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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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5 changes: 5 additions & 0 deletions _sources/migration/Iron.rst.txt
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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.

Full Stack Uses Node Clocks
***************************

The stack no longer contains wall timers or wall rates. It will now use the node clocks. This will be ROS Time for simulation when ``use_sim_time`` is true. Else, it uses a steady clock.
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
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