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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -366,6 +366,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
 </ul>
@@ -921,6 +922,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>