From 268a386775d4ca683fda394cdc4b49cea2024426 Mon Sep 17 00:00:00 2001
From: navigation2-ci <navigation2-ci@circleci.com>
Date: Fri, 22 Dec 2023 20:59:23 +0000
Subject: [PATCH] [skip ci] publish latest

Signed-off-by: navigation2-ci <navigation2-ci@circleci.com>
---
 .../Summer_2021_Student_Program.html           |  1 +
 2021summerOfCode/projects/assisted_teleop.html |  1 +
 .../create_configuration_assistant.html        |  1 +
 2021summerOfCode/projects/create_plugins.html  |  1 +
 2021summerOfCode/projects/dynamic.html         |  1 +
 2021summerOfCode/projects/grid_maps.html       |  1 +
 2021summerOfCode/projects/localization.html    |  1 +
 2021summerOfCode/projects/multithreading.html  |  1 +
 .../projects/navigation_rebranding.html        |  1 +
 2021summerOfCode/projects/safety_node.html     |  1 +
 2021summerOfCode/projects/semantics.html       |  1 +
 2021summerOfCode/projects/spinners.html        |  1 +
 2021summerOfCode/projects/testing.html         |  1 +
 2021summerOfCode/projects/twist_n_config.html  |  1 +
 ...configuring-collision-detector-node.rst.txt |  6 +++---
 .../configuring-collision-monitor-node.rst.txt |  8 ++++----
 _sources/migration/Iron.rst.txt                | 18 ++++++++++++++++++
 .../docs/using_collision_monitor.rst.txt       |  8 ++++----
 about/index.html                               |  1 +
 about/related_projects.html                    |  1 +
 about/robots.html                              |  1 +
 about/ros1_comparison.html                     |  1 +
 behavior_trees/index.html                      |  1 +
 .../detailed_behavior_tree_walkthrough.html    |  1 +
 .../overview/nav2_specific_nodes.html          |  1 +
 behavior_trees/trees/follow_point.html         |  1 +
 .../trees/nav_through_poses_recovery.html      |  1 +
 ...v_to_pose_and_pause_near_goal_obstacle.html |  1 +
 behavior_trees/trees/nav_to_pose_recovery.html |  1 +
 ...replanning_and_if_path_becomes_invalid.html |  1 +
 behavior_trees/trees/odometry_calibration.html |  1 +
 commander_api/index.html                       |  1 +
 concepts/index.html                            |  1 +
 configuration/index.html                       |  1 +
 .../bt-plugins/actions/AssistedTeleop.html     |  1 +
 .../packages/bt-plugins/actions/BackUp.html    |  1 +
 .../actions/CancelAssistedTeleop.html          |  1 +
 .../bt-plugins/actions/CancelBackUp.html       |  1 +
 .../bt-plugins/actions/CancelControl.html      |  1 +
 .../bt-plugins/actions/CancelCoverage.html     |  1 +
 .../actions/CancelDriveOnHeading.html          |  1 +
 .../bt-plugins/actions/CancelSpin.html         |  1 +
 .../bt-plugins/actions/CancelWait.html         |  1 +
 .../actions/ClearCostmapAroundRobot.html       |  1 +
 .../actions/ClearCostmapExceptRegion.html      |  1 +
 .../bt-plugins/actions/ClearEntireCostmap.html |  1 +
 .../actions/ComputeCoveragePath.html           |  1 +
 .../actions/ComputePathThroughPoses.html       |  1 +
 .../bt-plugins/actions/ComputePathToPose.html  |  1 +
 .../bt-plugins/actions/ControllerSelector.html |  1 +
 .../bt-plugins/actions/DriveOnHeading.html     |  1 +
 .../bt-plugins/actions/FollowPath.html         |  1 +
 .../actions/GoalCheckerSelector.html           |  1 +
 .../actions/NavigateThroughPoses.html          |  1 +
 .../bt-plugins/actions/NavigateToPose.html     |  1 +
 .../bt-plugins/actions/PlannerSelector.html    |  1 +
 .../ReinitializeGlobalLocalization.html        |  1 +
 .../bt-plugins/actions/RemovePassedGoals.html  |  1 +
 .../packages/bt-plugins/actions/Smooth.html    |  1 +
 .../bt-plugins/actions/SmootherSelector.html   |  1 +
 .../packages/bt-plugins/actions/Spin.html      |  1 +
 .../bt-plugins/actions/TruncatePath.html       |  1 +
 .../bt-plugins/actions/TruncatePathLocal.html  |  1 +
 .../packages/bt-plugins/actions/Wait.html      |  1 +
 .../conditions/AreErrorCodesPresent.html       |  1 +
 .../conditions/DistanceTraveled.html           |  1 +
 .../conditions/GloballyUpdatedGoal.html        |  1 +
 .../bt-plugins/conditions/GoalReached.html     |  1 +
 .../bt-plugins/conditions/GoalUpdated.html     |  1 +
 .../conditions/InitialPoseReceived.html        |  1 +
 .../conditions/IsBatteryCharging.html          |  1 +
 .../bt-plugins/conditions/IsBatteryLow.html    |  1 +
 .../bt-plugins/conditions/IsPathValid.html     |  1 +
 .../bt-plugins/conditions/IsStuck.html         |  1 +
 .../conditions/PathExpiringTimer.html          |  1 +
 .../bt-plugins/conditions/TimeExpired.html     |  1 +
 .../conditions/TransformAvailable.html         |  1 +
 .../WouldAControllerRecoveryHelp.html          |  1 +
 .../conditions/WouldAPlannerRecoveryHelp.html  |  1 +
 .../conditions/WouldASmootherRecoveryHelp.html |  1 +
 .../bt-plugins/controls/PipelineSequence.html  |  1 +
 .../bt-plugins/controls/RecoveryNode.html      |  1 +
 .../bt-plugins/controls/RoundRobin.html        |  1 +
 .../decorators/DistanceController.html         |  1 +
 .../bt-plugins/decorators/GoalUpdater.html     |  1 +
 .../decorators/PathLongerOnApproach.html       |  1 +
 .../bt-plugins/decorators/RateController.html  |  1 +
 .../bt-plugins/decorators/SingleTrigger.html   |  1 +
 .../bt-plugins/decorators/SpeedController.html |  1 +
 .../configuring-collision-detector-node.html   |  7 ++++---
 .../configuring-collision-monitor-node.html    |  9 +++++----
 configuration/packages/configuring-amcl.html   |  1 +
 .../packages/configuring-behavior-server.html  |  1 +
 .../packages/configuring-bt-navigator.html     |  1 +
 configuration/packages/configuring-bt-xml.html |  1 +
 .../configuring-collision-monitor.html         |  1 +
 .../configuring-constrained-smoother.html      |  1 +
 .../configuring-controller-server.html         |  1 +
 .../packages/configuring-costmaps.html         |  1 +
 .../packages/configuring-coverage-server.html  |  1 +
 .../packages/configuring-dwb-controller.html   |  1 +
 .../packages/configuring-lifecycle.html        |  1 +
 .../packages/configuring-map-server.html       |  1 +
 configuration/packages/configuring-mppic.html  |  1 +
 configuration/packages/configuring-navfn.html  |  1 +
 .../packages/configuring-planner-server.html   |  1 +
 .../packages/configuring-regulated-pp.html     |  1 +
 .../configuring-rotation-shim-controller.html  |  1 +
 .../configuring-savitzky-golay-smoother.html   |  1 +
 .../packages/configuring-simple-smoother.html  |  1 +
 .../packages/configuring-smac-planner.html     |  1 +
 .../packages/configuring-smoother-server.html  |  1 +
 .../packages/configuring-thetastar.html        |  1 +
 .../configuring-velocity-smoother.html         |  1 +
 .../configuring-waypoint-follower.html         |  1 +
 .../costmap-plugins/binary_filter.html         |  1 +
 .../packages/costmap-plugins/denoise.html      |  1 +
 .../packages/costmap-plugins/inflation.html    |  1 +
 .../costmap-plugins/keepout_filter.html        |  1 +
 .../packages/costmap-plugins/obstacle.html     |  1 +
 .../packages/costmap-plugins/range.html        |  1 +
 .../packages/costmap-plugins/speed_filter.html |  1 +
 .../packages/costmap-plugins/static.html       |  1 +
 .../packages/costmap-plugins/voxel.html        |  1 +
 .../packages/dwb-params/controller.html        |  1 +
 .../packages/dwb-params/iterator.html          |  1 +
 .../packages/dwb-params/kinematic.html         |  1 +
 .../packages/dwb-params/visualization.html     |  1 +
 .../dwb-plugins/limited_accel_generator.html   |  1 +
 .../dwb-plugins/standard_traj_generator.html   |  1 +
 .../pose_progress_checker.html                 |  1 +
 .../simple_goal_checker.html                   |  1 +
 .../simple_progress_checker.html               |  1 +
 .../stopped_goal_checker.html                  |  1 +
 .../input_at_waypoint.html                     |  1 +
 .../photo_at_waypoint.html                     |  1 +
 .../wait_at_waypoint.html                      |  1 +
 .../packages/smac/configuring-smac-2d.html     |  1 +
 .../packages/smac/configuring-smac-hybrid.html |  1 +
 .../smac/configuring-smac-lattice.html         |  1 +
 .../trajectory_critics/base_obstacle.html      |  1 +
 .../trajectory_critics/goal_align.html         |  1 +
 .../packages/trajectory_critics/goal_dist.html |  1 +
 .../trajectory_critics/obstacle_footprint.html |  1 +
 .../trajectory_critics/oscillation.html        |  1 +
 .../trajectory_critics/path_align.html         |  1 +
 .../packages/trajectory_critics/path_dist.html |  1 +
 .../trajectory_critics/prefer_forward.html     |  1 +
 .../trajectory_critics/rotate_to_goal.html     |  1 +
 .../packages/trajectory_critics/twirling.html  |  1 +
 .../build_troubleshooting_guide.html           |  1 +
 development_guides/build_docs/index.html       |  1 +
 .../devcontainer_docs/devcontainer_guide.html  |  1 +
 .../devcontainer_docs/index.html               |  1 +
 development_guides/index.html                  |  1 +
 development_guides/involvement_docs/index.html |  1 +
 genindex.html                                  |  1 +
 getting_started/index.html                     |  1 +
 index.html                                     |  1 +
 migration/Dashing.html                         |  1 +
 migration/Eloquent.html                        |  1 +
 migration/Foxy.html                            |  1 +
 migration/Galactic.html                        |  1 +
 migration/Humble.html                          |  1 +
 migration/Iron.html                            | 15 +++++++++++++++
 migration/index.html                           |  1 +
 .../docs/writing_new_behavior_plugin.html      |  1 +
 .../docs/writing_new_bt_plugin.html            |  1 +
 .../docs/writing_new_costmap2d_plugin.html     |  1 +
 .../writing_new_nav2controller_plugin.html     |  1 +
 .../docs/writing_new_nav2planner_plugin.html   |  1 +
 .../docs/writing_new_navigator_plugin.html     |  1 +
 plugin_tutorials/index.html                    |  1 +
 plugins/index.html                             |  1 +
 roadmap/roadmap.html                           |  1 +
 search.html                                    |  1 +
 searchindex.js                                 |  2 +-
 setup_guides/algorithm/select_algorithm.html   |  1 +
 setup_guides/footprint/setup_footprint.html    |  1 +
 setup_guides/index.html                        |  1 +
 setup_guides/odom/setup_odom.html              |  1 +
 setup_guides/sensors/setup_sensors.html        |  1 +
 .../transformation/setup_transforms.html       |  1 +
 setup_guides/urdf/setup_urdf.html              |  1 +
 tuning/index.html                              |  1 +
 tutorials/docs/adding_a_nav2_task_server.html  |  1 +
 tutorials/docs/adding_smoother.html            |  1 +
 tutorials/docs/camera_calibration.html         |  1 +
 .../filtering_of_noise-induced_obstacles.html  |  1 +
 tutorials/docs/get_backtrace.html              |  1 +
 tutorials/docs/get_profile.html                |  1 +
 tutorials/docs/integrating_vio.html            |  1 +
 .../navigation2_dynamic_point_following.html   |  1 +
 .../docs/navigation2_on_real_turtlebot3.html   |  1 +
 tutorials/docs/navigation2_with_gps.html       |  1 +
 .../docs/navigation2_with_keepout_filter.html  |  1 +
 tutorials/docs/navigation2_with_slam.html      |  1 +
 .../docs/navigation2_with_speed_filter.html    |  1 +
 tutorials/docs/navigation2_with_stvl.html      |  1 +
 tutorials/docs/using_collision_monitor.html    |  9 +++++----
 tutorials/docs/using_groot.html                |  1 +
 tutorials/docs/using_shim_controller.html      |  1 +
 tutorials/index.html                           |  1 +
 203 files changed, 253 insertions(+), 23 deletions(-)

diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
index 73721d5f4..6edfb5788 100644
--- a/2021summerOfCode/Summer_2021_Student_Program.html
+++ b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
index 68cf4d7aa..842c337f2 100644
--- a/2021summerOfCode/projects/assisted_teleop.html
+++ b/2021summerOfCode/projects/assisted_teleop.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
index d5510198b..63769f396 100644
--- a/2021summerOfCode/projects/create_configuration_assistant.html
+++ b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
index f57810af9..803bf1573 100644
--- a/2021summerOfCode/projects/create_plugins.html
+++ b/2021summerOfCode/projects/create_plugins.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
index 4b657f7e9..bebe39b4f 100644
--- a/2021summerOfCode/projects/dynamic.html
+++ b/2021summerOfCode/projects/dynamic.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
index 1eae249bd..8f42ad961 100644
--- a/2021summerOfCode/projects/grid_maps.html
+++ b/2021summerOfCode/projects/grid_maps.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
index 445922655..a2591ae6c 100644
--- a/2021summerOfCode/projects/localization.html
+++ b/2021summerOfCode/projects/localization.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
index e25b8976b..0768d1b88 100644
--- a/2021summerOfCode/projects/multithreading.html
+++ b/2021summerOfCode/projects/multithreading.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
index a4423eb7b..cce244e4c 100644
--- a/2021summerOfCode/projects/navigation_rebranding.html
+++ b/2021summerOfCode/projects/navigation_rebranding.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
index 76305c844..f6aecea5a 100644
--- a/2021summerOfCode/projects/safety_node.html
+++ b/2021summerOfCode/projects/safety_node.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
index 1c446e505..f76704a64 100644
--- a/2021summerOfCode/projects/semantics.html
+++ b/2021summerOfCode/projects/semantics.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
index 223b09ad2..68615bcca 100644
--- a/2021summerOfCode/projects/spinners.html
+++ b/2021summerOfCode/projects/spinners.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
index e79278d5c..002e20730 100644
--- a/2021summerOfCode/projects/testing.html
+++ b/2021summerOfCode/projects/testing.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
index a34313ba1..9fd7953de 100644
--- a/2021summerOfCode/projects/twist_n_config.html
+++ b/2021summerOfCode/projects/twist_n_config.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt b/_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt
index c8891989e..e982a1dbe 100644
--- a/_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt
+++ b/_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt
@@ -132,11 +132,11 @@ Polygons parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  vector<double> N/A
+  string         N/A
   ============== =============================
 
   Description:
-    Polygon vertexes, listed in ``{p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, ...}`` format (e.g. ``{0.5, 0.25, 0.5, -0.25, 0.0, -0.25, 0.0, 0.25}`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to ``polygon_sub_topic``
+    Polygon vertexes, listed in ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y], ...]"`` format (e.g. ``"[[0.5, 0.25], [0.5, -0.25], [0.0, -0.25], [0.0, 0.25]]"`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to ``polygon_sub_topic``
 
 :``<polygon_name>``.polygon_sub_topic:
 
@@ -314,7 +314,7 @@ Here is an example of configuration YAML for the Collision Detector.
         polygons: ["PolygonFront"]
         PolygonFront:
           type: "polygon"
-          points: [0.3, 0.3, 0.3, -0.3, 0.0, -0.3, 0.0, 0.3]
+          points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
           action_type: "none"
           min_points: 4
           visualize: True
diff --git a/_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt b/_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt
index ed8a6fd38..7dd4ba918 100644
--- a/_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt
+++ b/_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt
@@ -215,11 +215,11 @@ Polygons parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  vector<double> N/A
+  string         N/A
   ============== =============================
 
   Description:
-    Polygon vertexes, listed in ``{p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, ...}`` format (e.g. ``{0.5, 0.25, 0.5, -0.25, 0.0, -0.25, 0.0, 0.25}`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to ``polygon_sub_topic`` for points in the ``stop``/``slowdown``/``limit`` action types, or footprint subscriber to ``footprint_topic`` for ``approach`` action type.
+    Polygon vertexes, listed in ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y], ...]"`` format (e.g. ``"[[0.5, 0.25], [0.5, -0.25], [0.0, -0.25], [0.0, 0.25]]"`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to ``polygon_sub_topic`` for points in the ``stop``/``slowdown``/``limit`` action types, or footprint subscriber to ``footprint_topic`` for ``approach`` action type.
 
 :``<polygon_name>``.polygon_sub_topic:
 
@@ -477,7 +477,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           enabled: True
         PolygonSlow:
           type: "polygon"
-          points: [1.0, 1.0, 1.0, -1.0, -0.5, -1.0, -0.5, 1.0]
+          points: "[[1.0, 1.0], [1.0, -1.0], [-0.5, -1.0], [-0.5, 1.0]]"
           action_type: "slowdown"
           min_points: 4  # max_points: 3 for Humble
           slowdown_ratio: 0.3
@@ -486,7 +486,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           enabled: True
         PolygonLimit:
           type: "polygon"
-          points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
+          points: "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"
           action_type: "limit"
           min_points: 4  # max_points: 3 for Humble
           linear_limit: 0.4
diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt
index 3e085d09b..8016f1228 100644
--- a/_sources/migration/Iron.rst.txt
+++ b/_sources/migration/Iron.rst.txt
@@ -5,6 +5,24 @@ Iron to Jazzy
 
 Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here.
 
+Change polygon points parameter format in Collision Monitor
+***********************************************************
+
+`PR #4020 <https://github.com/ros-planning/navigation2/pull/4020>`_ changes the format of the Polygon points parameter from ``vector<double>`` to ``string``. This makes the polygon description more uniform accross the Collision Monitor and Costmap_2D.
+Now we can define a polygon's points in string that has a ``vector<vector<double>>`` structure like this ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y],...]"`` with a minimum of 4 points described. An example of a Square polygon will be written as follows.
+
+
+.. code-block:: yaml
+
+    PolygonFront:
+      type: "polygon"
+      points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
+      action_type: "none"
+      min_points: 4
+      visualize: True
+      polygon_pub_topic: "polygon_front"
+
+
 Introduction of Soft-Real Time Action Servers
 *********************************************
 
diff --git a/_sources/tutorials/docs/using_collision_monitor.rst.txt b/_sources/tutorials/docs/using_collision_monitor.rst.txt
index 24516a1cb..852061a6d 100644
--- a/_sources/tutorials/docs/using_collision_monitor.rst.txt
+++ b/_sources/tutorials/docs/using_collision_monitor.rst.txt
@@ -41,14 +41,14 @@ For this setup, the following lines should be added into ``collision_monitor_par
     polygons: ["PolygonStop", "PolygonSlow"]
     PolygonStop:
       type: "polygon"
-      points: [0.4, 0.3, 0.4, -0.3, 0.0, -0.3, 0.0, 0.3]
+      points: "[[0.4, 0.3], [0.4, -0.3], [0.0, -0.3], [0.0, 0.3]]"
       action_type: "stop"
       min_points: 4  # max_points: 3 for Humble
       visualize: True
       polygon_pub_topic: "polygon_stop"
     PolygonSlow:
       type: "polygon"
-      points: [0.6, 0.4, 0.6, -0.4, 0.0, -0.4, 0.0, 0.4]
+      points: "[[0.6, 0.4], [0.6, -0.4], [0.0, -0.4], [0.0, 0.4]]"
       action_type: "slowdown"
       min_points: 4  # max_points: 3 for Humble
       slowdown_ratio: 0.3
@@ -89,14 +89,14 @@ The whole ``nav2_collision_monitor/params/collision_monitor_params.yaml`` file i
         polygons: ["PolygonStop", "PolygonSlow"]
         PolygonStop:
           type: "polygon"
-          points: [0.4, 0.3, 0.4, -0.3, 0.0, -0.3, 0.0, 0.3]
+          points: "[[0.4, 0.3], [0.4, -0.3], [0.0, -0.3], [0.0, 0.3]]"
           action_type: "stop"
           min_points: 4  # max_points: 3 for Humble
           visualize: True
           polygon_pub_topic: "polygon_stop"
         PolygonSlow:
           type: "polygon"
-          points: [0.6, 0.4, 0.6, -0.4, 0.0, -0.4, 0.0, 0.4]
+          points: "[[0.6, 0.4], [0.6, -0.4], [0.0, -0.4], [0.0, 0.4]]"
           action_type: "slowdown"
           min_points: 4  # max_points: 3 for Humble
           slowdown_ratio: 0.3
diff --git a/about/index.html b/about/index.html
index f5f06886d..6ae49fdc4 100644
--- a/about/index.html
+++ b/about/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/about/related_projects.html b/about/related_projects.html
index 14c2f84a0..4601a292a 100644
--- a/about/related_projects.html
+++ b/about/related_projects.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/about/robots.html b/about/robots.html
index acebfd7f3..38e1c0efc 100644
--- a/about/robots.html
+++ b/about/robots.html
@@ -919,6 +919,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/about/ros1_comparison.html b/about/ros1_comparison.html
index b72a7b08d..8ae73f2a0 100644
--- a/about/ros1_comparison.html
+++ b/about/ros1_comparison.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/index.html b/behavior_trees/index.html
index 636f1d220..6c70fcde9 100644
--- a/behavior_trees/index.html
+++ b/behavior_trees/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
index ad32ab7d8..86d4530c4 100644
--- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
+++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
index eed4fae02..49f3486e1 100644
--- a/behavior_trees/overview/nav2_specific_nodes.html
+++ b/behavior_trees/overview/nav2_specific_nodes.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
index 22870b96d..7ce9ed81c 100644
--- a/behavior_trees/trees/follow_point.html
+++ b/behavior_trees/trees/follow_point.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
index 0d7faa40c..f86bcea59 100644
--- a/behavior_trees/trees/nav_through_poses_recovery.html
+++ b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
index 6d105fe56..c2f48fc67 100644
--- a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
+++ b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
index aa04e550b..dcb90c2f6 100644
--- a/behavior_trees/trees/nav_to_pose_recovery.html
+++ b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
index 27fb76fad..f3bf7b265 100644
--- a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
+++ b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html
index 5a96b657b..14303bfc4 100644
--- a/behavior_trees/trees/odometry_calibration.html
+++ b/behavior_trees/trees/odometry_calibration.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/commander_api/index.html b/commander_api/index.html
index cc38acd08..171048024 100644
--- a/commander_api/index.html
+++ b/commander_api/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/concepts/index.html b/concepts/index.html
index 645eb26e3..d480afaf2 100644
--- a/concepts/index.html
+++ b/concepts/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/index.html b/configuration/index.html
index c2ba85630..1d2353e65 100644
--- a/configuration/index.html
+++ b/configuration/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index 3614c7da2..f2921415c 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html
index 62b91872b..ec187c3d8 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.html
+++ b/configuration/packages/bt-plugins/actions/BackUp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
index 220c6ceec..2216300cc 100644
--- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html
index e0756cfcb..03202de6f 100644
--- a/configuration/packages/bt-plugins/actions/CancelBackUp.html
+++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html
index 08404af31..7545bdcc6 100644
--- a/configuration/packages/bt-plugins/actions/CancelControl.html
+++ b/configuration/packages/bt-plugins/actions/CancelControl.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelCoverage.html b/configuration/packages/bt-plugins/actions/CancelCoverage.html
index c32c8b48f..1284be345 100644
--- a/configuration/packages/bt-plugins/actions/CancelCoverage.html
+++ b/configuration/packages/bt-plugins/actions/CancelCoverage.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
index a3ae4fa6c..dfe9f2245 100644
--- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html
index 366de8fa0..0ad26d71b 100644
--- a/configuration/packages/bt-plugins/actions/CancelSpin.html
+++ b/configuration/packages/bt-plugins/actions/CancelSpin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html
index 2f49aa6db..8bbee8386 100644
--- a/configuration/packages/bt-plugins/actions/CancelWait.html
+++ b/configuration/packages/bt-plugins/actions/CancelWait.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
index e0e0a2dbc..0fe646508 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
index c25fbdb13..5d67c0dd0 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
index 7ed31e7c6..3ff917033 100644
--- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
+++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
index 9d27a617f..4c6d6b1a5 100644
--- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
+++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index 38f56345c..bdda4ebf3 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index daac48bab..c7409b1bc 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html
index 8f28de155..b69f90cd2 100644
--- a/configuration/packages/bt-plugins/actions/ControllerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
index b7c71c4dd..71e092336 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html
index 16f282061..1b0b18b25 100644
--- a/configuration/packages/bt-plugins/actions/FollowPath.html
+++ b/configuration/packages/bt-plugins/actions/FollowPath.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
index bfe78858d..ce6446ec3 100644
--- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index 66eebfc42..cff4bc795 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html
index 50eed811d..e4a484f4e 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.html
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html
index aab0e5552..f38ccbefb 100644
--- a/configuration/packages/bt-plugins/actions/PlannerSelector.html
+++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
index 101b7365e..295272495 100644
--- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
+++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
index b4f08f403..310029dab 100644
--- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
+++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html
index 560d94ee6..379b0acbc 100644
--- a/configuration/packages/bt-plugins/actions/Smooth.html
+++ b/configuration/packages/bt-plugins/actions/Smooth.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html
index ee09a583d..b9cdaed34 100644
--- a/configuration/packages/bt-plugins/actions/SmootherSelector.html
+++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html
index c8d9045b3..779f97cbd 100644
--- a/configuration/packages/bt-plugins/actions/Spin.html
+++ b/configuration/packages/bt-plugins/actions/Spin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html
index 5c054fa4a..07bcecaa5 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePath.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePath.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
index d63645f5c..70b245f99 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html
index 1442d6ff0..0c8d42973 100644
--- a/configuration/packages/bt-plugins/actions/Wait.html
+++ b/configuration/packages/bt-plugins/actions/Wait.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
index b8bae6788..9d2d20bf5 100644
--- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
+++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
index 58076102a..3206c2641 100644
--- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
+++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
index 230e369bb..1830b1433 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html
index 1eb506c93..94ebb5e68 100644
--- a/configuration/packages/bt-plugins/conditions/GoalReached.html
+++ b/configuration/packages/bt-plugins/conditions/GoalReached.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
index e31110739..9a1f2698c 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
index e3e622fd3..31c84d478 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
index 6bf687a25..2d3144c03 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
index 7595e544e..4aced5c5d 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html
index 007f71c6c..1dc10bf87 100644
--- a/configuration/packages/bt-plugins/conditions/IsPathValid.html
+++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html
index b4b305b1f..3d9fc21dd 100644
--- a/configuration/packages/bt-plugins/conditions/IsStuck.html
+++ b/configuration/packages/bt-plugins/conditions/IsStuck.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
index e57a7876b..d7b4d4bc9 100644
--- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
+++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html
index 1db4d9ee5..74cb2f328 100644
--- a/configuration/packages/bt-plugins/conditions/TimeExpired.html
+++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
index e40a7d2f7..9db208895 100644
--- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html
+++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
index 16b095e47..8a7dde83e 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
index 665bbe8ee..85784bc3d 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
index b78151212..ccf8f951f 100644
--- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html
index f52062185..07570ff03 100644
--- a/configuration/packages/bt-plugins/controls/PipelineSequence.html
+++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html
index e2f922881..6c560348f 100644
--- a/configuration/packages/bt-plugins/controls/RecoveryNode.html
+++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html
index 1a94df6cc..25cb0987e 100644
--- a/configuration/packages/bt-plugins/controls/RoundRobin.html
+++ b/configuration/packages/bt-plugins/controls/RoundRobin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html
index d2524aedb..99b28fb65 100644
--- a/configuration/packages/bt-plugins/decorators/DistanceController.html
+++ b/configuration/packages/bt-plugins/decorators/DistanceController.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
index 886add6d2..bed4c726e 100644
--- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html
+++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
index f3ef7f25c..d079b5a13 100644
--- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
+++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html
index b841877a4..f016a21a6 100644
--- a/configuration/packages/bt-plugins/decorators/RateController.html
+++ b/configuration/packages/bt-plugins/decorators/RateController.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
index 64cf3992a..33c4aafda 100644
--- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html
+++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
index bcd708532..3d5718020 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.html
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
index 6c1e4f9c4..fe27451fc 100644
--- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
@@ -1217,13 +1218,13 @@ <h3>Polygons parameters<a class="headerlink" href="#polygons-parameters" title="
 <tr class="row-odd"><td><p>Type</p></td>
 <td><p>Default</p></td>
 </tr>
-<tr class="row-even"><td><p>vector&lt;double&gt;</p></td>
+<tr class="row-even"><td><p>string</p></td>
 <td><p>N/A</p></td>
 </tr>
 </tbody>
 </table>
 <dl class="simple">
-<dt>Description:</dt><dd><p>Polygon vertexes, listed in <code class="docutils literal notranslate"><span class="pre">{p1.x,</span> <span class="pre">p1.y,</span> <span class="pre">p2.x,</span> <span class="pre">p2.y,</span> <span class="pre">p3.x,</span> <span class="pre">p3.y,</span> <span class="pre">...}</span></code> format (e.g. <code class="docutils literal notranslate"><span class="pre">{0.5,</span> <span class="pre">0.25,</span> <span class="pre">0.5,</span> <span class="pre">-0.25,</span> <span class="pre">0.0,</span> <span class="pre">-0.25,</span> <span class="pre">0.0,</span> <span class="pre">0.25}</span></code> for the square in the front). Used for <code class="docutils literal notranslate"><span class="pre">polygon</span></code> type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to <code class="docutils literal notranslate"><span class="pre">polygon_sub_topic</span></code></p>
+<dt>Description:</dt><dd><p>Polygon vertexes, listed in <code class="docutils literal notranslate"><span class="pre">&quot;[[p1.x,</span> <span class="pre">p1.y],</span> <span class="pre">[p2.x,</span> <span class="pre">p2.y],</span> <span class="pre">[p3.x,</span> <span class="pre">p3.y],</span> <span class="pre">...]&quot;</span></code> format (e.g. <code class="docutils literal notranslate"><span class="pre">&quot;[[0.5,</span> <span class="pre">0.25],</span> <span class="pre">[0.5,</span> <span class="pre">-0.25],</span> <span class="pre">[0.0,</span> <span class="pre">-0.25],</span> <span class="pre">[0.0,</span> <span class="pre">0.25]]&quot;</span></code> for the square in the front). Used for <code class="docutils literal notranslate"><span class="pre">polygon</span></code> type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to <code class="docutils literal notranslate"><span class="pre">polygon_sub_topic</span></code></p>
 </dd>
 </dl>
 </dd>
@@ -1529,7 +1530,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">    </span><span class="nt">polygons</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;PolygonFront&quot;</span><span class="p p-Indicator">]</span>
 <span class="w">    </span><span class="nt">PolygonFront</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">]</span>
+<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.3,</span><span class="nv"> </span><span class="s">0.3],</span><span class="nv"> </span><span class="s">[0.3,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.3]]&quot;</span>
 <span class="w">      </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;none&quot;</span>
 <span class="w">      </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
 <span class="w">      </span><span class="nt">visualize</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
index c12582e42..829eeb306 100644
--- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
@@ -1330,13 +1331,13 @@ <h3>Polygons parameters<a class="headerlink" href="#polygons-parameters" title="
 <tr class="row-odd"><td><p>Type</p></td>
 <td><p>Default</p></td>
 </tr>
-<tr class="row-even"><td><p>vector&lt;double&gt;</p></td>
+<tr class="row-even"><td><p>string</p></td>
 <td><p>N/A</p></td>
 </tr>
 </tbody>
 </table>
 <dl class="simple">
-<dt>Description:</dt><dd><p>Polygon vertexes, listed in <code class="docutils literal notranslate"><span class="pre">{p1.x,</span> <span class="pre">p1.y,</span> <span class="pre">p2.x,</span> <span class="pre">p2.y,</span> <span class="pre">p3.x,</span> <span class="pre">p3.y,</span> <span class="pre">...}</span></code> format (e.g. <code class="docutils literal notranslate"><span class="pre">{0.5,</span> <span class="pre">0.25,</span> <span class="pre">0.5,</span> <span class="pre">-0.25,</span> <span class="pre">0.0,</span> <span class="pre">-0.25,</span> <span class="pre">0.0,</span> <span class="pre">0.25}</span></code> for the square in the front). Used for <code class="docutils literal notranslate"><span class="pre">polygon</span></code> type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to <code class="docutils literal notranslate"><span class="pre">polygon_sub_topic</span></code> for points in the <code class="docutils literal notranslate"><span class="pre">stop</span></code>/<code class="docutils literal notranslate"><span class="pre">slowdown</span></code>/<code class="docutils literal notranslate"><span class="pre">limit</span></code> action types, or footprint subscriber to <code class="docutils literal notranslate"><span class="pre">footprint_topic</span></code> for <code class="docutils literal notranslate"><span class="pre">approach</span></code> action type.</p>
+<dt>Description:</dt><dd><p>Polygon vertexes, listed in <code class="docutils literal notranslate"><span class="pre">&quot;[[p1.x,</span> <span class="pre">p1.y],</span> <span class="pre">[p2.x,</span> <span class="pre">p2.y],</span> <span class="pre">[p3.x,</span> <span class="pre">p3.y],</span> <span class="pre">...]&quot;</span></code> format (e.g. <code class="docutils literal notranslate"><span class="pre">&quot;[[0.5,</span> <span class="pre">0.25],</span> <span class="pre">[0.5,</span> <span class="pre">-0.25],</span> <span class="pre">[0.0,</span> <span class="pre">-0.25],</span> <span class="pre">[0.0,</span> <span class="pre">0.25]]&quot;</span></code> for the square in the front). Used for <code class="docutils literal notranslate"><span class="pre">polygon</span></code> type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to <code class="docutils literal notranslate"><span class="pre">polygon_sub_topic</span></code> for points in the <code class="docutils literal notranslate"><span class="pre">stop</span></code>/<code class="docutils literal notranslate"><span class="pre">slowdown</span></code>/<code class="docutils literal notranslate"><span class="pre">limit</span></code> action types, or footprint subscriber to <code class="docutils literal notranslate"><span class="pre">footprint_topic</span></code> for <code class="docutils literal notranslate"><span class="pre">approach</span></code> action type.</p>
 </dd>
 </dl>
 </dd>
@@ -1775,7 +1776,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">      </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
 <span class="w">    </span><span class="nt">PolygonSlow</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">1.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">1.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">1.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-1.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-1.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">1.0</span><span class="p p-Indicator">]</span>
+<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[1.0,</span><span class="nv"> </span><span class="s">1.0],</span><span class="nv"> </span><span class="s">[1.0,</span><span class="nv"> </span><span class="s">-1.0],</span><span class="nv"> </span><span class="s">[-0.5,</span><span class="nv"> </span><span class="s">-1.0],</span><span class="nv"> </span><span class="s">[-0.5,</span><span class="nv"> </span><span class="s">1.0]]&quot;</span>
 <span class="w">      </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;slowdown&quot;</span>
 <span class="w">      </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">      </span><span class="nt">slowdown_ratio</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
@@ -1784,7 +1785,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">      </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
 <span class="w">    </span><span class="nt">PolygonLimit</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.5</span><span class="p p-Indicator">]</span>
+<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.5,</span><span class="nv"> </span><span class="s">0.5],</span><span class="nv"> </span><span class="s">[0.5,</span><span class="nv"> </span><span class="s">-0.5],</span><span class="nv"> </span><span class="s">[-0.5,</span><span class="nv"> </span><span class="s">-0.5],</span><span class="nv"> </span><span class="s">[-0.5,</span><span class="nv"> </span><span class="s">0.5]]&quot;</span>
 <span class="w">      </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;limit&quot;</span>
 <span class="w">      </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">      </span><span class="nt">linear_limit</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.4</span>
diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html
index 2b55655f9..e4820eb3c 100644
--- a/configuration/packages/configuring-amcl.html
+++ b/configuration/packages/configuring-amcl.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index f8812f0b6..9796f0d37 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index 460696b9d..f33113e65 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html
index bad387835..d00dca79f 100644
--- a/configuration/packages/configuring-bt-xml.html
+++ b/configuration/packages/configuring-bt-xml.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html
index 090a3badf..4c4bcedfb 100644
--- a/configuration/packages/configuring-collision-monitor.html
+++ b/configuration/packages/configuring-collision-monitor.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html
index 28319dc75..6c8f45163 100644
--- a/configuration/packages/configuring-constrained-smoother.html
+++ b/configuration/packages/configuring-constrained-smoother.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html
index 999329934..896fd35a3 100644
--- a/configuration/packages/configuring-controller-server.html
+++ b/configuration/packages/configuring-controller-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html
index 1b9e97418..aa59d36fa 100644
--- a/configuration/packages/configuring-costmaps.html
+++ b/configuration/packages/configuring-costmaps.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html
index 78e4bf8f8..2d4c21e1f 100644
--- a/configuration/packages/configuring-coverage-server.html
+++ b/configuration/packages/configuring-coverage-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html
index 21dd9f0b5..5a97d42d5 100644
--- a/configuration/packages/configuring-dwb-controller.html
+++ b/configuration/packages/configuring-dwb-controller.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html
index ece084687..09fd64b52 100644
--- a/configuration/packages/configuring-lifecycle.html
+++ b/configuration/packages/configuring-lifecycle.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html
index 3de66f479..7ac7a14df 100644
--- a/configuration/packages/configuring-map-server.html
+++ b/configuration/packages/configuring-map-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html
index 35797551e..78887f8a6 100644
--- a/configuration/packages/configuring-mppic.html
+++ b/configuration/packages/configuring-mppic.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html
index 246738109..048ea2ec6 100644
--- a/configuration/packages/configuring-navfn.html
+++ b/configuration/packages/configuring-navfn.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html
index 394a27c5c..1184a119e 100644
--- a/configuration/packages/configuring-planner-server.html
+++ b/configuration/packages/configuring-planner-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html
index d9b4ab9af..09d3e7d0b 100644
--- a/configuration/packages/configuring-regulated-pp.html
+++ b/configuration/packages/configuring-regulated-pp.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html
index 61e46198f..0da6e24b1 100644
--- a/configuration/packages/configuring-rotation-shim-controller.html
+++ b/configuration/packages/configuring-rotation-shim-controller.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html
index 65f3ff78d..c7295ca7c 100644
--- a/configuration/packages/configuring-savitzky-golay-smoother.html
+++ b/configuration/packages/configuring-savitzky-golay-smoother.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html
index 488932a4b..5f3787c34 100644
--- a/configuration/packages/configuring-simple-smoother.html
+++ b/configuration/packages/configuring-simple-smoother.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html
index a6beb65b3..1f3c22a2a 100644
--- a/configuration/packages/configuring-smac-planner.html
+++ b/configuration/packages/configuring-smac-planner.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html
index 2bc6f7390..9f62ee220 100644
--- a/configuration/packages/configuring-smoother-server.html
+++ b/configuration/packages/configuring-smoother-server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html
index 073d29308..7d1360a2b 100644
--- a/configuration/packages/configuring-thetastar.html
+++ b/configuration/packages/configuring-thetastar.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html
index 5d2b3d4f9..92dc07aa3 100644
--- a/configuration/packages/configuring-velocity-smoother.html
+++ b/configuration/packages/configuring-velocity-smoother.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html
index 4846fa768..ae711f7df 100644
--- a/configuration/packages/configuring-waypoint-follower.html
+++ b/configuration/packages/configuring-waypoint-follower.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html
index 899a4b66b..b8a7dd895 100644
--- a/configuration/packages/costmap-plugins/binary_filter.html
+++ b/configuration/packages/costmap-plugins/binary_filter.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html
index 8e38fda6a..155a2a422 100644
--- a/configuration/packages/costmap-plugins/denoise.html
+++ b/configuration/packages/costmap-plugins/denoise.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html
index 187973282..c948c40bf 100644
--- a/configuration/packages/costmap-plugins/inflation.html
+++ b/configuration/packages/costmap-plugins/inflation.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html
index 8de60cc74..67adf345d 100644
--- a/configuration/packages/costmap-plugins/keepout_filter.html
+++ b/configuration/packages/costmap-plugins/keepout_filter.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html
index 4654ecdab..b32b48219 100644
--- a/configuration/packages/costmap-plugins/obstacle.html
+++ b/configuration/packages/costmap-plugins/obstacle.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html
index 37c636ca6..922c7ed56 100644
--- a/configuration/packages/costmap-plugins/range.html
+++ b/configuration/packages/costmap-plugins/range.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html
index 9035dbe6b..297e795a9 100644
--- a/configuration/packages/costmap-plugins/speed_filter.html
+++ b/configuration/packages/costmap-plugins/speed_filter.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html
index ba1ed30fc..9417f4f2d 100644
--- a/configuration/packages/costmap-plugins/static.html
+++ b/configuration/packages/costmap-plugins/static.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html
index c33d4db3d..929a643a8 100644
--- a/configuration/packages/costmap-plugins/voxel.html
+++ b/configuration/packages/costmap-plugins/voxel.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html
index e612a0507..89c31d7a9 100644
--- a/configuration/packages/dwb-params/controller.html
+++ b/configuration/packages/dwb-params/controller.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html
index f445c2d07..bace99bb6 100644
--- a/configuration/packages/dwb-params/iterator.html
+++ b/configuration/packages/dwb-params/iterator.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html
index f04857cdd..e62e40f73 100644
--- a/configuration/packages/dwb-params/kinematic.html
+++ b/configuration/packages/dwb-params/kinematic.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html
index e943c9405..ef2fd1a65 100644
--- a/configuration/packages/dwb-params/visualization.html
+++ b/configuration/packages/dwb-params/visualization.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html
index da211331e..af21fd4ff 100644
--- a/configuration/packages/dwb-plugins/limited_accel_generator.html
+++ b/configuration/packages/dwb-plugins/limited_accel_generator.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html
index b95b699ab..33b094329 100644
--- a/configuration/packages/dwb-plugins/standard_traj_generator.html
+++ b/configuration/packages/dwb-plugins/standard_traj_generator.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
index ac224e0f6..8785e9b80 100644
--- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
index 2c5f96b8e..01a47f0ec 100644
--- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
index d3f87af52..4b5dde71b 100644
--- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
index 8d7f099da..fa12e2dfe 100644
--- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
index a37b5dc34..a9cc1701e 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
index 8bacf5b6d..27e975a16 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
index 0fa15ac62..ef1f34911 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html
index 464fe6fc0..5fea7ebd3 100644
--- a/configuration/packages/smac/configuring-smac-2d.html
+++ b/configuration/packages/smac/configuring-smac-2d.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html
index 009e4c723..af3de6eda 100644
--- a/configuration/packages/smac/configuring-smac-hybrid.html
+++ b/configuration/packages/smac/configuring-smac-hybrid.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html
index 7d5aff560..68f3fea7e 100644
--- a/configuration/packages/smac/configuring-smac-lattice.html
+++ b/configuration/packages/smac/configuring-smac-lattice.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html
index 3d2fb20a3..19f7d1877 100644
--- a/configuration/packages/trajectory_critics/base_obstacle.html
+++ b/configuration/packages/trajectory_critics/base_obstacle.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html
index b3a1b1c2f..00e10e336 100644
--- a/configuration/packages/trajectory_critics/goal_align.html
+++ b/configuration/packages/trajectory_critics/goal_align.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html
index 65aba1385..8cbbd684b 100644
--- a/configuration/packages/trajectory_critics/goal_dist.html
+++ b/configuration/packages/trajectory_critics/goal_dist.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html
index e848ccab1..e8da7f214 100644
--- a/configuration/packages/trajectory_critics/obstacle_footprint.html
+++ b/configuration/packages/trajectory_critics/obstacle_footprint.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html
index ee71e32fc..c639dfa42 100644
--- a/configuration/packages/trajectory_critics/oscillation.html
+++ b/configuration/packages/trajectory_critics/oscillation.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html
index 194a4fbf8..f59388789 100644
--- a/configuration/packages/trajectory_critics/path_align.html
+++ b/configuration/packages/trajectory_critics/path_align.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/path_dist.html b/configuration/packages/trajectory_critics/path_dist.html
index 44beeba26..76b1f5015 100644
--- a/configuration/packages/trajectory_critics/path_dist.html
+++ b/configuration/packages/trajectory_critics/path_dist.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/prefer_forward.html b/configuration/packages/trajectory_critics/prefer_forward.html
index d2891ec52..348c2a859 100644
--- a/configuration/packages/trajectory_critics/prefer_forward.html
+++ b/configuration/packages/trajectory_critics/prefer_forward.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html
index 178b0636d..3522de19b 100644
--- a/configuration/packages/trajectory_critics/rotate_to_goal.html
+++ b/configuration/packages/trajectory_critics/rotate_to_goal.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html
index 8a151776e..1782f2541 100644
--- a/configuration/packages/trajectory_critics/twirling.html
+++ b/configuration/packages/trajectory_critics/twirling.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/build_docs/build_troubleshooting_guide.html b/development_guides/build_docs/build_troubleshooting_guide.html
index 35d1cc75c..e51eb7149 100644
--- a/development_guides/build_docs/build_troubleshooting_guide.html
+++ b/development_guides/build_docs/build_troubleshooting_guide.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/build_docs/index.html b/development_guides/build_docs/index.html
index 13483133a..5e978cc7a 100644
--- a/development_guides/build_docs/index.html
+++ b/development_guides/build_docs/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/devcontainer_docs/devcontainer_guide.html b/development_guides/devcontainer_docs/devcontainer_guide.html
index 63f1fae1e..e1c423603 100644
--- a/development_guides/devcontainer_docs/devcontainer_guide.html
+++ b/development_guides/devcontainer_docs/devcontainer_guide.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/devcontainer_docs/index.html b/development_guides/devcontainer_docs/index.html
index 91b7a59b3..9b8f933f3 100644
--- a/development_guides/devcontainer_docs/index.html
+++ b/development_guides/devcontainer_docs/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/index.html b/development_guides/index.html
index 26b29ec01..126c05afb 100644
--- a/development_guides/index.html
+++ b/development_guides/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html
index c0e98316d..9e93938b1 100644
--- a/development_guides/involvement_docs/index.html
+++ b/development_guides/involvement_docs/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/genindex.html b/genindex.html
index 15d3cd9e0..0bc1540b2 100644
--- a/genindex.html
+++ b/genindex.html
@@ -918,6 +918,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/getting_started/index.html b/getting_started/index.html
index 6ba85ea3f..c64249f6c 100644
--- a/getting_started/index.html
+++ b/getting_started/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/index.html b/index.html
index d1bd02e79..be2c1c3b0 100644
--- a/index.html
+++ b/index.html
@@ -919,6 +919,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Dashing.html b/migration/Dashing.html
index 5ce83b350..1b6bef756 100644
--- a/migration/Dashing.html
+++ b/migration/Dashing.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Eloquent.html b/migration/Eloquent.html
index 51416bb02..00ce2fd08 100644
--- a/migration/Eloquent.html
+++ b/migration/Eloquent.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Foxy.html b/migration/Foxy.html
index af8659285..cb7456d1f 100644
--- a/migration/Foxy.html
+++ b/migration/Foxy.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Galactic.html b/migration/Galactic.html
index 5968420e3..e4723c951 100644
--- a/migration/Galactic.html
+++ b/migration/Galactic.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Humble.html b/migration/Humble.html
index d7a850d8e..103b4925e 100644
--- a/migration/Humble.html
+++ b/migration/Humble.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/migration/Iron.html b/migration/Iron.html
index 4dc95fd3f..fbfc9f1cd 100644
--- a/migration/Iron.html
+++ b/migration/Iron.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2 current"><a class="current reference internal" href="#">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#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="#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="#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
@@ -1008,6 +1009,20 @@
   <div class="section" id="iron-to-jazzy">
 <span id="iron-migration"></span><h1>Iron to Jazzy<a class="headerlink" href="#iron-to-jazzy" title="Permalink to this headline">¶</a></h1>
 <p>Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here.</p>
+<div class="section" id="change-polygon-points-parameter-format-in-collision-monitor">
+<h2>Change polygon points parameter format in Collision Monitor<a class="headerlink" href="#change-polygon-points-parameter-format-in-collision-monitor" title="Permalink to this headline">¶</a></h2>
+<p><a class="reference external" href="https://github.com/ros-planning/navigation2/pull/4020">PR #4020</a> changes the format of the Polygon points parameter from <code class="docutils literal notranslate"><span class="pre">vector&lt;double&gt;</span></code> to <code class="docutils literal notranslate"><span class="pre">string</span></code>. This makes the polygon description more uniform accross the Collision Monitor and Costmap_2D.
+Now we can define a polygon’s points in string that has a <code class="docutils literal notranslate"><span class="pre">vector&lt;vector&lt;double&gt;&gt;</span></code> structure like this <code class="docutils literal notranslate"><span class="pre">&quot;[[p1.x,</span> <span class="pre">p1.y],</span> <span class="pre">[p2.x,</span> <span class="pre">p2.y],</span> <span class="pre">[p3.x,</span> <span class="pre">p3.y],...]&quot;</span></code> with a minimum of 4 points described. An example of a Square polygon will be written as follows.</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">PolygonFront</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
+<span class="w">  </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.3,</span><span class="nv"> </span><span class="s">0.3],</span><span class="nv"> </span><span class="s">[0.3,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.3]]&quot;</span>
+<span class="w">  </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;none&quot;</span>
+<span class="w">  </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">  </span><span class="nt">visualize</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">  </span><span class="nt">polygon_pub_topic</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon_front&quot;</span>
+</pre></div>
+</div>
+</div>
 <div class="section" id="introduction-of-soft-real-time-action-servers">
 <h2>Introduction of Soft-Real Time Action Servers<a class="headerlink" href="#introduction-of-soft-real-time-action-servers" title="Permalink to this headline">¶</a></h2>
 <p><a class="reference external" href="https://github.com/ros-planning/navigation2/pull/3914">PR #3914</a> adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a <code class="docutils literal notranslate"><span class="pre">realtime</span></code> input field exposed in the Controller Server via the parameter <code class="docutils literal notranslate"><span class="pre">use_realtime_priority</span></code> which will set the controller’s execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of <code class="docutils literal notranslate"><span class="pre">/etc/security/limits.conf</span></code> to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who’s execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary.</p>
diff --git a/migration/index.html b/migration/index.html
index c76e7c552..37c24339a 100644
--- a/migration/index.html
+++ b/migration/index.html
@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="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="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="Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html
index 737f28ec0..e8f1c2c57 100644
--- a/plugin_tutorials/docs/writing_new_behavior_plugin.html
+++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html
index 2d0062075..5278d32b9 100644
--- a/plugin_tutorials/docs/writing_new_bt_plugin.html
+++ b/plugin_tutorials/docs/writing_new_bt_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
index f8ff4fd41..3a12edb91 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
+++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
index 56d521c6e..b2d49a287 100644
--- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
index 9d914db7f..64280611e 100644
--- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html
index 2ab46fe29..87bc01d53 100644
--- a/plugin_tutorials/docs/writing_new_navigator_plugin.html
+++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html
index 924d84503..230492653 100644
--- a/plugin_tutorials/index.html
+++ b/plugin_tutorials/index.html
@@ -920,6 +920,7 @@
 </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#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>
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index 6250bfbd3..8e8d0f220 100644
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 <li class="toctree-l2"><a class="reference internal" href="../migration/Iron.html">Iron to Jazzy</a><ul>
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 <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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
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index 251f1ba49..aec6cde3b 100644
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 <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>
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
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eler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151,america:187,among:[17,28,108,170,177,181],amongst:176,amount:[94,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[22,24,25],amr:184,analog:[8,86,156,158,162,182,194],analysi:[7,28,151,153,183],analyt:[134,135,156,157],analytic_expansion_max_length:[134,135,157],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,27,28,162,183],andrei:168,angl:[27,28,56,85,86,95,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[58,86,95,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,194],angular_dist_threshold:[103,194],angular_distance_weight:58,angular_granular:[96,125],angular_limit:[86,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,17,19,20,21,23,28,45,48,51,53,55,60,62,76,85,86,93,97,99,102,105,106,108,114,115,119,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[28,95,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,21,22,24,27,28,60,85,88,89,93,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[21,28,85,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[23,194],apex:149,api:[18,28,54,153,154,156,161,163,166,174,179,187],appear:[86,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,28,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,18,19,22,23,24,25,27,28,42,58,85,86,88,89,92,93,99,101,107,110,146,148,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[28,151],approach:[23,28,81,86,96,99,100,102,106,108,133,134,135,153,156,158,159,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,19,93,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approv:[3,151],approxim:[86,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[28,86,106,149,168,170,172,177],arbitrarili:153,arc:[85,86,174],architectur:[11,156,184],area:[3,7,28,39,40,86,94,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[90,158],arg:[147,180,182,183,192],argc:182,argument:[27,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,19,23,28,39,58,81,85,86,92,94,99,102,113,151,153,156,168,174,175,176,177,180,187,189,194],arrai:[92,134],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,as_str:166,asid:[173,174],ask:[0,3,28,151,163,182,193],asla:14,aspect:[20,148,149,179,180],assembl:193,assess:177,asset:182,assign:[28,54,58,92],assist:[0,27,30,151,168,177],assisted_teleop:[32,88],assisted_teleop_error_cod:30,assisted_teleop_serv:30,assistedteleop:[27,32,90,157,158,168],associ:[28,158,173,174,175],assum:[19,20,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:92,async_slam_toolbox_nod:174,asynchron:[19,20,28,155],ata:[131,168],atom:13,attach:[28,94,151,171,173,174,175,178],attempt:[1,19,21,22,24,25,28,81,97,98,99,105,112,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[28,99,177],attest:151,attract:99,attribut:[99,158,188],augment:[187,195],auth_token:161,author:[149,151,153],auto:[148,164,166],auto_start:186,autom:[147,148,149],automat:[18,28,95,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,27,28,99,102,153,156,184,187],autonomi:[1,27,28,154,157,158,178,187,193],autostart:[27,97,152,177,178,186,188,190],auxiliari:27,avail:[5,9,27,28,72,85,86,94,95,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[85,86,87,108],avoid:[1,28,86,88,89,91,92,93,94,99,101,107,110,114,116,135,148,153,156,157,163,170,171,173,174,175,176,177,192],awai:[21,92,99,103,133,158,174,180,193,194],awar:[22,24,25,92,99,106,108,133,134,135,156,174,177],awkward:[99,177],axes:109,axi:[27,109,163,176,187],back:[1,9,22,24,25,27,28,31,92,95,99,103,111,135,151,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:88,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,19,20,22,23,24,25,27,33,90,154,157,158,161,168],backup_dist:[19,22,23,24,25,27,31,90,156],backup_error_cod:31,backup_serv:[31,46],backup_spe:[19,22,23,24,25,27,31,90,156],backward:[58,120,140,143,156,158,182],backward_ro:182,bad:[22,24,25,28,87,161,184],bake:177,balanc:[99,105],ball:28,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,17,19,21,28,53,58,61,63,79,84,85,86,87,88,89,92,94,98,99,104,106,107,111,114,117,126,134,135,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,16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und_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishveloc:156,computeandsmoothpath:17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7,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[27,134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],give:[11,86,93,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,23,27,28,31,34,35,46,54,56,86,88,95,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[19,22,23,24,25,27,52,62,63,64,68,81,87,88,90,92,94,99,101,102,110,118,123,134,135,141,142,154,155,157,158,163,164,165,168,171,173,174,175,176,177,181,186,188,190,191],global_costmap:[19,22,23,24,25,88,90,94,104,105,107,111,114,117,161,162,163,171,174,179,181,187,188,190,191],global_costmap_top:[88,161],global_footprint_top:[88,161],global_fram:[61,79,88,89,94,158,161,162,163,166,174],global_frame_:165,global_frame_id:[87,110],global_path:165,global_plan_:164,global_plan_pos:164,global_plann:17,global_planner_plugin:165,globallyupdatedgo:90,globalplann:165,globalupdatedgo:[25,62],gmail:2,gml:42,gmsl2:184,gnss:187,gnu:[182,191],goal:[11,18,19,20,21,22,24,25,27,28,34,35,43,44,47,49,50,53,57,62,63,64,69,80,81,88,89,90,92,93,95,100,101,102,107,110,120,126,127,128,129,133,134,135,137,138,144,145,152,154,155,161,162,164,165,166,173,176,177,178,179,185,187,189,190,192,194],goal_:162,goal_blackboard_id:[89,166],goal_blackboard_id_:166,goal_check:[48,93,96,102,103,156,164,194],goal_checker_id:[27,47,48],goal_checker_nam:120,goal_checker_plugin:[93,96,102,103,155,156,194],goal_checker_plugin_id:[127,129],goal_checker_selector:48,goal_distance_bia:120,goal_pos:[27,156,157,164,166,189],goal_reached_tol:63,goal_sub_:166,goal_upd:[80,185],goal_updater_top:80,goalalign:[96,120],goalaligncrit:96,goalanglecrit:99,goalcheck:[48,155,157,164],goalcheckerselector:[22,24,25,90,156],goalcomplet:166,goalcrit:99,goaldist:[96,120],goaldistcrit:96,goalreach:[20,79,82,84,90,159],goalreceiv:166,goals_blackboard_id:[89,166],goaltool:186,goalupd:[19,20,22,23,24,25,62,90,162],goalupdat:[21,90,185],goalupdatedcondit:155,goe:[9,20,23,117,157,161,164,165,166,179],going:[4,14,27,28,81,99,153,156,157,162,179,182,185,187,188,190,192],golai:[29,168],golden:184,gone:19,gonzalez:187,good:[1,6,28,87,99,108,109,134,151,153,159,161,163,164,165,166,171,172,176,177,180,182,184,187],googl:151,gothroughpos:27,gotopos:[27,157],gpal:92,gps:[169,187],gps_link:187,gps_waypoint:187,gps_waypoint_follow:[110,187],gps_waypoint_logg:187,gpss:187,gpu:[4,148],grab:[92,149,166,173],grade:[28,153,173,187],gradient:[5,28,92,104,157,163],gradient_factor:163,gradient_index:163,gradient_lay:163,gradient_layer_1:163,gradient_layer_2:163,gradient_plugin:163,gradient_s:163,gradient_tol:92,gradual:92,grai:[176,190],grant:148,granular:[92,125],graph:[3,10,108,135,158,169,183],graphic:[8,149,188,190],grasp:174,great:[7,14,19,151,157,182,184,187],greater:[3,99,108,148,164,178],green:[92,169,180,186,187,193],grei:190,grep:146,grid:[6,7,28,94,98,115,119,123,168,170,171,174,176,187,189,191],grid_map:5,gridbas:[19,21,22,23,24,25,43,44,51,90,100,101,108,133,134,135,156,162,165,170,179,185],groot:[89,90,195],ground:[171,173,176],group:[11,13,14,28,82,112,151,158,168,181],group_connectivity_typ:[112,181],gtest:12,guarante:[103,109,134,153,170,175,194],gui:[2,149,152,173,176,180,187,193],guid:[18,19,20,147,149,155,157,158,159,163,165,169,170,171,173,174,175,176,178,184,191,192],guidelin:158,guillaum:168,gzclient:152,habit:177,hackbaselin:174,had:[12,14,157,158,159,174,187],haghighipanah:168,half:[19,102,134,135,174],hall:177,hallmark:6,hallwai:134,halt:[19,20,23,159],haltallact:159,hand:[28,99,103,109,157,159,171,175,176,177,184,194],handi:148,handl:[11,17,19,23,27,28,86,88,89,93,95,97,98,101,107,110,148,156,157,158,161,162,163,164,165,166,174,176,177,178,182],handler:159,hangout:151,hansen:14,happen:[14,19,151,164],happi:[151,187],hard:[10,14,22,54,86,93,109,154,156,159,166,177,187],hardcod:[22,24,25,158,162,166],hardwar:[86,109,148,170,174,176,184,191,193],harsh:[157,184],harshli:108,has:[2,3,4,6,8,11,12,14,17,19,20,22,23,24,25,27,53,61,62,64,70,71,85,88,89,90,91,92,93,99,101,102,107,110,116,126,127,128,129,133,134,135,146,148,149,151,152,153,155,156,157,158,159,161,162,163,164,166,168,171,173,174,175,176,177,182,183,184,186,187,188,190,192,193,194],has_paramet:166,have:[0,3,4,6,10,11,12,14,16,17,19,20,22,23,24,25,27,28,53,86,88,93,94,99,100,101,102,106,107,108,109,110,111,114,117,133,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],head:[27,36,46,99,102,103,133,135,151,157,168,172,173,175,177,185,187,194],header:[63,154,159,163,164,165,173,189],heading_deg:187,headland:[42,95],headless:[149,152,177,181,192],headlight:[111,158],hear:177,heart:[28,170],heavi:[86,92,134,187],heavili:177,height:[27,85,86,94,102,115,119,163,174,176,187],hello:161,help:[2,3,4,5,8,11,16,22,24,25,28,42,92,99,102,135,150,151,154,156,157,158,161,163,165,168,170,172,173,175,176,177,178,183,184,188,191,193,194],henc:[157,171,174,176,178],here:[0,3,14,20,22,23,24,28,76,77,78,79,80,81,82,83,84,85,86,99,103,148,149,151,152,154,155,156,157,158,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,159],stabl:[102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,79,82,84,93,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[28,94,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[86,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,87,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[96,120],star:[29,170,177],start:[4,5,12,17,20,21,22,24,25,27,28,43,44,58,85,86,92,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,28,97,146,148,152,155,178,180,188,190],state:[3,15,17,20,22,24,25,27,62,86,92,93,94,96,97,99,102,103,106,109,111,127,129,133,152,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[86,158],statement:151,static_lay:[94,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[94,174],station:[28,170],statist:[4,9,183],statu:[18,28,151,157,161,162,188],status1:176,status:[27,166],std:[60,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[92,133,157,174,177,184],step:[20,28,86,88,95,99,174,176,182,183,184],step_siz:27,stereo:[86,180,184],stereolab:184,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,99,153,168,182,184],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,189,191],steven:153,sticki:1,still:[19,20,27,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,21,28,76,86,91,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[86,192],stoppedgoalcheck:[93,168],storag:[148,166],store:[87,94,115,119,148,153,158,163,164,166,174,175,183,187],stori:10,strace:148,strafe_theta:143,strafe_x:143,straight:[134,135,165,176,177,179],straightforward:174,strategi:[151,187],stream:157,streamlin:[147,149],stretch:149,strictli:[6,135,158],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:28,structur:[6,8,19,28,153,158,166,170,175,176,178,187,190,191,193],stuck:[1,19,22,24,25,28,30,31,46,56,69,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[94,191],style:[22,24,25,177,191],sub:[0,22,24,25,157,159],subcommand:148,subfield:184,subject:[28,99,173],submit:[13,151,168],suboptim:[99,177,184],subproject:13,subscrib:[28,45,48,51,55,66,67,80,86,87,93,116,118,156,159,173,174,185,187],subscribe_to_upd:[94,118],subscript:[80,85,86,156,166,168,173,178],subsect:[148,174],subsequ:[20,28,87,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[89,176,185,188,190],subtleti:166,subtli:157,subtre:[18,20,22,23,24,25,28,39,40,41,90,162,168],succe:[19,20,76,77,168],succeed:[27,83,157,161,165],success:[14,19,20,23,28,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,99,156,157,158,161,162,168,176,181,187,194],successfulli:[1,19,28,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,19,28,99,135,144,166,181,183,184],suffix:183,suggest:[20,92,99,170,175,176],suit:[0,148],suitabl:[92,103,157,168,170,175,194],sum:[87,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summari:17,summer:[5,11],superior:158,suppli:[11,28,79,82,84,89],support:[2,6,13,14,27,28,45,48,51,55,85,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,27,89,99,115,119,146,147,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[28,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:28,swap:[157,158],swath:[42,95],sweep:[176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[28,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,86,87,93,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],systemat:178,systemdefaultsqo:166,sysv:182,tab:[146,171,174],tabl:[157,163,164,166,172,177,178],tackl:[171,172],tag:[147,148,157,162,173,174,176],tailor:170,take:[1,9,12,17,18,22,23,27,28,42,43,44,47,49,50,63,81,85,86,87,88,89,93,95,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,190,194],taken:[4,63,77,85,86,92,99,117,131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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","ROS to ROS 2 Navigation","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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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","DWB Controller","Lifecycle Manager","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 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cel:173,acceler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,159,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151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ar_after_read:191,clear_around_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishveloc: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,covari:[87,187],cover:[2,28,116,151,156,170,177,178,182,187,188,190],coverag:[3,4,6,12,18,28,29,35,42,153,159,166,168,169,178],coverage_path:42,coverage_serv:95,coveragenavig:[42,89,168],cpp:[19,28,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,86,148,157,177,178,184],crash:[28,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,42,43,44,78,81,86,94,95,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[28,127,129,144,151,157,168],criterion:92,critic:[1,7,9,28,120,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_weight:99,cross:[146,148,153,170,171],crowd:[22,24,25,170],crtl:[148,149],crux:19,ctrl:148,cube:[171,174],cubic:92,cuda:7,cull:[22,53,168],current:[3,9,11,12,14,19,20,25,27,28,46,53,58,62,79,82,84,85,86,95,99,101,102,103,109,110,111,114,116,117,135,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[95,108,163,177],curvatur:[92,95,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[92,99,102],cusp_zone_length:92,custom:[10,18,19,20,22,24,25,27,28,57,58,78,80,87,88,89,95,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:158,cut:[134,135],cxprime:174,cyan:[92,176],cycl:[23,85,86,102,134,135,157,161],cycle_frequ:[88,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,86],damag:109,danc:187,danger:[92,153,192],dark:188,darker:190,dash:152,data:[1,4,7,9,10,27,28,85,86,89,91,99,105,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,178,180,183,184,187,188,190,191,192],data_typ:[94,115,119,174,191],dataset:184,date:[85,86,87,111,114,117,151,154],datum:187,david:[14,96,168],dcmake_build_typ:183,dco:150,deactiv:[28,97,161,164,165,166,178],dead:28,deadband:[109,157],deadband_veloc:109,deadlin:[86,88,89,93,101,107,109,110,159],deal:[7,28,173,175,177],dealloc:28,dealt:19,debug:[28,92,99,119,120,123,134,148,158,182,183],debug_optim:92,debug_trajectory_detail:[96,120,164],debug_visu:[134,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[87,99,113,168,174],decay_acceler:191,decay_model:191,decel_lim_i:[96,122],decel_lim_theta:[96,122],decel_lim_x:[96,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[23,87,159,175,176,178],decis:[171,187],declar:[61,63,148,151,156,159,161,163,164,165,188,190],declare_autostart_cmd:[188,190],declare_mask_yaml_file_cmd:[188,190],declare_namespace_cmd:[188,190],declare_paramet:166,declare_parameter_if_not_declar:[164,165],declare_params_file_cmd:[188,190],declare_use_sim_time_cmd:[188,190],declarelaunchargu:[173,176,188,190],declareparamet:163,decod:190,decor:[19,21,23,157,162,168,185,193],decoratornod:162,decreas:[99,158,191,192],decrement:163,dedic:14,deduc:182,deeper:[99,134,174],deepli:193,def:[157,176,188,190],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,155,162,166,185],default_control:45,default_critic_namespac:120,default_custom_ord:95,default_goal_check:48,default_headland_typ:95,default_headland_width:95,default_model_path:176,default_nav_through_poses_bt_xml:[89,166],default_nav_to_pose_bt_xml:[89,159,166],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:51,default_route_typ:95,default_rviz_config_path:176,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:111,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,19,27,28,42,45,48,51,55,60,61,63,81,85,86,88,89,93,94,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[28,47,54,89,158,161,163,166,173,174,176,178],deg:[95,99],degrad:[134,187],degre:[11,26,85,86,134,156,159,187],delai:[85,86,187],delet:[157,173],deliv:27,deliveri:1,deloc:52,delsei:[14,168],delta:108,demand:[28,164,165,187],demo:[8,10,23,28,157,159,171,178,187,188,190],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,86,147,157,159,163,187,191,192],deni:166,denois:[94,168],denoise_lay:[112,181],denoiselay:[112,181],denot:[174,182],dens:27,dense_qr:92,densiti:[87,95,99],depend:[19,28,86,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[23,92],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,92,156,157],depth:[28,86,94,115,119,168,170,174,175,176,184,191],depth_camera:174,depth_camera_control:174,deriv:[86,149,161,163,173,176,187],descent:[104,157],describ:[19,20,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[27,134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,1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,174,176,182,188,190],ssh:[148,149,182],stabil:[154,155,156,157,158,159],stabl:[102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,79,82,84,93,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[28,94,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[86,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,87,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[96,120],star:[29,170,177],start:[4,5,12,17,20,21,22,24,25,27,28,43,44,58,85,86,92,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,28,97,146,148,152,155,178,180,188,190],state:[3,15,17,20,22,24,25,27,62,86,92,93,94,96,97,99,102,103,106,109,111,127,129,133,152,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[86,158],statement:151,static_lay:[94,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[94,174],station:[28,170],statist:[4,9,183],statu:[18,28,151,157,161,162,188],status1:176,status:[27,166],std:[60,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[92,133,157,174,177,184],step:[20,28,86,88,95,99,174,176,182,183,184],step_siz:27,stereo:[86,180,184],stereolab:184,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,99,153,168,182,184],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,189,191],steven:153,sticki:1,still:[19,20,27,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,21,28,76,86,91,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[86,192],stoppedgoalcheck:[93,168],storag:[148,166],store:[87,94,115,119,148,153,158,163,164,166,174,175,183,187],stori:10,strace:148,strafe_theta:143,strafe_x:143,straight:[134,135,165,176,177,179],straightforward:174,strategi:[151,187],stream:157,streamlin:[147,149],stretch:149,strictli:[6,135,158],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:28,structur:[6,8,19,28,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,19,22,24,25,28,30,31,46,56,69,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[94,191],style:[22,24,25,177,191],sub:[0,22,24,25,157,159],subcommand:148,subfield:184,subject:[28,99,173],submit:[13,151,168],suboptim:[99,177,184],subproject:13,subscrib:[28,45,48,51,55,66,67,80,86,87,93,116,118,156,159,173,174,185,187],subscribe_to_upd:[94,118],subscript:[80,85,86,156,166,168,173,178],subsect:[148,174],subsequ:[20,28,87,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[89,176,185,188,190],subtleti:166,subtli:157,subtre:[18,20,22,23,24,25,28,39,40,41,90,162,168],succe:[19,20,76,77,168],succeed:[27,83,157,161,165],success:[14,19,20,23,28,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,99,156,157,158,161,162,168,176,181,187,194],successfulli:[1,19,28,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,19,28,99,135,144,166,181,183,184],suffix:183,suggest:[20,92,99,170,175,176],suit:[0,148],suitabl:[92,103,157,168,170,175,194],sum:[87,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summari:17,summer:[5,11],superior:158,suppli:[11,28,79,82,84,89],support:[2,6,13,14,27,28,45,48,51,55,85,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,27,89,99,115,119,146,147,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[28,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:28,swap:[157,158],swath:[42,95],sweep:[176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[28,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,86,87,93,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],systemat:178,systemdefaultsqo:166,sysv:182,tab:[146,171,174],tabl:[157,163,164,166,172,177,178],tackl:[171,172],tag:[147,148,157,162,173,174,176],tailor:170,take:[1,9,12,17,18,22,23,27,28,42,43,44,47,49,50,63,81,85,86,87,88,89,93,95,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,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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","ROS to ROS 2 Navigation","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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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","DWB Controller","Lifecycle Manager","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 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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","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","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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\ No newline at end of file
diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html
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--- a/setup_guides/algorithm/select_algorithm.html
+++ b/setup_guides/algorithm/select_algorithm.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html
index d3df04692..b07626c81 100644
--- a/setup_guides/footprint/setup_footprint.html
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@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/index.html b/setup_guides/index.html
index eb86e1412..fac6aa654 100644
--- a/setup_guides/index.html
+++ b/setup_guides/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html
index 9094b3813..ad690fe5c 100644
--- a/setup_guides/odom/setup_odom.html
+++ b/setup_guides/odom/setup_odom.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html
index 749fb922e..89ce5716b 100644
--- a/setup_guides/sensors/setup_sensors.html
+++ b/setup_guides/sensors/setup_sensors.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/transformation/setup_transforms.html b/setup_guides/transformation/setup_transforms.html
index d3e77cfec..e048ad37e 100644
--- a/setup_guides/transformation/setup_transforms.html
+++ b/setup_guides/transformation/setup_transforms.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html
index a4e6e5299..6622d7155 100644
--- a/setup_guides/urdf/setup_urdf.html
+++ b/setup_guides/urdf/setup_urdf.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tuning/index.html b/tuning/index.html
index 63408c23c..2ca0962e9 100644
--- a/tuning/index.html
+++ b/tuning/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html
index 399e59a79..0ee14b2df 100644
--- a/tutorials/docs/adding_a_nav2_task_server.html
+++ b/tutorials/docs/adding_a_nav2_task_server.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/adding_smoother.html b/tutorials/docs/adding_smoother.html
index 3d27309c9..3e82c1e80 100644
--- a/tutorials/docs/adding_smoother.html
+++ b/tutorials/docs/adding_smoother.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/camera_calibration.html b/tutorials/docs/camera_calibration.html
index 711c1449c..944297e66 100644
--- a/tutorials/docs/camera_calibration.html
+++ b/tutorials/docs/camera_calibration.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/filtering_of_noise-induced_obstacles.html b/tutorials/docs/filtering_of_noise-induced_obstacles.html
index a4306a1d7..fe3299747 100644
--- a/tutorials/docs/filtering_of_noise-induced_obstacles.html
+++ b/tutorials/docs/filtering_of_noise-induced_obstacles.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/get_backtrace.html b/tutorials/docs/get_backtrace.html
index d5fef8fa8..5ad61122e 100644
--- a/tutorials/docs/get_backtrace.html
+++ b/tutorials/docs/get_backtrace.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/get_profile.html b/tutorials/docs/get_profile.html
index a674669d9..42794ddc5 100644
--- a/tutorials/docs/get_profile.html
+++ b/tutorials/docs/get_profile.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/integrating_vio.html b/tutorials/docs/integrating_vio.html
index 324ea6aa3..a39f532b5 100644
--- a/tutorials/docs/integrating_vio.html
+++ b/tutorials/docs/integrating_vio.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html
index 99d3d828d..276164556 100644
--- a/tutorials/docs/navigation2_dynamic_point_following.html
+++ b/tutorials/docs/navigation2_dynamic_point_following.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.html b/tutorials/docs/navigation2_on_real_turtlebot3.html
index 8a6b594a0..0545277e4 100644
--- a/tutorials/docs/navigation2_on_real_turtlebot3.html
+++ b/tutorials/docs/navigation2_on_real_turtlebot3.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html
index 5472adef9..f54150857 100644
--- a/tutorials/docs/navigation2_with_gps.html
+++ b/tutorials/docs/navigation2_with_gps.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html
index b1d9388c7..f2096b48e 100644
--- a/tutorials/docs/navigation2_with_keepout_filter.html
+++ b/tutorials/docs/navigation2_with_keepout_filter.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_with_slam.html b/tutorials/docs/navigation2_with_slam.html
index 54d11061e..e4f957c76 100644
--- a/tutorials/docs/navigation2_with_slam.html
+++ b/tutorials/docs/navigation2_with_slam.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html
index 2c10ab610..db06a2418 100644
--- a/tutorials/docs/navigation2_with_speed_filter.html
+++ b/tutorials/docs/navigation2_with_speed_filter.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/navigation2_with_stvl.html b/tutorials/docs/navigation2_with_stvl.html
index 39949491e..effde2c5a 100644
--- a/tutorials/docs/navigation2_with_stvl.html
+++ b/tutorials/docs/navigation2_with_stvl.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/using_collision_monitor.html b/tutorials/docs/using_collision_monitor.html
index 0fdd04b35..24c3cb530 100644
--- a/tutorials/docs/using_collision_monitor.html
+++ b/tutorials/docs/using_collision_monitor.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
@@ -1035,14 +1036,14 @@ <h2>Configuring Collision Monitor<a class="headerlink" href="#configuring-collis
 <div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">polygons</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;PolygonStop&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PolygonSlow&quot;</span><span class="p p-Indicator">]</span>
 <span class="nt">PolygonStop</span><span class="p">:</span>
 <span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">  </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">]</span>
+<span class="w">  </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.4,</span><span class="nv"> </span><span class="s">0.3],</span><span class="nv"> </span><span class="s">[0.4,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.3]]&quot;</span>
 <span class="w">  </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;stop&quot;</span>
 <span class="w">  </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">  </span><span class="nt">visualize</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
 <span class="w">  </span><span class="nt">polygon_pub_topic</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon_stop&quot;</span>
 <span class="nt">PolygonSlow</span><span class="p">:</span>
 <span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">  </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.6</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.6</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">]</span>
+<span class="w">  </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.6,</span><span class="nv"> </span><span class="s">0.4],</span><span class="nv"> </span><span class="s">[0.6,</span><span class="nv"> </span><span class="s">-0.4],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.4],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.4]]&quot;</span>
 <span class="w">  </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;slowdown&quot;</span>
 <span class="w">  </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">  </span><span class="nt">slowdown_ratio</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
@@ -1081,14 +1082,14 @@ <h2>Configuring Collision Monitor<a class="headerlink" href="#configuring-collis
 <span class="w">    </span><span class="nt">polygons</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;PolygonStop&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PolygonSlow&quot;</span><span class="p p-Indicator">]</span>
 <span class="w">    </span><span class="nt">PolygonStop</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.3</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.3</span><span class="p p-Indicator">]</span>
+<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.4,</span><span class="nv"> </span><span class="s">0.3],</span><span class="nv"> </span><span class="s">[0.4,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.3],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.3]]&quot;</span>
 <span class="w">      </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;stop&quot;</span>
 <span class="w">      </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">      </span><span class="nt">visualize</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
 <span class="w">      </span><span class="nt">polygon_pub_topic</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon_stop&quot;</span>
 <span class="w">    </span><span class="nt">PolygonSlow</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;polygon&quot;</span>
-<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.6</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.6</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-0.4</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.4</span><span class="p p-Indicator">]</span>
+<span class="w">      </span><span class="nt">points</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;[[0.6,</span><span class="nv"> </span><span class="s">0.4],</span><span class="nv"> </span><span class="s">[0.6,</span><span class="nv"> </span><span class="s">-0.4],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">-0.4],</span><span class="nv"> </span><span class="s">[0.0,</span><span class="nv"> </span><span class="s">0.4]]&quot;</span>
 <span class="w">      </span><span class="nt">action_type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;slowdown&quot;</span>
 <span class="w">      </span><span class="nt">min_points</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span><span class="w">  </span><span class="c1"># max_points: 3 for Humble</span>
 <span class="w">      </span><span class="nt">slowdown_ratio</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html
index 585f16f44..e5c2e488a 100644
--- a/tutorials/docs/using_groot.html
+++ b/tutorials/docs/using_groot.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/docs/using_shim_controller.html b/tutorials/docs/using_shim_controller.html
index 6540ca361..b35111a6b 100644
--- a/tutorials/docs/using_shim_controller.html
+++ b/tutorials/docs/using_shim_controller.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
diff --git a/tutorials/index.html b/tutorials/index.html
index 37a2f69a7..b3ba8b1a5 100644
--- a/tutorials/index.html
+++ b/tutorials/index.html
@@ -920,6 +920,7 @@
 </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#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>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>