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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -209,6 +209,7 @@
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 <li class="toctree-l1"><a class="reference internal" href="../tutorials/index.html">General Tutorials</a><ul>
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@@ -752,6 +753,7 @@
 <li class="toctree-l2"><a class="reference internal" href="../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
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 <li class="toctree-l2"><a class="reference internal" href="../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
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@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../about/index.html#id1">About</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../about/index.html#contact">Contact</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -209,6 +209,7 @@
 </li>
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 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#controller-plugin-selection">Controller Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
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@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -209,6 +209,7 @@
 </li>
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 <li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#controller-plugin-selection">Controller Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
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@@ -969,12 +971,10 @@
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-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
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diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -209,6 +209,7 @@
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 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
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@@ -752,6 +753,7 @@
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 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
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@@ -969,12 +971,10 @@
 </li>
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-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -209,6 +209,7 @@
 </li>
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 <li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
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 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
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@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#contact">Contact</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -209,6 +209,7 @@
 </li>
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+<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
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 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
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@@ -969,12 +971,10 @@
 </li>
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-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -209,6 +209,7 @@
 </li>
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 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
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@@ -752,6 +753,7 @@
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 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
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@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#contact">Contact</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
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diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -209,6 +209,7 @@
 </li>
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+<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
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 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#controller-plugin-selection">Controller Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
 </ul>
@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#contact">Contact</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
 </ul>
 
         </div>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -209,6 +209,7 @@
 </li>
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 </li>
+<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
@@ -752,6 +753,7 @@
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#controller-plugin-selection">Controller Plugin Selection</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
 </ul>
@@ -969,12 +971,10 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../about/ros1_comparison.html">ROS to ROS 2 Navigation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../about/index.html#contact">Contact</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
 </ul>
 
         </div>