIMP editor). The lightness of each pixel on the mask means an encoded information for the specific costmap filter you are going to use. Color lightness of each pixel belongs to the [0..255] range (or [0..100] in percent scale), where 0 means black color and 255 - white. Another term “darkness” will be understood as the exact opposite of lightness. In other words color_darkness = 100% - color_lightness.
      
 
      In the GIMP lightness is expressed through color components value (e.g. R in percent scale) and might be set by moving L slider in color changing tool:
      
 ../../_images/ligtness_in_GIMP.png
@@ -1142,7 +1142,7 @@ 
      1. Prepare filter maskFor simplicity, in the example fill the areas with black color (in trinary mode this means occupied map) that you are going to mark as a keep-out zones:
      
       ../../_images/drawing_keepout_mask.png
 
      After all keepout areas will be filled save the keepout_mask.pgm image.
      
-
      Like all other maps, filter mask should have its own YAML metadata file. Copy turtlebot3_world.yaml to keepout_mask.yaml. Open keepout_mask.yaml and correct image field to a newly made PGM mask:
      
+
      Like all other maps, filter mask should have its own YAML metadata file. Copy turtlebot3_world.yaml to keepout_mask.yaml. Open keepout_mask.yaml and correct image field to a newly made PGM mask:
      
 
      image: turtlebot3_world.pgm
 ->
 image: keepout_mask.pgm
@@ -1160,7 +1160,7 @@ 
      1. Prepare filter mask
 
      
 
      2. Configure Costmap Filter Info Publisher Server
      
-
      Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in a messages of nav2_msgs/CostmapFilterInfo type. These messages are being published by Costmap Filter Info Publisher Server. The server is running as a lifecycle node. According to the design document, nav2_msgs/CostmapFilterInfo messages are going in a pair with OccupancyGrid filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter mask.
      
+
      Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in a messages of nav2_msgs/CostmapFilterInfo type. These messages are being published by Costmap Filter Info Publisher Server. The server is running as a lifecycle node. According to the design document, nav2_msgs/CostmapFilterInfo messages are going in a pair with OccupancyGrid filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter mask.
      
 
      In order to enable Keepout Filter in your configuration, both servers should be enabled as a lifecycle nodes in Python launch-file. It is also possible to add them as Composition Nodes to your Navigation Component Container, which might look as follows:
      
 
      import os
 
@@ -1340,10 +1340,10 @@ 
      2. Configure Costmap Filter Info Publisher Server
      According to the Costmap Filters design, OccupancyGrid values are being linearly transformed into feature map in a filter space. For a Keepout Filter these values are directly passed as a filter space values without a linear conversion. Even though base and multiplier coefficients are not used in Keepout Filter, they should be set to 0.0 and 1.0 accordingly in order to explicitly show that we have one-to-one conversion from OccupancyGrid values -> to a filter value space.
      
 
    
 
    
-
    Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Keepout Filter could be found in a nav2_costmap_filters_demo directory of navigation2_tutorials repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at Getting Started, build the demo and launch costmap_filter_info.launch.py as follows:
    
+
    Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Keepout Filter could be found in a nav2_costmap_filters_demo directory of navigation2_tutorials repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at Getting Started, build the demo and launch costmap_filter_info.launch.py as follows:
    
 
    $ mkdir -p ~/tutorials_ws/src
 $ cd ~/tutorials_ws/src
-$ git clone https://github.com/ros-planning/navigation2_tutorials.git
+$ git clone https://github.com/ros-navigation/navigation2_tutorials.git
 $ cd ~/tutorials_ws
 $ colcon build --symlink-install --packages-select nav2_costmap_filters_demo
 $ source ~/tutorials_ws/install/setup.bash
diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html
index 7c9b53289..b63f7e9f1 100644
--- a/tutorials/docs/navigation2_with_speed_filter.html
+++ b/tutorials/docs/navigation2_with_speed_filter.html
@@ -1156,7 +1156,7 @@ 
    1. Prepare filter maskAnother important thing is that it is not necessary to use the whole [0..100] percent scale. base and multiplier coefficients could be chosen so that the speed restriction values would belong to somewhere in the middle of percent range. E.g. base = 40.0, multiplier = 0.1 will give speed restrictions from [40.0%..50.0%] range with a step of 0.1%. This might be useful for fine tuning.
    
 
    
 
    After all speed restriction areas will be filled, save the speed_mask.pgm image.
    
-
    Like all other maps, the filter mask should have its own YAML metadata file. Copy turtlebot3_world.yaml to speed_mask.yaml. Open speed_mask.yaml and update the fields as shown below (as mentioned before for the scale mode to use whole color lightness range there should be no thresholds: free_thresh = 0.0 and occupied_thresh = 1.0):
    
+
    Like all other maps, the filter mask should have its own YAML metadata file. Copy turtlebot3_world.yaml to speed_mask.yaml. Open speed_mask.yaml and update the fields as shown below (as mentioned before for the scale mode to use whole color lightness range there should be no thresholds: free_thresh = 0.0 and occupied_thresh = 1.0):
    
 
    image: turtlebot3_world.pgm
 ->
 image: speed_mask.pgm
@@ -1180,7 +1180,7 @@ 
    1. Prepare filter mask
 
    
 
    2. Configure Costmap Filter Info Publisher Server
    
-
    Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in messages of nav2_msgs/CostmapFilterInfo type. These messages are being published by Costmap Filter Info Publisher Server. The server is running as a lifecycle node. According to the design document, nav2_msgs/CostmapFilterInfo messages are going in a pair with OccupancyGrid filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter masks.
    
+
    Each costmap filter reads incoming meta-information (such as filter type or data conversion coefficients) in messages of nav2_msgs/CostmapFilterInfo type. These messages are being published by Costmap Filter Info Publisher Server. The server is running as a lifecycle node. According to the design document, nav2_msgs/CostmapFilterInfo messages are going in a pair with OccupancyGrid filter mask topic. Therefore, along with Costmap Filter Info Publisher Server there should be enabled a new instance of Map Server configured to publish filter masks.
    
 
    In order to enable Speed Filter in your configuration, both servers should be enabled as lifecycle nodes in Python launch-file. For example, this might look as follows, though adding them as Composition Nodes to your Navigation Component Container is also possible:
    
 
    import os
 
@@ -1313,10 +1313,10 @@ 
    2. Configure Costmap Filter Info Publisher Server
    As was described in a previous chapter, base and multiplier should be set to 100.0 and -1.0 accordingly for the purposes of this tutorial example.
    
 
 
    
-
    Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Speed Filter could be found in a nav2_costmap_filters_demo directory of navigation2_tutorials repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at Getting Started, build the demo and launch costmap_filter_info.launch.py as follows:
    
+
    Ready-to-go standalone Python launch-script, YAML-file with ROS parameters and filter mask example for Speed Filter could be found in a nav2_costmap_filters_demo directory of navigation2_tutorials repository. To simply run Filter Info Publisher Server and Map Server tuned on Turtlebot3 standard simulation written at Getting Started, build the demo and launch costmap_filter_info.launch.py as follows:
    
 
    $ mkdir -p ~/tutorials_ws/src
 $ cd ~/tutorials_ws/src
-$ git clone https://github.com/ros-planning/navigation2_tutorials.git
+$ git clone https://github.com/ros-navigation/navigation2_tutorials.git
 $ cd ~/tutorials_ws
 $ colcon build --symlink-install --packages-select nav2_costmap_filters_demo
 $ source ~/tutorials_ws/install/setup.bash
@@ -1349,7 +1349,7 @@ 
    3. Enable Speed Filter
    
 
    
-
    As stated in the design, Speed Filter publishes speed restricting messages targeted for a Controller Server so that it could restrict maximum speed of the robot when it needed. Controller Server has a speed_limit_topic ROS parameter for that, which should be set to the same as in speed_filter plugin value. This topic in the map server could also be used to any number of other speed-restricted applications beyond the speed limiting zones, such as dynamically adjusting maximum speed by payload mass.
    
+
    As stated in the design, Speed Filter publishes speed restricting messages targeted for a Controller Server so that it could restrict maximum speed of the robot when it needed. Controller Server has a speed_limit_topic ROS parameter for that, which should be set to the same as in speed_filter plugin value. This topic in the map server could also be used to any number of other speed-restricted applications beyond the speed limiting zones, such as dynamically adjusting maximum speed by payload mass.
    
 
    Set speed_limit_topic parameter of a Controller Server to the same value as it set for speed_filter plugin:
    
 
    controller_server:
   ros__parameters:
diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html
index dfebe3d2e..d8a4cc108 100644
--- a/tutorials/docs/using_groot.html
+++ b/tutorials/docs/using_groot.html
@@ -1230,7 +1230,7 @@ 
    Adding A Custom NodeBefore starting to create a new BT based on the new custom nodes, it is recommend to export the newly created nodes to save in case of Groot crashing.
 This can be performed with the icon highlighted in green from Figure 6.
 The resulting XML output from the node created in Figure 5 can be seen below.
-You can see more examples in Nav2’s BT Node Palette XML.
    
+You can see more examples in Nav2’s BT Node Palette XML.
    
 
    <root>
     <TreeNodesModel>
         <Action ID="MyAwesomeNewNode">