diff --git a/_sources/configuration/packages/configuring-docking-server.rst.txt b/_sources/configuration/packages/configuring-docking-server.rst.txt index 937766a64..7787f2386 100644 --- a/_sources/configuration/packages/configuring-docking-server.rst.txt +++ b/_sources/configuration/packages/configuring-docking-server.rst.txt @@ -281,7 +281,7 @@ SimpleChargingDock Parameters Simple Charging Dock is a provided charging dock plugin that can handle many docks and common techniques. -:controller.staging_x_offset: +:.staging_x_offset: ============== ============== Type Default @@ -292,7 +292,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Staging pose offset forward (negative) of dock pose (m). -:controller.staging_yaw_offset: +:.staging_yaw_offset: ============== ============== Type Default @@ -303,7 +303,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Staging pose angle relative to dock pose (rad). -:controller.use_battery_status: +:.use_battery_status: ============== ============== Type Default @@ -314,7 +314,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Whether to use the battery state message or ``isDocked()`` for ``isCharging()``. -:controller.use_external_detection_pose: +:.use_external_detection_pose: ============== ============== Type Default @@ -325,7 +325,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Whether to use external detection topic for dock or use the databases' pose. -:controller.external_detection_timeout: +:.external_detection_timeout: ============== ============== Type Default @@ -337,7 +337,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Timeout (s) at which if the newest detection update does not meet to fail. -:controller.external_detection_translation_x: +:.external_detection_translation_x: ============== ============== Type Default @@ -348,7 +348,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description X offset from detected pose for docking pose (m). -:controller.external_detection_translation_y: +:.external_detection_translation_y: ============== ============== Type Default @@ -359,7 +359,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Y offset from detected pose for docking pose (m). -:controller.external_detection_rotation_yaw: +:.external_detection_rotation_yaw: ============== ============== Type Default @@ -370,7 +370,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Yaw offset from detected pose for docking pose (rad). -:controller.external_detection_rotation_pitch: +:.external_detection_rotation_pitch: ============== ============== Type Default @@ -381,7 +381,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Pitch offset from detected pose for docking pose (rad). Note: The external detection rotation angles are setup to work out of the box with Apriltags detectors in `image_proc` and `isaac_ros`. -:controller.external_detection_rotation_roll: +:.external_detection_rotation_roll: ============== ============== Type Default @@ -392,7 +392,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Roll offset from detected pose for docking pose (rad). Note: The external detection rotation angles are setup to work out of the box with Apriltags detectors in `image_proc` and `isaac_ros`. -:controller.filter_coef: +:.filter_coef: ============== ============== Type Default @@ -403,7 +403,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Dock external detection method filtering algorithm coefficient. -:controller.charging_threshold: +:.charging_threshold: ============== ============== Type Default @@ -414,7 +414,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Threshold of current in battery state above which ``isCharging() = true``. -:controller.use_stall_detection: +:.use_stall_detection: ============== ============== Type Default @@ -425,7 +425,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Whether or not to use stall detection for ``isDocked()`` or positional threshold. -:controller.stall_joint_names: +:.stall_joint_names: ============== ============== Type Default @@ -436,7 +436,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Names in ``joint_states`` topic of joints to track. -:controller.stall_velocity_threshold: +:.stall_velocity_threshold: ============== ============== Type Default @@ -447,7 +447,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description The joint velocity below which to trigger ``isDocked() = true``. -:controller.stall_effort_threshold: +:.stall_effort_threshold: ============== ============== Type Default @@ -458,7 +458,7 @@ Simple Charging Dock is a provided charging dock plugin that can handle many doc Description Current or motor effort in joint state to trigger ``isDocked() = true``. -:controller.docking_threshold: +:.docking_threshold: ============== ============== Type Default diff --git a/configuration/packages/configuring-docking-server.html b/configuration/packages/configuring-docking-server.html index 3c1a13626..b74296e32 100644 --- a/configuration/packages/configuring-docking-server.html +++ b/configuration/packages/configuring-docking-server.html @@ -1573,7 +1573,7 @@

ParametersΒΆ

Simple Charging Dock is a provided charging dock plugin that can handle many docks and common techniques.

-
controller.staging_x_offset
+
<dock_name>.staging_x_offset
@@ -1593,7 +1593,7 @@

SimpleChargingDock Parameterscontroller.staging_yaw_offset +
<dock_name>.staging_yaw_offset

@@ -1613,7 +1613,7 @@

SimpleChargingDock Parameterscontroller.use_battery_status +
<dock_name>.use_battery_status

@@ -1633,7 +1633,7 @@

SimpleChargingDock Parameterscontroller.use_external_detection_pose +
<dock_name>.use_external_detection_pose

@@ -1653,7 +1653,7 @@

SimpleChargingDock Parameterscontroller.external_detection_timeout +
<dock_name>.external_detection_timeout

@@ -1673,7 +1673,7 @@

SimpleChargingDock Parameterscontroller.external_detection_translation_x +
<dock_name>.external_detection_translation_x

@@ -1693,7 +1693,7 @@

SimpleChargingDock Parameterscontroller.external_detection_translation_y +
<dock_name>.external_detection_translation_y

@@ -1713,7 +1713,7 @@

SimpleChargingDock Parameterscontroller.external_detection_rotation_yaw +
<dock_name>.external_detection_rotation_yaw

@@ -1733,7 +1733,7 @@

SimpleChargingDock Parameterscontroller.external_detection_rotation_pitch +
<dock_name>.external_detection_rotation_pitch

@@ -1753,7 +1753,7 @@

SimpleChargingDock Parameterscontroller.external_detection_rotation_roll +
<dock_name>.external_detection_rotation_roll

@@ -1773,7 +1773,7 @@

SimpleChargingDock Parameterscontroller.filter_coef +
<dock_name>.filter_coef

@@ -1793,7 +1793,7 @@

SimpleChargingDock Parameterscontroller.charging_threshold +
<dock_name>.charging_threshold

@@ -1813,7 +1813,7 @@

SimpleChargingDock Parameterscontroller.use_stall_detection +
<dock_name>.use_stall_detection

@@ -1833,7 +1833,7 @@

SimpleChargingDock Parameterscontroller.stall_joint_names +
<dock_name>.stall_joint_names

@@ -1853,7 +1853,7 @@

SimpleChargingDock Parameterscontroller.stall_velocity_threshold +
<dock_name>.stall_velocity_threshold

@@ -1873,7 +1873,7 @@

SimpleChargingDock Parameterscontroller.stall_effort_threshold +
<dock_name>.stall_effort_threshold

@@ -1893,7 +1893,7 @@

SimpleChargingDock Parameterscontroller.docking_threshold +
<dock_name>.docking_threshold

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41,42,43,45,46,47,50,51,59,62,63,90,99,101,105,113,153,154,155,156,158,159,160,161,162,163,164,166,167,169,170,171,172,173,174,176,177,178,180,181,182,183,184,185,186,187,188,190,195,197,198,199,200,201,202,203,204,205],SMS:[27,169],Such:155,TLS:200,That:[19,27,141,158,163,164,178,179,189],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,49,50,51,52,53,55,56,57,58,60,61,62,64,65,67,74,75,77,78,79,81,83,84,86,88,89,90,91,92,93,94,95,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,124,138,140,141,142,153,154,155,158,160,161,162,163,164,165,167,169,170,171,172,173,174,176,178,179,180,181,182,183,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204],Then:[7,19,163,170,171,172,173,174,181,182,189,191,192,195,202],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],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],Use:[27,48,93,96,100,181,190,193,194,197,199,202],Used:[31,32,33,34,35,36,37,54,89,90,118,121,124,185,196],Useful:[76,96,185],Uses:176,Using:[14,89,90,106,110,156,164,166,176,181,182,185,189,191,192,205],Will:[19,57,90,176],With:[14,17,27,141,183,189,196,200],Yes:[169,170,171,172,173,174],__cxa_throw:191,__gi_abort:191,__gi_rais:191,__n:191,__node:[191,192],_config:181,_costmap:[163,200],_differenti:193,_feedbackcallback:202,_from_numb:169,_joint:184,_link:184,_m_range_check:191,_nav:185,_to_numb:169,_twilio:169,abi:[106,155,189],abil:[6,7,27,90,106,165,166,201],abl:[0,5,9,14,18,19,110,164,165,167,169,170,172,173,174,176,179,181,182,183,185,189,191,192,193,196,202,203],abort:[98,163,170,191],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],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],abrupt:27,abs:172,absolut:[50,51,105,124,162,166,172,181,184,189,191,193,196,197,199],absurdli:106,academ:6,acc_lim_i:[101,129],acc_lim_theta:[101,129],acc_lim_x:[101,129],accel:181,acceler:[92,106,109,110,116,129,164,181,185,204],accelwithcovariancestamp:181,accept:[6,26,67,91,115,141,142,158,166,174,178,179,193,194,202],acceptpendinggo:174,access:[0,27,90,97,116,155,156,163,164,170,182,184,191,203],accommod:155,accompani:96,accomplish:[8,169,176,181,184,189,191,202],accord:[27,105,181,182,196,197,199],accordingli:[9,90,166,196,197,199],account:[27,89,90,163,164,169,178,185,190,202],account_sid:169,accumul:106,accur:[6,27,89,90,163,181,185,193,196],accuraci:[25,90,104,161,167,193,196],achiev:[11,96,106,109,113,116,117,163,164,165,166,184,185,193,196],acircl:188,ackerman:178,ackermann:[113,160,163,176,178,185],ackermannconstraint:106,acknowledg:93,acquir:27,across:[17,27,106,112,120,141,142,155,165,166,174,177,182,183,185,189,196,203],act:[9,14,27,140,162,163,180,182,184,197,201,204],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,50,51,57,59,62,63,81,83,84,85,86,89,90,92,93,97,98,99,100,106,108,114,117,159,160,161,165,167,169,170,174,176,178,179,181,182,183,184,185,186,187,189,194,195,196,197,199,201,203],action_a:19,action_b:19,action_c:19,action_nam:170,action_server_result_timeout:[92,93,97,99,108,114,117,166],action_typ:[89,90,166,201],actionnod:19,actionnodebas:170,actiont:174,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],actual:[18,57,90,96,106,110,141,164,174,179,183,184,185,188,189,193,195,196,201,204],actuat:155,adapt:[6,27,91,109,163,176,182,183,184],add:[0,2,8,80,81,82,83,84,85,86,87,88,90,96,97,106,116,121,122,126,141,155,158,162,163,164,165,169,174,179,181,182,183,184,185,186,187,191,192,193,196,197,198,200,201,203],add_act:[197,199],add_compile_opt:[191,192],added:[10,13,21,23,24,93,106,155,158,161,162,163,164,165,167,169,171,172,173,174,178,179,182,183,184,185,186,192,196,200,201,202,204],addin:196,adding:[1,9,41,91,141,142,155,164,165,166,181,182,184,186,190,193,196,197,199,201],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],addition:[0,11,27,90,155,156,161,162,163,166,174,196,201],address:[31,32,33,34,35,36,37,41,42,43,47,161,162,163,164,165,166,167,169],adequ:185,adher:183,adjac:[115,119,190],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],admiss:[141,142,164],admittedli:11,adopt:166,advanc:[0,27,141,177,185,189],advantag:[12,27,165,204],advic:[178,185],advis:[21,23,24,27,181],affect:[89,95,163,164,166,184],aforement:106,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],afterward:181,again:[18,19,20,22,81,153,155,159,161,177,181,184,189],against:[64,77,78,79,142,165,166,185,189,201],agent:[90,185],aggreg:186,aggregation_typ:[144,145,148,149],aggress:[90,141],ago:189,agre:158,agreement:158,ahead:[92,106,109,131,132,144,148,189],aid:[2,22],aim:[1,7,9,10,13,116,167,180,184,185,192],air:196,aisl:[27,140,164,178,185],aislewai:[141,164],aitor:176,alarm:[89,166],alberto:176,aleksei:176,alexei:[14,160,176],alexeymerzlyakov:14,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],alias:27,align:[102,127,144,148,149,166,196],alik:14,aliv:14,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],allevi:185,alloc:[27,186,191,200],allot:[1,9,11],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],allow_backward:102,allow_primitive_interpol:[141,166],allow_revers:109,allow_reverse_expans:142,allow_unknown:[107,115,140,141,142,163,173],almost:[162,164],alon:[104,167,193],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],alongsid:[166,174,185],alpha1:91,alpha2:91,alpha3:91,alpha4:91,alpha5:91,alpha:[184,197],alreadi:[4,7,106,162,163,164,169,179,181,184,185,189,191,193,196,202],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],alter:155,altern:[3,22,27,61,155,156,163,166,179,181,191],although:156,altitud:196,altogeth:[189,193],alwai:[9,16,20,76,89,90,93,103,116,142,153,163,164,166,184,185,196,197,201,202,204],always_on:[181,182,196],always_reload_bt_xml:[93,166],always_reset_initial_pos:91,always_send_full_costmap:[98,166,182],alwayson:182,ambigu:109,amcl:[6,7,26,27,28,54,69,159,162,176,182,183,185,193,196],amcl_pos:161,amclnod:164,amend:158,ament:[169,171,172,173,174,188],ament_cmak:[169,172,173,174,184],ament_cppcheck:158,ament_cpplint:158,ament_index_cpp:174,ament_index_python:[197,199],ament_uncrustifi:158,america:196,among:[27,115,178,185,190],amongst:184,amount:[98,123,133,135,137,139,140,141,142,151,162,163,165,197],amp:196,ampl:[21,23,24],amr:193,analog:[8,90,163,165,166,170,191,202,204],analysi:[7,27,158,160,192],analyt:[141,142,163,164,166],analytic_expansion_max_cost:[141,142,166],analytic_expansion_max_cost_overrid:[141,142,166],analytic_expansion_max_length:[141,142,164,166],analytic_expansion_ratio:[141,142],analyz:[5,6,7,10,26,27,170,192],andrei:176,angl:[26,27,59,89,90,99,100,115,133,140,141,163,176,185,196],angle_quantization_bin:141,angular:[61,90,99,100,102,106,109,110,128,129,132,141,144,147,148,150,165,166,172,181,185,201,204],angular_dist_threshold:[110,204],angular_distance_weight:61,angular_granular:[101,132],angular_limit:[90,165],angular_vel:172,angular_veloc:181,ani:[0,3,9,11,14,18,19,20,22,27,44,49,52,53,55,56,58,64,66,80,89,90,97,103,106,109,112,113,115,121,122,125,126,141,142,153,155,156,158,160,162,163,164,165,166,167,169,170,171,172,173,174,176,178,182,183,184,185,186,187,189,190,191,192,193,194,196,197,199,201,202,203,204],anim:[4,190],annoi:189,annot:[27,99,163,171,172,173,197,199,202],announc:158,anoth:[0,1,4,6,10,20,21,23,26,27,64,89,92,93,97,108,113,114,117,140,141,155,158,163,164,166,170,176,178,179,181,182,184,187,189,191,194,196,197,198,199,200,202],anshumaan:176,answer:[0,158,163],anybot:5,anyhow:164,anyon:11,anyth:[20,27,89,163,170,171,174,185,189,197,203],anywai:185,anywher:[156,164],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,158],apart:[22,204],apex:156,api:[17,27,57,160,161,163,169,171,174,182,187,189,196],appear:[90,158,159,163,164,165,182,184,188,189,190,195,196,201,203],append:[155,158,181,182],appli:[0,7,11,27,90,102,106,109,112,115,116,121,140,141,142,150,156,163,170,183,184,185,190,191,192,198,199,202],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],appreci:[27,158],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],approach_velocity_scaling_dist:109,appropri:[2,18,97,106,108,116,124,158,164,165,166,174,178,181,183,184,185,191,193,201,203],approv:[3,158],approxim:[90,110,116,140,141,159,165,178,179,185,188,204],apriltag:[100,202],apt:[154,155,159,181,182,184,188,189,192,196,198,200],arbitrari:[27,90,113,156,176,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ked_point_to_pos:194,client:[19,27,99,161,163,164,169,170,174,187,202],client_nod:164,client_node_:164,clinet_node_:164,clip:[182,197],clock:[197,199],clock_:[172,174],clockwis:201,clone:[154,188,189,194,196,197,198,199,200],cloned_tb3_simulation_launch:166,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],closed_loop:116,closer:[60,106,141,165,166],closest:[61,102,109,127],closur:193,cloud:[7,27,155,156,159,162,189],cluster:185,cmake:[169,171,172,173,174,188,192],cmake_build_typ:192,cmakelist:[169,171,172,173,174,181,182,184,191,192],cmd:[181,182,189],cmd_vel:[13,89,90,166,172,181,192,201],cmd_vel_in_top:[90,201],cmd_vel_nav:[192,201],cmd_vel_out_top:[90,201],cmd_vel_raw:90,cmd_vel_smooth:[90,201],cmd_vel_teleop:92,code:[5,6,15,29,30,41,42,43,45,46,47,50,51,57,59,62,64,77,78,79,91,92,93,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,116,117,140,155,156,158,161,162,164,167,169,170,171,172,173,174,176,179,181,182,184,187,189,190,191,196,200,202,204],codebas:[90,97,116,158,166],codecov:12,codespac:[155,156],codifi:155,coeffici:[100,124,188,197,199],coffe:[156,203],colcon:[154,155,171,179,181,182,184,189,191,192,197,199],collabor:[4,14,158],collect:[26,180,182,185,192,193],collid:[4,9,179],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],collision_cost:106,collision_detector:89,collision_detector_st:[89,166],collision_margin_dist:106,collision_monitor:[90,201],collision_monitor_nod:201,collision_monitor_param:201,collision_monitor_st:90,collisionmonitor:165,color:[8,96,138,182,184,185,190,197,199,200],color_dark:197,color_light:197,column:[126,182],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205],combin:[27,98,141,144,145,148,149,163,198],combination_method:[98,122,126,166,200],combo:[166,167,189],come:[8,13,14,27,99,106,109,136,141,158,164,165,169,172,173,174,181,183,184],comfort:166,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],commandlin:[105,189,191,192],commens:100,comment:[155,158,164,171,173,191,200],commerci:[27,158,196],commit:[155,158,177,188],common:[18,26,27,90,100,106,155,156,160,163,164,174,181,189,193,196,201,202],commonli:[19,44,49,52,53,58,174,182,193,196],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,155,158,160,169,174,183,185,186,188,189],compani:[158,160,185,189],companion:203,compar:[27,64,77,78,79,90,93,96,113,165,166,202],comparison:160,compat:181,compens:196,compet:158,compil:[155,156,169,172,173,174,187,189,191,192],complement:[5,162,196],complementari:186,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],complex:[27,93,106,141,160,165,182,183,184,191,203],complexyolo:4,compli:[2,178,181,196],complianc:116,compliant:183,complic:160,complimentari:174,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],component_contain:186,component_container_isol:164,componentcontain:191,compos:[11,164,171,185,186,189,191,192,197,202],composable_node_descript:[186,197],composablenod:[186,197,201,202],composablenodecontain:186,composit:[177,191,192,197,199],composition_demo:186,comprehens:[155,189],compris:[13,160,184],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],computation:[27,106,126,164],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,93,187],compute_path_error_code_id:186,compute_path_through_pos:[165,186],compute_path_to_pos:[165,186],compute_path_to_pose_error_cod:78,computeandpublishveloc:163,computeandsmoothpath:187,computecoverag:41,computecoveragepath:94,computepaththroughpos:[21,55,56,94],computepathtopos:[17,18,19,20,22,23,24,52,83,86,88,94,170,174,187,194],computepathtoposeact:52,computepathtoposerecoveryfallback:[18,94],computevelocitycommand:[97,172],concaten:163,concept:[7,18,19,160,163,178,182,183,186,197,199,202,203],conceptu:183,concern:[104,156,158,164,167],conclud:189,conclus:22,concret:183,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],conditionnod:170,conduct:160,conf:[90,97,116,166,170],confer:160,config:[155,156,179,181,182,184,189,191,196,198,202],configur:[0,1,14,16,17,18,19,26,27,44,49,52,53,58,65,89,90,95,96,97,98,103,105,106,113,118,121,124,154,155,156,160,161,162,164,165,166,169,170,172,173,174,176,180,184,185,186,187,189,190,191,193,194,195,196,198,200,203],configured_param:[186,197,199,201],confin:[106,141,155,166,179],confirm:[179,182,188,196],conflict:162,conform:160,confus:19,conjunct:[26,106],connect:[14,19,27,99,103,107,115,119,140,155,156,162,163,164,176,178,181,182,183,184,190,196,203],connector:[41,193],consequ:22,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],consider:[4,106,185,189],consider_footprint:106,consider_unknown_as_obstacl:55,consist:[8,17,106,156,158,163,164,176,181,182,183,185,186,196,202,203],consol:201,constant:[19,99,102,109,166,172,184,185],constantli:[162,164],constrain:[28,112,163,176,185],constrainedsmooth:[96,164],constraint:[21,110,116,142,163,164,174,176,178,185,204],constraintcrit:106,construct:[27,158,164],constructor:[26,27,164,166,170],constsharedptr:174,consult:14,consum:[9,164],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,158,160,185,186,202],contain:[9,11,17,21,23,24,27,47,51,55,95,106,113,116,122,126,141,142,157,161,162,163,164,165,166,169,171,172,173,174,176,181,182,184,185,186,187,188,191,193,197,199,201,202,204],container:[155,189],container_nam:197,container_name_ful:197,containeris:155,content:[156,179,180,182,184],context:[11,13,18,19,21,22,23,24,94,154,170,176,189,203],contextu:[17,18,21,23,24,160,165,202],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],contractor:14,contrast:[164,196],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,99,141,158,166,182,185,186],contributor:[14,158],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],controlcancel:22,controller_frequ:[97,100,101,102,106,109,110,202,204],controller_id:[18,20,21,22,23,24,26,44,47,94,163,166,170,194],controller_pati:163,controller_plugin:[97,101,102,109,110,162,172,178,204],controller_plugin_id:[127,128,129,130,131,132,143,144,145,146,147,150,151,152],controller_selector:[20,21,22,23,24,44],controller_serv:[22,97,101,102,103,106,109,110,162,163,164,166,172,178,186,192,199,204],controllerselector:[20,21,22,23,24,94,163],controllerserv:164,controlnod:[166,170],conveni:[156,166,193,199],convent:[21,23,24,27,182,183,186,196],converg:[91,96,100,102,106,196],convers:[26,105,158,197,199],convert:[0,27,99,106,117,124,141,142,160,161,163,173,183,196,197,199,202],convert_typ:[197,199],convert_v3_to_v4:166,convex:106,convey:167,conveyor:[100,202],cooper:2,coordin:[5,26,27,41,91,98,99,117,164,181,183,184,193,194,196],coordinates_in_cartesian_fram:99,cope:196,copi:[164,179,181,182,184,187,189,191,197,199,200],copyright:158,core:[7,17,27,165,186,187,189],corner:[109,159,163,188,197,203],corpor:14,correct:[27,89,90,153,155,158,164,181,182,184,189,195,197,199,201],correctli:[19,27,159,163,164,179,181,182,183,196,197,199,201],correl:155,correspond:[27,41,85,89,90,93,106,107,115,118,119,120,121,122,123,124,125,126,140,141,142,163,164,169,170,171,182,183,190,196,197,199],corridor:[106,178,185],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],cost_check_point:96,cost_cloud:163,cost_penalti:[141,142],cost_pow:106,cost_scaling_factor:[98,106,115,120,171,182],cost_threshold:55,cost_travel_multipli:140,cost_weight:106,costamp2d:197,costcel:167,costcrit:[106,166],costli:27,costmap2d:[153,166,175,176,190,197,199],costmap2dro:[164,167,172],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,55,90,92,95,96,97,102,108,109,114,115,118,119,120,121,122,123,124,125,126,140,141,142,143,146,160,161,164,171,172,173,178,179,185,190,196,205],costmap_2d:[5,166,171,182],costmap_2d_cloud:163,costmap_2d_ro:125,costmap_:[171,173],costmap_filter_info:[105,118,121,124,197,199],costmap_filter_info_serv:[105,197,199],costmap_filters_demo_dir:[197,199],costmap_raw:[92,111,112,114,169,187],costmap_ro:[164,172,173],costmap_ros_:172,costmap_top:[111,112,114,169,187],costmapfilt:163,costmapfilterinfo:[118,121,124,197,199],costmapfilterinfoserv:197,costmapinfotyp:165,costmapsubscrib:166,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],couldn:191,count:[106,164,181,188,197],counter:[29,113,164,170,174,181,201],counterpart:185,coupl:[26,189,193,204],cours:[5,11,155,184,193],cov_path: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d:[100,202],docking_tim:202,dockrobot:[26,94,167,202],document:[8,10,15,18,22,27,154,155,158,159,162,181,182,183,184,189,190,191,192,193,197,198,199],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],doesn:[80,140,163,164,169,185,189,193,197],dog:193,doing:[26,117,121,158,174,191,196],doisi:176,domin:[122,126,166],don:[141,142,146,159,163,183,185,187,191,193,194,195,196,197,198,202],done:[13,18,19,27,90,155,161,162,163,171,172,173,174,177,178,182,191,192,193,202,203],dont:184,door:17,dot:[166,196],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,46,47,50,51,54,55,56,57,59,60,61,63,65,67,75,83,85,86,88,89,90,91,92,93,96,97,98,99,100,102,103,104,105,106,107,108,109,110,112,114,115,116,117,118,120,121,122,123,124,125,126,127,129,130,131,132,133,134,135,136,137,140,141,142,143,144,145,146,147,148,149,150,151,152,163,172,173],doubt:106,down:[26,27,100,102,103,106,109,115,124,126,159,160,162,164,165,166,185,186,189,191,196,199,201],download:[5,155,188,189],downsampl:[96,106,140,141,142,164,166],downsample_costmap:[140,141],downsample_factor:[140,141],downsample_obstacle_heurist:[141,166],downsampling_factor:[140,141],downstream:163,doxygen:157,dozen:[27,202],drag:[159,203],dramat:[141,142,162],draw:[196,197,199],drawn:197,drift:[27,181],drivabl:[110,178,185,204],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],drive_on_head:[35,92],drive_on_heading_error_cod:46,driven:[4,185],driveonhead:[25,26,94,165,166],driver:[1,13,16,153,155,181,182,188,193],drivetrain:176,drivewhl_l:184,drivewhl_l_joint:181,drivewhl_r:184,drivewhl_r_joint:181,drop:[9,102,162,166,193,203],dropdown:2,dual:[156,196],dual_ekf_navsat:196,dub:164,dubin:[99,141,142,163,164,176,178],dubiou:164,due:[0,6,9,11,22,27,31,32,35,36,37,91,98,106,116,119,141,142,158,162,163,164,165,166,174,179,181,182,185,189,190,193,202,203,204],dumb:27,dummi:171,dummy_dock:202,dump:178,duplic:[27,174],durabl:[90,166,184],durat:[57,75,88,92,93,97,103,104,106,147,158,164,170,172,186,194,202],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],dwa:[3,176,178],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],dwb_core:[97,101,162,163,178,204],dwb_critic:[101,127],dwb_local_plann:162,dwb_plugin:[101,127],dwblocalplann:[97,101,162,166,178,204],dynam:[0,3,13,15,17,21,23,24,27,84,85,89,90,101,104,106,141,142,160,161,162,163,169,170,171,172,173,174,177,178,182,184,185,199,200,201,202,203,205],dynamicfollowpath:162,e1d7e035a824:189,e727072615d0:189,each:[11,18,21,23,24,25,26,27,66,89,90,91,92,93,97,98,106,108,114,116,139,156,158,160,161,163,164,165,166,169,170,171,172,173,178,181,182,183,184,185,186,187,189,190,191,196,197,199,201,202,203],earli:[5,11,16],earlier:[91,141,142,156,159,164,169,183],earth:196,earth_wgs84:196,eas:189,easi:[10,11,14,18,27,41,155,156,158,160,166,180,182,189,193,198,202],easier:[158,178,182,183,184,185,189,191,204],easili:[13,18,27,93,155,162,163,164,166,185,192,201,202],east:196,echo:[189,196],ecosystem:[0,27,113,164,185],edg:[4,99,106,166,183,197],edit:[8,163,176,181,182,187,202],editor:[189,197,199,203],educ:14,effect:[2,4,90,96,123,140,155,162,164,181,185,197],effici:[22,27,113,182,185,186],effort:[8,14,27,99,100,116,158,160,163,178,182,185,200,202],efk:181,eight:[190,196],eitan:176,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],ekf:[181,193,196],ekf_filter_nod:181,ekf_filter_node_map:196,ekf_filter_node_odom:196,ekf_localization_nod:181,ekf_nod:181,elaps:[163,167,202],elast:[3,161,178,204],electr:196,electromagnet:196,element:[8,161,169,181,184],elev:[17,27,90,97,116,156,158,166,196],elif:[26,164],elimin:[167,184],ellipsoid:196,elong:96,eloqu:[27,168],els:[26,89,98,163,164,166,171,172,174,181,189,201],elsewher:192,email:[0,14,27,158],emb:183,embed:[6,27,164,185,186],emerg:[6,9,90,95],emit:182,emphas:196,emploi:90,empti:[42,43,93,106,122,125,126,137,162,163,164,166,167,172,174,189,190],emul:155,emulate_tti:[197,199],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],enable_stamped_cmd_vel:[90,92,97,116,166,201],enabled_:171,enact:[9,85,160,204],encod:[27,118,124,181,183,193,196,197,199],encompass:185,encount:[16,178,182,191,192],encourag:[0,14,22,106,158,184,186,191],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],endpoint:[141,142],energi:[106,182],enforc:[96,116,121,163,188],enforce_path_invers:[106,166],engag:158,engin:[6,154,156,161,192,193],enhanc:158,enjoi:166,enough:[18,165,179,185,188,189,196,202],enrich:156,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],enter:[18,21,23,24,27,106,169,172,173,174,197,202],entir:[12,19,21,23,24,90,154,155,158,176,178,185,193,201],entiti:181,entri:[14,181,187,191,192,201,202],entryfil:185,entrypoint:[154,189],enu:196,enumer:[29,30,41,42,43,45,46,47,57,59,62,203],env:[155,189],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],environment:[98,126,160,189],ephemer:155,eppstein:176,eqal:96,equal:[27,89,90,91,92,93,97,102,105,108,114,116,117,118,166,171,188,190,197,199],equat:115,equip:[182,193,196,203],equival:202,eros:190,error:[27,29,30,41,42,43,45,46,47,50,51,57,59,62,64,77,78,79,89,90,91,93,102,106,119,153,154,162,163,164,167,176,179,182,187,189,190,193,195,196,200,202],error_cod:[21,23,64,77,78,79,186,187,202],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,47,50,51,57,59,62,187],error_code_id_nam:[165,186],error_code_nam:[50,51,93],error_codes_to_check:64,especi:[91,141,142,156,161,164,183,187,189,193,195,196,198,200,204],essenc:183,essenti:[6,141,142,164,182,185,202],establish:[186,202],estim:[15,90,91,111,116,159,161,163,171,172,173,174,181,182,183,195,196],estimated_time_remain:[163,174],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],eth:5,euclidean:[163,185],europ:196,evalu:[7,106,127,130,142,178,193],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],evenli:91,event:[1,13,158,164,189,202],eventu:[165,182,184],ever:[106,163],everi:[17,19,21,23,24,61,87,96,98,102,106,109,122,126,141,158,163,164,166,170,171],everyon:[156,158],everyth:[159,164,171,181,189,196],everywher:[106,161],exact:[106,111,140,141,142,155,165,178,179,185,194,197],exactli:[140,159,185,199],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],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_waypoint_follow:26,exce:[29,30,46,59,92,93,97,108,114,117,124,163],exceed:[18,98,165],excel:[1,7,9,196,204],except:[26,27,39,89,97,141,142,158,163,165,173,176,181,191,193,199,202],exception:[174,181,192],excess:11,exchang:[106,141],exclud:165,exclus:22,exe:191,exec:[155,189],exec_depend:[181,184,186],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],executeprocess:[181,182],executor:[11,26,27,117,163,165],exemplari:17,exhaust:[177,189],exhibit:22,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],exit:[21,23,27,97,100,103,162,164,189,191,192,202],expand:[107,141,142,143,155,164,178,184,189],expans:[8,107,115,141,142,163,164,165,166,176],expect:[5,11,26,91,106,108,122,126,158,160,162,163,166,174,181,186,187,189,196,202],expected_planner_frequ:[108,115],expected_update_r:[122,126,200],expend:185,expens:[27,106,126,164,165,181],experi:[1,2,3,4,5,6,7,9,10,12,25,154,155,156,160,164,184,191,193,195],experienc:180,expert:[4,14],expir:[22,74,176,200],explain:[11,18,19,22,156,158,179,191,192,198,204],explan:[18,95,113,202],explanatori:189,explicitli:[4,26,156,197],explor:[141,182,183],exponenti:[91,100,102,106,120,176,182,185],expos:[19,27,114,163,165,189,196],exposur:7,express:[27,124,166,172,196,197,199],extend:[171,181,196],extens:[22,27,106,155,156,165,166,193],extent:[102,109],extern:[4,21,23,24,26,89,97,100,103,137,154,155,161,162,165,166,186,189,193,205],external_detection_:202,external_detection_rotation_pitch:[100,202],external_detection_rotation_rol:[100,202],external_detection_rotation_yaw:[100,202],external_detection_timeout:[100,202],external_detection_translation_i:[100,202],external_detection_translation_x:[100,202],extra:[96,141,142,164,197],extract:[48,164,174,176],extrem:[2,18,89,102,106,121,163,182],face:196,facilit:[156,164,166],factor:[85,96,102,106,120,140,141,151,182,185],factori:170,fail:[18,19,21,23,24,26,27,97,100,103,117,140,141,142,161,163,164,165,169,174,176,189,191],failed_to_make_progress:[77,165],failed_to_smooth_path:[79,165],failur:[1,17,18,19,20,21,23,24,27,29,30,46,59,64,66,67,68,70,71,72,73,74,76,77,78,79,80,81,87,106,160,161,163,164,170,176,186,191,194],failure_toler:97,fair:8,fairli:191,faith:158,fake:27,fall:[90,106,202],fallback:[21,23,24,90,201,202],fallbackcomputepathtopos:24,fallbackrecoveri:24,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],familiar:[18,27,184,189],fanci:[155,189],far:[89,90,99,106,141,142,159,164,166,182,185,194,202,204],farm:200,fashion:19,fast:[89,90,91,102,111,112,141,142,164,190,193],faster:[102,164,166,185,189],fault:[12,26,27],favor:164,favorit:[189,202],favourit:[197,199],fe0cbdee2808:189,fear:189,feasibl:[27,106,110,112,113,121,141,160,163,164,166,176,178,185,204],featur:[1,4,6,8,9,14,27,91,97,99,109,112,116,141,155,158,159,163,164,176,177,184,185,189,196,197,202],feaur:197,feed:[186,202],feedback:[14,26,27,93,102,116,158,164,167,174,202],feedback_msg:174,feel:[6,153,156,184,185],ferguson:[14,160],fetch:[167,172,173],fetullah:176,few:[4,11,14,19,26,85,96,99,154,155,166,178,182,185,189,191,202],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],field_filepath:41,fields2cov:[41,99,166],figur:[196,203],file:[1,2,17,27,41,90,92,93,100,103,105,115,138,142,153,155,156,158,159,160,162,163,164,170,171,176,179,183,184,185,186,187,188,189,193,194,195,196,197,198,199,200,201,202,203],file_field:41,file_field_id:41,filenam:[181,182,196],filepath:[41,100,142,174,185,202],filesystem:[156,189,191],fill:[4,158,162,170,188,197,199,203],filter:[6,13,29,91,97,100,111,181,185,189,193,196,200,201,202,205],filter_coef:[100,202],filter_dur:88,filter_info_top:[105,118,121,124,197,199],filter_mask:105,filter_mask_data:199,filter_mask_serv:[197,199],filter_space_valu:105,final_bt_statu:174,final_rot:102,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],find_if:172,find_packag:191,findchessboardcorn:188,finder:[163,182],findpackageshar:184,fine:[106,159,185,199],finish:[162,166,192,196],finit:[27,106,141,193,203],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],first_map_onli:91,first_map_only_:91,firstli:22,fit:[106,185,196,201],fix:[100,109,123,158,162,165,177,179,181,182,183,184,188,193,196,202],fixed_fram:[100,202],flag:[9,155,181,184,188,189,191,192],flagship:14,flat:193,flavor:189,fleet:[27,189],flex_dock1:202,flex_dock2:202,flexibl:[14,93,106,169],flicker:98,flip:[118,163,165,178,184],flip_threshold:118,float32:[166,202],flood:18,flow:[1,18,19,21,23,24,81,82,158,170,203],fluidli:106,fly:[163,166,191,203],fn_tol:96,focal:188,focallength:182,focu:[12,18,26,184,201,203],focus:[115,189,190,193],focuscamera:184,folder:[19,155,156,182,188,196],folk:[158,164,191],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],follow_gps_waypoint:[27,166,196],follow_path_error_cod:[20,21,22,23,24,47,77,93],follow_path_error_code_id:186,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],followpathact:[44,49,53,58],followpathrecoveryfallback:[18,94],followwaypoint:[26,165],fondli:14,fool:185,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],footprint_clearing_en:[98,122,125,126],footprint_pad:98,footprint_top:[90,111,112,114,169,187],footprintapproach:90,footprintcost:26,footprintcostatpos:26,forc:[91,106,166,193],forcefulli:155,forese:162,forget:195,forgot:158,fork:[27,101,189],forklift:22,form:[5,41,90,115,166,171,182,183,189],formal:[27,160,190],format:[10,41,89,90,96,106,138,142,155,163,181,182,184,189,196,197,199,203],former:[14,89,90],formerli:[97,165,176],formul:166,formula:199,fortun:181,forward:[0,9,18,27,61,96,100,105,109,110,127,132,142,147,150,151,155,159,166,170,183,185,189,196,201,204],forward_point_dist:[101,144,148],forward_prune_dist:[127,165],forward_sampling_dist:[110,204],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],foundat:174,four:[18,27],foxi:[11,27,168,173],fraction:164,fragment:190,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],frame_id:[26,67,105,122,126,166,172,173,181,197,198,199],frame_nam:182,framework:[0,2,8,14,27,100,113,140,160,165,166,181,185,186,202],francisco:[160,176,193],free:[10,27,98,105,106,123,140,153,156,161,176,181,182,184,185,190,193,195,196,197],free_spac:190,free_thresh:[197,199],free_thresh_default:105,freeli:184,freespac:[21,23,24,185],frequenc:[18,19,89,92,97,98,100,106,108,116,141,142,166,181,193,196],frequent:[142,185,196],fresh:155,friction:2,frictionless:[104,167],friendli:[106,184,189],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]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97,199,200,202,203],suppos:183,sure:[1,2,7,12,26,93,106,122,126,153,155,158,163,166,171,174,176,179,181,182,185,188,190,191,193,195,196,197,198,199,200,201,202],surfac:[27,160,196,202],surface_model:196,surpris:204,surround:178,survei:160,sustain:27,swap:[164,165],swath:[41,99],sweep:[102,184,185],symbol:191,symlink:[154,171,189,197,199],symmetr:166,symmetri:164,sync:203,sync_slam_toolbox_nod:191,synchron:[27,193],syntax:[155,166,184,191],sysdep:191,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],systemat:186,systemd:189,systemdefaultsqo:174,sysv:191,tab:[153,179,182],tabl:[164,171,172,174,180,185,186],tackl:[179,180],tag:[154,155,164,170,181,182,184,189,202],tailor:178,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],taken:[4,67,81,89,90,96,106,124,138,163,171,174,197,199],talk:[1,155,160,181,183,189,191,198,200],talker:[153,189],tangent:[4,188,196],tangenti:188,tar:188,target:[6,100,106,109,124,155,156,162,163,166,178,184,191,194,195,199,202,203],target_contain:197,task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,56,84,90,93,95,99,100,106,110,117,158,160,161,163,165,166,169,170,174,178,179,180,182,185,187,193,194,196,203,204,205],taskexecutor:26,taskresult:[26,164],tb3:166,tb3_gp:196,tb3_simulation_gazebo_launch:189,tb3_simulation_launch:[159,169,171,172,173,174,185,190,191,194,197,198,199,201],tb4_loopback_simul:104,tbb:7,tcp:156,team:[14,156,194],tear:116,teardown:[27,178],teb:[3,106,161,165,176,178,185,204],teb_local_plann:162,teblocalplann:162,technic:[8,21,23,24,158,169,171,172,173,174,197],techniqu:[3,4,6,27,90,100,111,112,113,163,182,185,193,196],technolog:[8,14,160,193,196],tediou:184,teleop:[0,26,29,92,176,189,196],teleop_twist_keyboard:196,teleoper:196,telepres:1,tell:[27,158,166,169,170,171,181,189,191,196],temperatur:106,templat:[113,154,158,163,170,174,180,184,189,191],tempor:[176,185,200],temporari:[21,22,23,24,92,93,97,108,114,117,193,199],tend:204,term:[99,106,158,166,174,182,183,193,197],termin:[96,97,112,140,141,142,153,159,162,169,179,181,182,188,189,191,192,194,195,196,198],terminal_checking_interv:[115,140,141,142,166],terminatependinggo:174,test:[0,3,4,6,92,104,106,142,155,158,166,167,177,181,188,189,194,198,200,202,203],tester:202,text:[169,171,200],tf1:184,tf2:[27,162,180,181,183,184,185],tf2_echo:[181,183],tf2_msg:181,tf2_ro:[172,179,181,183],tf2_tool:182,tf_:[172,173],tf_broadcast:91,tf_static:164,tfmessag:181,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],thank:[14,100,166,202],thei:[0,7,18,19,21,23,24,27,89,90,93,99,103,106,113,152,155,156,158,160,162,163,164,165,166,169,170,172,173,174,178,180,181,182,183,184,185,186,189,191,192,196,197,201,203],theinput:181,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],themselv:[174,203],theoret:106,theori:106,therebi:158,therefor:[19,22,89,106,184,185,186,191,196,197,199,201,203],theta:[26,28,100,102,110,111,116,163,166,176,178,185,202,204],theta_max:[90,201],theta_min:[90,201],theta_scal:150,thetastarplann:[115,166,176],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,49,52,53,55,56,58,59,63,66,77,78,79,85,87,89,90,91,92,93,94,96,97,98,99,100,102,103,105,106,107,108,109,110,111,112,114,115,116,117,118,119,120,121,122,123,124,125,126,140,141,142,143,155,156,157,158,159,160,161,162,163,164,165,166,167,169,170,171,172,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204],thing:[13,27,156,164,165,171,172,173,181,184,185,189,191,192,199],think:[0,8,27,185],third:[80,172,189,197,199],those:[9,14,27,55,111,155,164,178,182,184,185,186,187,189,191],though:[19,21,100,106,142,185,186,189,193,196,197,199,201],thought:[27,164,170],thrash:193,thread:[7,11,13,26,27,90,97,106,116,166,191],three:[25,27,113,165,183,185,186,196],threshold:[55,67,90,97,100,105,106,109,110,118,147,164,167,176,193,195,197,199,202,204],threshold_to_consid:[106,166],throttl:[86,162,176],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],throughout:[2,66,155,161,164,184,186,193],thrown:164,thu:[89,90,96,106,115,116,178,181,182,189,192,193,196,202],thusli:[179,185,204],tick:[18,19,21,22,23,24,27,66,80,83,86,87,88,164,170,176],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,27,153,158,162,163,164,185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for 2021 Summer Student Program","3. 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. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Docker for Development: Zero to Hero","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Using Docking Server","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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41,42,43,45,46,47,50,51,59,62,63,90,99,101,105,113,153,154,155,156,158,159,160,161,162,163,164,166,167,169,170,171,172,173,174,176,177,178,180,181,182,183,184,185,186,187,188,190,195,197,198,199,200,201,202,203,204,205],SMS:[27,169],Such:155,TLS:200,That:[19,27,141,158,163,164,178,179,189],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,49,50,51,52,53,55,56,57,58,60,61,62,64,65,67,74,75,77,78,79,81,83,84,86,88,89,90,91,92,93,94,95,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,124,138,140,141,142,153,154,155,158,160,161,162,163,164,165,167,169,170,171,172,173,174,176,178,179,180,181,182,183,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204],Then:[7,19,163,170,171,172,173,174,181,182,189,191,192,195,202],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],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],Use:[27,48,93,96,100,181,190,193,194,197,199,202],Used:[31,32,33,34,35,36,37,54,89,90,118,121,124,185,196],Useful:[76,96,185],Uses:176,Using:[14,89,90,106,110,156,164,166,176,181,182,185,189,191,192,205],Will:[19,57,90,176],With:[14,17,27,141,183,189,196,200],Yes:[169,170,171,172,173,174],__cxa_throw:191,__gi_abort:191,__gi_rais:191,__n:191,__node:[191,192],_config:181,_costmap:[163,200],_differenti:193,_feedbackcallback:202,_from_numb:169,_joint:184,_link:184,_m_range_check:191,_nav:185,_to_numb:169,_twilio:169,abi:[106,155,189],abil:[6,7,27,90,106,165,166,201],abl:[0,5,9,14,18,19,110,164,165,167,169,170,172,173,174,176,179,181,182,183,185,189,191,192,193,196,202,203],abort:[98,163,170,191],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],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],abrupt:27,abs:172,absolut:[50,51,105,124,162,166,172,181,184,189,191,193,196,197,199],absurdli:106,academ:6,acc_lim_i:[101,129],acc_lim_theta:[101,129],acc_lim_x:[101,129],accel:181,acceler:[92,106,109,110,116,129,164,181,185,204],accelwithcovariancestamp:181,accept:[6,26,67,91,115,141,142,158,166,174,178,179,193,194,202],acceptpendinggo:174,access:[0,27,90,97,116,155,156,163,164,170,182,184,191,203],accommod:155,accompani:96,accomplish:[8,169,176,181,184,189,191,202],accord:[27,105,181,182,196,197,199],accordingli:[9,90,166,196,197,199],account:[27,89,90,163,164,169,178,185,190,202],account_sid:169,accumul:106,accur:[6,27,89,90,163,181,185,193,196],accuraci:[25,90,104,161,167,193,196],achiev:[11,96,106,109,113,116,117,163,164,165,166,184,185,193,196],acircl:188,ackerman:178,ackermann:[113,160,163,176,178,185],ackermannconstraint:106,acknowledg:93,acquir:27,across:[17,27,106,112,120,141,142,155,165,166,174,177,182,183,185,189,196,203],act:[9,14,27,140,162,163,180,182,184,197,201,204],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,50,51,57,59,62,63,81,83,84,85,86,89,90,92,93,97,98,99,100,106,108,114,117,159,160,161,165,167,169,170,174,176,178,179,181,182,183,184,185,186,187,189,194,195,196,197,199,201,203],action_a:19,action_b:19,action_c:19,action_nam:170,action_server_result_timeout:[92,93,97,99,108,114,117,166],action_typ:[89,90,166,201],actionnod:19,actionnodebas:170,actiont:174,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],actual:[18,57,90,96,106,110,141,164,174,179,183,184,185,188,189,193,195,196,201,204],actuat:155,adapt:[6,27,91,109,163,176,182,183,184],add:[0,2,8,80,81,82,83,84,85,86,87,88,90,96,97,106,116,121,122,126,141,155,158,162,163,164,165,169,174,179,181,182,183,184,185,186,187,191,192,193,196,197,198,200,201,203],add_act:[197,199],add_compile_opt:[191,192],added:[10,13,21,23,24,93,106,155,158,161,162,163,164,165,167,169,171,172,173,174,178,179,182,183,184,185,186,192,196,200,201,202,204],addin:196,adding:[1,9,41,91,141,142,155,164,165,166,181,182,184,186,190,193,196,197,199,201],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],addition:[0,11,27,90,155,156,161,162,163,166,174,196,201],address:[31,32,33,34,35,36,37,41,42,43,47,161,162,163,164,165,166,167,169],adequ:185,adher:183,adjac:[115,119,190],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],admiss:[141,142,164],admittedli:11,adopt:166,advanc:[0,27,141,177,185,189],advantag:[12,27,165,204],advic:[178,185],advis:[21,23,24,27,181],affect:[89,95,163,164,166,184],aforement:106,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],afterward:181,again:[18,19,20,22,81,153,155,159,161,177,181,184,189],against:[64,77,78,79,142,165,166,185,189,201],agent:[90,185],aggreg:186,aggregation_typ:[144,145,148,149],aggress:[90,141],ago:189,agre:158,agreement:158,ahead:[92,106,109,131,132,144,148,189],aid:[2,22],aim:[1,7,9,10,13,116,167,180,184,185,192],air:196,aisl:[27,140,164,178,185],aislewai:[141,164],aitor:176,alarm:[89,166],alberto:176,aleksei:176,alexei:[14,160,176],alexeymerzlyakov:14,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],alias:27,align:[102,127,144,148,149,166,196],alik:14,aliv:14,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],allevi:185,alloc:[27,186,191,200],allot:[1,9,11],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],allow_backward:102,allow_primitive_interpol:[141,166],allow_revers:109,allow_reverse_expans:142,allow_unknown:[107,115,140,141,142,163,173],almost:[162,164],alon:[104,167,193],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],alongsid:[166,174,185],alpha1:91,alpha2:91,alpha3:91,alpha4:91,alpha5:91,alpha:[184,197],alreadi:[4,7,106,162,163,164,169,179,181,184,185,189,191,193,196,202],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],alter:155,altern:[3,22,27,61,155,156,163,166,179,181,191],although:156,altitud:196,altogeth:[189,193],alwai:[9,16,20,76,89,90,93,103,116,142,153,163,164,166,184,185,196,197,201,202,204],always_on:[181,182,196],always_reload_bt_xml:[93,166],always_reset_initial_pos:91,always_send_full_costmap:[98,166,182],alwayson:182,ambigu:109,amcl:[6,7,26,27,28,54,69,159,162,176,182,183,185,193,196],amcl_pos:161,amclnod:164,amend:158,ament:[169,171,172,173,174,188],ament_cmak:[169,172,173,174,184],ament_cppcheck:158,ament_cpplint:158,ament_index_cpp:174,ament_index_python:[197,199],ament_uncrustifi:158,america:196,among:[27,115,178,185,190],amongst:184,amount:[98,123,133,135,137,139,140,141,142,151,162,163,165,197],amp:196,ampl:[21,23,24],amr:193,analog:[8,90,163,165,166,170,191,202,204],analysi:[7,27,158,160,192],analyt:[141,142,163,164,166],analytic_expansion_max_cost:[141,142,166],analytic_expansion_max_cost_overrid:[141,142,166],analytic_expansion_max_length:[141,142,164,166],analytic_expansion_ratio:[141,142],analyz:[5,6,7,10,26,27,170,192],andrei:176,angl:[26,27,59,89,90,99,100,115,133,140,141,163,176,185,196],angle_quantization_bin:141,angular:[61,90,99,100,102,106,109,110,128,129,132,141,144,147,148,150,165,166,172,181,185,201,204],angular_dist_threshold:[110,204],angular_distance_weight:61,angular_granular:[101,132],angular_limit:[90,165],angular_vel:172,angular_veloc:181,ani:[0,3,9,11,14,18,19,20,22,27,44,49,52,53,55,56,58,64,66,80,89,90,97,103,106,109,112,113,115,121,122,125,126,141,142,153,155,156,158,160,162,163,164,165,166,167,169,170,171,172,173,174,176,178,182,183,184,185,186,187,189,190,191,192,193,194,196,197,199,201,202,203,204],anim:[4,190],annoi:189,annot:[27,99,163,171,172,173,197,199,202],announc:158,anoth:[0,1,4,6,10,20,21,23,26,27,64,89,92,93,97,108,113,114,117,140,141,155,158,163,164,166,170,176,178,179,181,182,184,187,189,191,194,196,197,198,199,200,202],anshumaan:176,answer:[0,158,163],anybot:5,anyhow:164,anyon:11,anyth:[20,27,89,163,170,171,174,185,189,197,203],anywai:185,anywher:[156,164],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,158],apart:[22,204],apex:156,api:[17,27,57,160,161,163,169,171,174,182,187,189,196],appear:[90,158,159,163,164,165,182,184,188,189,190,195,196,201,203],append:[155,158,181,182],appli:[0,7,11,27,90,102,106,109,112,115,116,121,140,141,142,150,156,163,170,183,184,185,190,191,192,198,199,202],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],appreci:[27,158],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],approach_velocity_scaling_dist:109,appropri:[2,18,97,106,108,116,124,158,164,165,166,174,178,181,183,184,185,191,193,201,203],approv:[3,158],approxim:[90,110,116,140,141,159,165,178,179,185,188,204],apriltag:[100,202],apt:[154,155,159,181,182,184,188,189,192,196,198,200],arbitrari:[27,90,113,156,176,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ked_point_to_pos:194,client:[19,27,99,161,163,164,169,170,174,187,202],client_nod:164,client_node_:164,clinet_node_:164,clip:[182,197],clock:[197,199],clock_:[172,174],clockwis:201,clone:[154,188,189,194,196,197,198,199,200],cloned_tb3_simulation_launch:166,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],closed_loop:116,closer:[60,106,141,165,166],closest:[61,102,109,127],closur:193,cloud:[7,27,155,156,159,162,189],cluster:185,cmake:[169,171,172,173,174,188,192],cmake_build_typ:192,cmakelist:[169,171,172,173,174,181,182,184,191,192],cmd:[181,182,189],cmd_vel:[13,89,90,166,172,181,192,201],cmd_vel_in_top:[90,201],cmd_vel_nav:[192,201],cmd_vel_out_top:[90,201],cmd_vel_raw:90,cmd_vel_smooth:[90,201],cmd_vel_teleop:92,code:[5,6,15,29,30,41,42,43,45,46,47,50,51,57,59,62,64,77,78,79,91,92,93,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,116,117,140,155,156,158,161,162,164,167,169,170,171,172,173,174,176,179,181,182,184,187,189,190,191,196,200,202,204],codebas:[90,97,116,158,166],codecov:12,codespac:[155,156],codifi:155,coeffici:[100,124,188,197,199],coffe:[156,203],colcon:[154,155,171,179,181,182,184,189,191,192,197,199],collabor:[4,14,158],collect:[26,180,182,185,192,193],collid:[4,9,179],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],collision_cost:106,collision_detector:89,collision_detector_st:[89,166],collision_margin_dist:106,collision_monitor:[90,201],collision_monitor_nod:201,collision_monitor_param:201,collision_monitor_st:90,collisionmonitor:165,color:[8,96,138,182,184,185,190,197,199,200],color_dark:197,color_light:197,column:[126,182],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205],combin:[27,98,141,144,145,148,149,163,198],combination_method:[98,122,126,166,200],combo:[166,167,189],come:[8,13,14,27,99,106,109,136,141,158,164,165,169,172,173,174,181,183,184],comfort:166,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],commandlin:[105,189,191,192],commens:100,comment:[155,158,164,171,173,191,200],commerci:[27,158,196],commit:[155,158,177,188],common:[18,26,27,90,100,106,155,156,160,163,164,174,181,189,193,196,201,202],commonli:[19,44,49,52,53,58,174,182,193,196],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,155,158,160,169,174,183,185,186,188,189],compani:[158,160,185,189],companion:203,compar:[27,64,77,78,79,90,93,96,113,165,166,202],comparison:160,compat:181,compens:196,compet:158,compil:[155,156,169,172,173,174,187,189,191,192],complement:[5,162,196],complementari:186,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],complex:[27,93,106,141,160,165,182,183,184,191,203],complexyolo:4,compli:[2,178,181,196],complianc:116,compliant:183,complic:160,complimentari:174,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],component_contain:186,component_container_isol:164,componentcontain:191,compos:[11,164,171,185,186,189,191,192,197,202],composable_node_descript:[186,197],composablenod:[186,197,201,202],composablenodecontain:186,composit:[177,191,192,197,199],composition_demo:186,comprehens:[155,189],compris:[13,160,184],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],computation:[27,106,126,164],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,93,187],compute_path_error_code_id:186,compute_path_through_pos:[165,186],compute_path_to_pos:[165,186],compute_path_to_pose_error_cod:78,computeandpublishveloc:163,computeandsmoothpath:187,computecoverag:41,computecoveragepath:94,computepaththroughpos:[21,55,56,94],computepathtopos:[17,18,19,20,22,23,24,52,83,86,88,94,170,174,187,194],computepathtoposeact:52,computepathtoposerecoveryfallback:[18,94],computevelocitycommand:[97,172],concaten:163,concept:[7,18,19,160,163,178,182,183,186,197,199,202,203],conceptu:183,concern:[104,156,158,164,167],conclud:189,conclus:22,concret:183,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],conditionnod:170,conduct:160,conf:[90,97,116,166,170],confer:160,config:[155,156,179,181,182,184,189,191,196,198,202],configur:[0,1,14,16,17,18,19,26,27,44,49,52,53,58,65,89,90,95,96,97,98,103,105,106,113,118,121,124,154,155,156,160,161,162,164,165,166,169,170,172,173,174,176,180,184,185,186,187,189,190,191,193,194,195,196,198,200,203],configured_param:[186,197,199,201],confin:[106,141,155,166,179],confirm:[179,182,188,196],conflict:162,conform:160,confus:19,conjunct:[26,106],connect:[14,19,27,99,103,107,115,119,140,155,156,162,163,164,176,178,181,182,183,184,190,196,203],connector:[41,193],consequ:22,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],consider:[4,106,185,189],consider_footprint:106,consider_unknown_as_obstacl:55,consist:[8,17,106,156,158,163,164,176,181,182,183,185,186,196,202,203],consol:201,constant:[19,99,102,109,166,172,184,185],constantli:[162,164],constrain:[28,112,163,176,185],constrainedsmooth:[96,164],constraint:[21,110,116,142,163,164,174,176,178,185,204],constraintcrit:106,construct:[27,158,164],constructor:[26,27,164,166,170],constsharedptr:174,consult:14,consum:[9,164],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,158,160,185,186,202],contain:[9,11,17,21,23,24,27,47,51,55,95,106,113,116,122,126,141,142,157,161,162,163,164,165,166,169,171,172,173,174,176,181,182,184,185,186,187,188,191,193,197,199,201,202,204],container:[155,189],container_nam:197,container_name_ful:197,containeris:155,content:[156,179,180,182,184],context:[11,13,18,19,21,22,23,24,94,154,170,176,189,203],contextu:[17,18,21,23,24,160,165,202],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],contractor:14,contrast:[164,196],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,99,141,158,166,182,185,186],contributor:[14,158],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],controlcancel:22,controller_frequ:[97,100,101,102,106,109,110,202,204],controller_id:[18,20,21,22,23,24,26,44,47,94,163,166,170,194],controller_pati:163,controller_plugin:[97,101,102,109,110,162,172,178,204],controller_plugin_id:[127,128,129,130,131,132,143,144,145,146,147,150,151,152],controller_selector:[20,21,22,23,24,44],controller_serv:[22,97,101,102,103,106,109,110,162,163,164,166,172,178,186,192,199,204],controllerselector:[20,21,22,23,24,94,163],controllerserv:164,controlnod:[166,170],conveni:[156,166,193,199],convent:[21,23,24,27,182,183,186,196],converg:[91,96,100,102,106,196],convers:[26,105,158,197,199],convert:[0,27,99,106,117,124,141,142,160,161,163,173,183,196,197,199,202],convert_typ:[197,199],convert_v3_to_v4:166,convex:106,convey:167,conveyor:[100,202],cooper:2,coordin:[5,26,27,41,91,98,99,117,164,181,183,184,193,194,196],coordinates_in_cartesian_fram:99,cope:196,copi:[164,179,181,182,184,187,189,191,197,199,200],copyright:158,core:[7,17,27,165,186,187,189],corner:[109,159,163,188,197,203],corpor:14,correct:[27,89,90,153,155,158,164,181,182,184,189,195,197,199,201],correctli:[19,27,159,163,164,179,181,182,183,196,197,199,201],correl:155,correspond:[27,41,85,89,90,93,106,107,115,118,119,120,121,122,123,124,125,126,140,141,142,163,164,169,170,171,182,183,190,196,197,199],corridor:[106,178,185],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],cost_check_point:96,cost_cloud:163,cost_penalti:[141,142],cost_pow:106,cost_scaling_factor:[98,106,115,120,171,182],cost_threshold:55,cost_travel_multipli:140,cost_weight:106,costamp2d:197,costcel:167,costcrit:[106,166],costli:27,costmap2d:[153,166,175,176,190,197,199],costmap2dro:[164,167,172],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,55,90,92,95,96,97,102,108,109,114,115,118,119,120,121,122,123,124,125,126,140,141,142,143,146,160,161,164,171,172,173,178,179,185,190,196,205],costmap_2d:[5,166,171,182],costmap_2d_cloud:163,costmap_2d_ro:125,costmap_:[171,173],costmap_filter_info:[105,118,121,124,197,199],costmap_filter_info_serv:[105,197,199],costmap_filters_demo_dir:[197,199],costmap_raw:[92,111,112,114,169,187],costmap_ro:[164,172,173],costmap_ros_:172,costmap_top:[111,112,114,169,187],costmapfilt:163,costmapfilterinfo:[118,121,124,197,199],costmapfilterinfoserv:197,costmapinfotyp:165,costmapsubscrib:166,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],couldn:191,count:[106,164,181,188,197],counter:[29,113,164,170,174,181,201],counterpart:185,coupl:[26,189,193,204],cours:[5,11,155,184,193],cov_path: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king_threshold:[100,202],docking_tim:202,dockrobot:[26,94,167,202],document:[8,10,15,18,22,27,154,155,158,159,162,181,182,183,184,189,190,191,192,193,197,198,199],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],doesn:[80,140,163,164,169,185,189,193,197],dog:193,doing:[26,117,121,158,174,191,196],doisi:176,domin:[122,126,166],don:[141,142,146,159,163,183,185,187,191,193,194,195,196,197,198,202],done:[13,18,19,27,90,155,161,162,163,171,172,173,174,177,178,182,191,192,193,202,203],dont:184,door:17,dot:[166,196],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,46,47,50,51,54,55,56,57,59,60,61,63,65,67,75,83,85,86,88,89,90,91,92,93,96,97,98,99,100,102,103,104,105,106,107,108,109,110,112,114,115,116,117,118,120,121,122,123,124,125,126,127,129,130,131,132,133,134,135,136,137,140,141,142,143,144,145,146,147,148,149,150,151,152,163,172,173],doubt:106,down:[26,27,100,102,103,106,109,115,124,126,159,160,162,164,165,166,185,186,189,191,196,199,201],download:[5,155,188,189],downsampl:[96,106,140,141,142,164,166],downsample_costmap:[140,141],downsample_factor:[140,141],downsample_obstacle_heurist:[141,166],downsampling_factor:[140,141],downstream:163,doxygen:157,dozen:[27,202],drag:[159,203],dramat:[141,142,162],draw:[196,197,199],drawn:197,drift:[27,181],drivabl:[110,178,185,204],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],drive_on_head:[35,92],drive_on_heading_error_cod:46,driven:[4,185],driveonhead:[25,26,94,165,166],driver:[1,13,16,153,155,181,182,188,193],drivetrain:176,drivewhl_l:184,drivewhl_l_joint:181,drivewhl_r:184,drivewhl_r_joint:181,drop:[9,102,162,166,193,203],dropdown:2,dual:[156,196],dual_ekf_navsat:196,dub:164,dubin:[99,141,142,163,164,176,178],dubiou:164,due:[0,6,9,11,22,27,31,32,35,36,37,91,98,106,116,119,141,142,158,162,163,164,165,166,174,179,181,182,185,189,190,193,202,203,204],dumb:27,dummi:171,dummy_dock:202,dump:178,duplic:[27,174],durabl:[90,166,184],durat:[57,75,88,92,93,97,103,104,106,147,158,164,170,172,186,194,202],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],dwa:[3,176,178],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],dwb_core:[97,101,162,163,178,204],dwb_critic:[101,127],dwb_local_plann:162,dwb_plugin:[101,127],dwblocalplann:[97,101,162,166,178,204],dynam:[0,3,13,15,17,21,23,24,27,84,85,89,90,101,104,106,141,142,160,161,162,163,169,170,171,172,173,174,177,178,182,184,185,199,200,201,202,203,205],dynamicfollowpath:162,e1d7e035a824:189,e727072615d0:189,each:[11,18,21,23,24,25,26,27,66,89,90,91,92,93,97,98,106,108,114,116,139,156,158,160,161,163,164,165,166,169,170,171,172,173,178,181,182,183,184,185,186,187,189,190,191,196,197,199,201,202,203],earli:[5,11,16],earlier:[91,141,142,156,159,164,169,183],earth:196,earth_wgs84:196,eas:189,easi:[10,11,14,18,27,41,155,156,158,160,166,180,182,189,193,198,202],easier:[158,178,182,183,184,185,189,191,204],easili:[13,18,27,93,155,162,163,164,166,185,192,201,202],east:196,echo:[189,196],ecosystem:[0,27,113,164,185],edg:[4,99,106,166,183,197],edit:[8,163,176,181,182,187,202],editor:[189,197,199,203],educ:14,effect:[2,4,90,96,123,140,155,162,164,181,185,197],effici:[22,27,113,182,185,186],effort:[8,14,27,99,100,116,158,160,163,178,182,185,200,202],efk:181,eight:[190,196],eitan:176,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],ekf:[181,193,196],ekf_filter_nod:181,ekf_filter_node_map:196,ekf_filter_node_odom:196,ekf_localization_nod:181,ekf_nod:181,elaps:[163,167,202],elast:[3,161,178,204],electr:196,electromagnet:196,element:[8,161,169,181,184],elev:[17,27,90,97,116,156,158,166,196],elif:[26,164],elimin:[167,184],ellipsoid:196,elong:96,eloqu:[27,168],els:[26,89,98,163,164,166,171,172,174,181,189,201],elsewher:192,email:[0,14,27,158],emb:183,embed:[6,27,164,185,186],emerg:[6,9,90,95],emit:182,emphas:196,emploi:90,empti:[42,43,93,106,122,125,126,137,162,163,164,166,167,172,174,189,190],emul:155,emulate_tti:[197,199],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],enable_stamped_cmd_vel:[90,92,97,116,166,201],enabled_:171,enact:[9,85,160,204],encod:[27,118,124,181,183,193,196,197,199],encompass:185,encount:[16,178,182,191,192],encourag:[0,14,22,106,158,184,186,191],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],endpoint:[141,142],energi:[106,182],enforc:[96,116,121,163,188],enforce_path_invers:[106,166],engag:158,engin:[6,154,156,161,192,193],enhanc:158,enjoi:166,enough:[18,165,179,185,188,189,196,202],enrich:156,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],enter:[18,21,23,24,27,106,169,172,173,174,197,202],entir:[12,19,21,23,24,90,154,155,158,176,178,185,193,201],entiti:181,entri:[14,181,187,191,192,201,202],entryfil:185,entrypoint:[154,189],enu:196,enumer:[29,30,41,42,43,45,46,47,57,59,62,203],env:[155,189],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],environment:[98,126,160,189],ephemer:155,eppstein:176,eqal:96,equal:[27,89,90,91,92,93,97,102,105,108,114,116,117,118,166,171,188,190,197,199],equat:115,equip:[182,193,196,203],equival:202,eros:190,error:[27,29,30,41,42,43,45,46,47,50,51,57,59,62,64,77,78,79,89,90,91,93,102,106,119,153,154,162,163,164,167,176,179,182,187,189,190,193,195,196,200,202],error_cod:[21,23,64,77,78,79,186,187,202],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,47,50,51,57,59,62,187],error_code_id_nam:[165,186],error_code_nam:[50,51,93],error_codes_to_check:64,especi:[91,141,142,156,161,164,183,187,189,193,195,196,198,200,204],essenc:183,essenti:[6,141,142,164,182,185,202],establish:[186,202],estim:[15,90,91,111,116,159,161,163,171,172,173,174,181,182,183,195,196],estimated_time_remain:[163,174],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],eth:5,euclidean:[163,185],europ:196,evalu:[7,106,127,130,142,178,193],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],evenli:91,event:[1,13,158,164,189,202],eventu:[165,182,184],ever:[106,163],everi:[17,19,21,23,24,61,87,96,98,102,106,109,122,126,141,158,163,164,166,170,171],everyon:[156,158],everyth:[159,164,171,181,189,196],everywher:[106,161],exact:[106,111,140,141,142,155,165,178,179,185,194,197],exactli:[140,159,185,199],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],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_waypoint_follow:26,exce:[29,30,46,59,92,93,97,108,114,117,124,163],exceed:[18,98,165],excel:[1,7,9,196,204],except:[26,27,39,89,97,141,142,158,163,165,173,176,181,191,193,199,202],exception:[174,181,192],excess:11,exchang:[106,141],exclud:165,exclus:22,exe:191,exec:[155,189],exec_depend:[181,184,186],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],executeprocess:[181,182],executor:[11,26,27,117,163,165],exemplari:17,exhaust:[177,189],exhibit:22,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],exit:[21,23,27,97,100,103,162,164,189,191,192,202],expand:[107,141,142,143,155,164,178,184,189],expans:[8,107,115,141,142,163,164,165,166,176],expect:[5,11,26,91,106,108,122,126,158,160,162,163,166,174,181,186,187,189,196,202],expected_planner_frequ:[108,115],expected_update_r:[122,126,200],expend:185,expens:[27,106,126,164,165,181],experi:[1,2,3,4,5,6,7,9,10,12,25,154,155,156,160,164,184,191,193,195],experienc:180,expert:[4,14],expir:[22,74,176,200],explain:[11,18,19,22,156,158,179,191,192,198,204],explan:[18,95,113,202],explanatori:189,explicitli:[4,26,156,197],explor:[141,182,183],exponenti:[91,100,102,106,120,176,182,185],expos:[19,27,114,163,165,189,196],exposur:7,express:[27,124,166,172,196,197,199],extend:[171,181,196],extens:[22,27,106,155,156,165,166,193],extent:[102,109],extern:[4,21,23,24,26,89,97,100,103,137,154,155,161,162,165,166,186,189,193,205],external_detection_:202,external_detection_rotation_pitch:[100,202],external_detection_rotation_rol:[100,202],external_detection_rotation_yaw:[100,202],external_detection_timeout:[100,202],external_detection_translation_i:[100,202],external_detection_translation_x:[100,202],extra:[96,141,142,164,197],extract:[48,164,174,176],extrem:[2,18,89,102,106,121,163,182],face:196,facilit:[156,164,166],factor:[85,96,102,106,120,140,141,151,182,185],factori:170,fail:[18,19,21,23,24,26,27,97,100,103,117,140,141,142,161,163,164,165,169,174,176,189,191],failed_to_make_progress:[77,165],failed_to_smooth_path:[79,165],failur:[1,17,18,19,20,21,23,24,27,29,30,46,59,64,66,67,68,70,71,72,73,74,76,77,78,79,80,81,87,106,160,161,163,164,170,176,186,191,194],failure_toler:97,fair:8,fairli:191,faith:158,fake:27,fall:[90,106,202],fallback:[21,23,24,90,201,202],fallbackcomputepathtopos:24,fallbackrecoveri:24,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],familiar:[18,27,184,189],fanci:[155,189],far:[89,90,99,106,141,142,159,164,166,182,185,194,202,204],farm:200,fashion:19,fast:[89,90,91,102,111,112,141,142,164,190,193],faster:[102,164,166,185,189],fault:[12,26,27],favor:164,favorit:[189,202],favourit:[197,199],fe0cbdee2808:189,fear:189,feasibl:[27,106,110,112,113,121,141,160,163,164,166,176,178,185,204],featur:[1,4,6,8,9,14,27,91,97,99,109,112,116,141,155,158,159,163,164,176,177,184,185,189,196,197,202],feaur:197,feed:[186,202],feedback:[14,26,27,93,102,116,158,164,167,174,202],feedback_msg:174,feel:[6,153,156,184,185],ferguson:[14,160],fetch:[167,172,173],fetullah:176,few:[4,11,14,19,26,85,96,99,154,155,166,178,182,185,189,191,202],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],field_filepath:41,fields2cov:[41,99,166],figur:[196,203],file:[1,2,17,27,41,90,92,93,100,103,105,115,138,142,153,155,156,158,159,160,162,163,164,170,171,176,179,183,184,185,186,187,188,189,193,194,195,196,197,198,199,200,201,202,203],file_field:41,file_field_id:41,filenam:[181,182,196],filepath:[41,100,142,174,185,202],filesystem:[156,189,191],fill:[4,158,162,170,188,197,199,203],filter:[6,13,29,91,97,100,111,181,185,189,193,196,200,201,202,205],filter_coef:[100,202],filter_dur:88,filter_info_top:[105,118,121,124,197,199],filter_mask:105,filter_mask_data:199,filter_mask_serv:[197,199],filter_space_valu:105,final_bt_statu:174,final_rot:102,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],find_if:172,find_packag:191,findchessboardcorn:188,finder:[163,182],findpackageshar:184,fine:[106,159,185,199],finish:[162,166,192,196],finit:[27,106,141,193,203],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],first_map_onli:91,first_map_only_:91,firstli:22,fit:[106,185,196,201],fix:[100,109,123,158,162,165,177,179,181,182,183,184,188,193,196,202],fixed_fram:[100,202],flag:[9,155,181,184,188,189,191,192],flagship:14,flat:193,flavor:189,fleet:[27,189],flex_dock1:202,flex_dock2:202,flexibl:[14,93,106,169],flicker:98,flip:[118,163,165,178,184],flip_threshold:118,float32:[166,202],flood:18,flow:[1,18,19,21,23,24,81,82,158,170,203],fluidli:106,fly:[163,166,191,203],fn_tol:96,focal:188,focallength:182,focu:[12,18,26,184,201,203],focus:[115,189,190,193],focuscamera:184,folder:[19,155,156,182,188,196],folk:[158,164,191],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],follow_gps_waypoint:[27,166,196],follow_path_error_cod:[20,21,22,23,24,47,77,93],follow_path_error_code_id:186,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],followpathact:[44,49,53,58],followpathrecoveryfallback:[18,94],followwaypoint:[26,165],fondli:14,fool:185,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],footprint_clearing_en:[98,122,125,126],footprint_pad:98,footprint_top:[90,111,112,114,169,187],footprintapproach:90,footprintcost:26,footprintcostatpos:26,forc:[91,106,166,193],forcefulli:155,forese:162,forget:195,forgot:158,fork:[27,101,189],forklift:22,form:[5,41,90,115,166,171,182,183,189],formal:[27,160,190],format:[10,41,89,90,96,106,138,142,155,163,181,182,184,189,196,197,199,203],former:[14,89,90],formerli:[97,165,176],formul:166,formula:199,fortun:181,forward:[0,9,18,27,61,96,100,105,109,110,127,132,142,147,150,151,155,159,166,170,183,185,189,196,201,204],forward_point_dist:[101,144,148],forward_prune_dist:[127,165],forward_sampling_dist:[110,204],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],foundat:174,four:[18,27],foxi:[11,27,168,173],fraction:164,fragment:190,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],frame_id:[26,67,105,122,126,166,172,173,181,197,198,199],frame_nam:182,framework:[0,2,8,14,27,100,113,140,160,165,166,181,185,186,202],francisco:[160,176,193],free:[10,27,98,105,106,123,140,153,156,161,176,181,182,184,185,190,193,195,196,197],free_spac:190,free_thresh:[197,199],free_thresh_default:105,freeli:184,freespac:[21,23,24,185],frequenc:[18,19,89,92,97,98,100,106,108,116,141,142,166,181,193,196],frequent:[142,185,196],fresh:155,friction:2,frictionless:[104,167],friendli:[106,184,189],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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182,184],sphere_inertia:184,spheric:[184,196],spherical_coordin:196,sphinx_doc:176,spike:[141,142,164,202],spin:[11,18,19,21,22,23,24,25,26,27,36,94,152,162,163,164,165,166,169,170,176,189],spin_dist:[18,21,22,23,24,25,26,59,94,170],spin_error_cod:[21,23,59],spin_until_future_complet:202,spinner:11,spinrecoveri:24,spiral:[99,164,185],spite:181,spline:3,split:[162,196],splitter:184,sponsor:[14,100,166,202],spot:[21,23,24,142,159,169],spun:189,squar:[25,38,39,89,90,98,166,188],squash:126,src:[153,154,155,171,181,182,184,189,191,197,199],ssh:[155,156,191],stabil:[159,161,162,163,164,165,166,167],stabl:[102,109,154,155,163,189],stack:[0,3,4,6,7,8,9,11,12,14,15,26,27,83,86,88,97,103,105,108,158,160,161,164,165,172,177,178,182,185,186,191,192,196,203],stage:[27,45,62,98,100,155,167,172,189,202],staging_x_offset:[100,202],staging_yaw_offset:100,stai:[106,121,141,166,178,185,194],stale:[155,163],stall:[100,116,202],stall_effort_threshold:100,stall_joint_nam:100,stall_velocity_threshold:100,stamp:[138,172,173,198],stand:[90,104,164,167],standalon:[119,165,176,190,196,197,199],standard:[2,6,10,91,106,158,182,183,188,196,197,199,202,203],standardtrajectorygener:[101,127],star:[28,178,185],start:[4,5,12,19,20,21,23,24,26,27,42,43,61,89,90,96,100,102,106,109,110,126,141,157,158,160,162,163,164,166,169,171,172,173,174,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,199,200,201,202,203,204],start_controller_server_nod:192,start_costmap_filter_info_server_cmd:199,start_lifecycle_manager_cmd:199,start_map_server_cmd:199,start_sync_slam_toolbox_nod:191,start_time_:174,startup:[5,27,103,153,155,159,162,186,188,189,197,199],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],state_top:[90,165],statement:158,static_lay:[98,118,121,124,171,182,190,196,197,199,200],static_transform_publish:[179,183],staticlay:[98,182,185],station:[27,45,62,100,178,202],statist:[4,9,192],statu:[17,27,158,160,164,167,169,170,189,197,202],status1:184,status:[26,174],std:[64,66,68,88,162,164,166,169,170,172,173,174,191],std_msg:[118,137,166,181],stddev:[181,182,196],stdin:191,steadi:166,steep:115,steeper:115,steer:[96,140,164,182,185,193],step:[19,27,90,92,99,106,142,182,184,189,191,192,193,201],step_siz:26,stereo:[90,188,193],stereolab:193,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,106,160,176,189,191,193],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,198,200],steven:160,sticki:1,still:[18,19,26,103,109,116,121,153,155,156,163,164,165,166,181,182,184,185,189,191,193,196,197],stl:191,stl_vector:191,stochast:106,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],stop_on_failur:[117,161,163],stop_pub_timeout:[90,201],stoppedgoalcheck:[97,176],storag:[155,174],store:[91,98,122,126,155,160,165,171,172,174,182,183,192,196,202],stori:10,str:202,strace:155,strafe_theta:150,strafe_x:150,straight:[141,142,173,184,185,187,189],straightforward:182,strange_tesla:189,strategi:[158,196],stream:164,streamlin:[154,156],stretch:[156,189],strict:189,strictli:[6,142,165],stride:8,string:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,49,50,51,52,53,54,55,56,57,58,59,61,62,63,65,67,76,83,84,89,90,91,92,93,96,97,98,99,100,103,104,105,106,108,110,114,116,117,118,121,122,123,124,125,126,127,137,138,141,142,144,145,148,149,162,165,166,169,170,171,172,173,174,181,186,200,202],strive:[14,158],stroke:[2,180],strongli:27,structur:[6,8,18,27,160,165,166,174,178,183,184,186,196,199,200,203],stuck:[1,18,21,23,24,27,29,30,46,59,73,164,176,185],student:[7,158],studio:156,stutter:185,stvl:205,stvl_layer:[98,200],style:[21,23,24,104,167,185,200],sub:[0,21,23,24,90,164,166,201],subcommand:155,subfield:193,subject:[27,106,181],submit:[13,158,176],suboptim:[106,185,193],subpoli:90,subproject:13,subscrib:[27,44,49,52,53,58,70,71,84,90,91,97,123,125,138,163,166,181,182,189,194,196],subscribe_to_upd:[98,125],subscript:[84,89,90,163,166,174,176,181,186],subsect:[155,182],subsequ:[19,27,91,141,142,155,176,193],subset:192,substanti:[1,106,141,158,161,185],substitut:[93,184,194,197,199],subsystem:102,subtleti:174,subtli:164,subtre:[17,19,21,22,23,24,27,38,39,40,94,170,176],subtreeplu:166,succe:[18,19,80,81,176],succeed:[26,87,164,169,173],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],successfulli:[1,18,27,164,169,174,181,183,184,186,189,194,202],successor:[106,160,165],sudo:[154,159,181,182,184,188,189,192,196,198,200],suffici:[4,18,27,106,142,151,174,190,192,193],suffix:192,suggest:[19,96,106,178,183,184,189],suit:[0,155],suitabl:[96,110,164,176,178,183,185,204],sum:[91,143,144,145,146,148,149,178,184],sum_scor:[143,146],summar:[178,183,185],summer:[5,11],superior:165,suppli:[11,27,83,86,88,93],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,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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. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DockRobot","DriveOnHeading","FollowPath","GetPoseFromPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ProgressCheckerSelector","ReinitializeGlobalLocalization","RemoveInCollisionGoals","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","UndockRobot","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","Docking Server","DWB Controller","Graceful Controller","Lifecycle Manager","Loopback Simulator","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Jazzy to K-Turtle","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Docker for Development: Zero to Hero","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Using Docking Server","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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