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Signed-off-by: navigation2-ci <[email protected]>

_sources/configuration/packages/configuring-mppic.rst.txt

@@ -555,6 +555,17 @@ This critic incentivizes navigating away from obstacles and critical collisions
   Description
     Radius to inflate costmap around lethal obstacles. This should be the same as for your inflation layer (Humble only)
 
+:inflation_layer_name:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  string         ""
+  ============== ===========================
+
+  Description
+    Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use.
+
 Path Align Critic
 -----------------
 

_sources/setup_guides/odom/setup_odom.rst.txt

@@ -254,6 +254,7 @@ Remove the condition from the `joint_state_publisher_node`:
     package='joint_state_publisher',
     executable='joint_state_publisher',
     name='joint_state_publisher',
+    arguments=[default_model_path],
     condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')) # Remove this line
   )
 

_sources/setup_guides/urdf/setup_urdf.rst.txt

@@ -220,6 +220,7 @@ Next, let us create our launch file. Launch files are used by ROS 2 to bring up
           package='joint_state_publisher',
           executable='joint_state_publisher',
           name='joint_state_publisher',
+          arguments=[default_model_path],
           condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
       )
       joint_state_publisher_gui_node = launch_ros.actions.Node(

configuration/packages/configuring-mppic.html

@@ -1960,6 +1960,26 @@ <h3>Obstacles Critic<a class="headerlink" href="#obstacles-critic" title="Permal
 </dd>
 </dl>
 </dd>
+<dt class="field-even">inflation_layer_name</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 34%" />
+<col style="width: 66%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>string</p></td>
+<td><p>“”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use.</p>
+</dd>
+</dl>
+</dd>
 </dl>
 </div>
 <div class="section" id="path-align-critic">

setup_guides/odom/setup_odom.html

@@ -1341,6 +1341,7 @@ <h3>Launch and Build Files<a class="headerlink" href="#launch-and-build-files" t
 <span class="w">  </span><span class="nv">package</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span>,
 <span class="w">  </span><span class="nv">executable</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span>,
 <span class="w">  </span><span class="nv">name</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span>,
+<span class="w">  </span><span class="nv">arguments</span><span class="o">=[</span>default_model_path<span class="o">]</span>,
 <span class="w">  </span><span class="nv">condition</span><span class="o">=</span>launch.conditions.UnlessCondition<span class="o">(</span>LaunchConfiguration<span class="o">(</span><span class="s1">&#39;gui&#39;</span><span class="o">))</span><span class="w"> </span><span class="c1"># Remove this line</span>
 <span class="o">)</span>
 </pre></div>

setup_guides/urdf/setup_urdf.html

@@ -1264,6 +1264,7 @@ <h2>Build and Launch<a class="headerlink" href="#build-and-launch" title="Permal
         <span class="n">package</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span><span class="p">,</span>
         <span class="n">executable</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span><span class="p">,</span>
         <span class="n">name</span><span class="o">=</span><span class="s1">&#39;joint_state_publisher&#39;</span><span class="p">,</span>
+        <span class="n">arguments</span><span class="o">=</span><span class="p">[</span><span class="n">default_model_path</span><span class="p">],</span>
         <span class="n">condition</span><span class="o">=</span><span class="n">launch</span><span class="o">.</span><span class="n">conditions</span><span class="o">.</span><span class="n">UnlessCondition</span><span class="p">(</span><span class="n">LaunchConfiguration</span><span class="p">(</span><span class="s1">&#39;gui&#39;</span><span class="p">))</span>
     <span class="p">)</span>
     <span class="n">joint_state_publisher_gui_node</span> <span class="o">=</span> <span class="n">launch_ros</span><span class="o">.</span><span class="n">actions</span><span class="o">.</span><span class="n">Node</span><span class="p">(</span>