diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html index d5f76a136..a6ea57345 100644 --- a/2021summerOfCode/Summer_2021_Student_Program.html +++ b/2021summerOfCode/Summer_2021_Student_Program.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html index a63485398..a2d595012 100644 --- a/2021summerOfCode/projects/assisted_teleop.html +++ b/2021summerOfCode/projects/assisted_teleop.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html index 336444044..6014d0f14 100644 --- a/2021summerOfCode/projects/create_configuration_assistant.html +++ b/2021summerOfCode/projects/create_configuration_assistant.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html index 1e1bab624..daf24d62c 100644 --- a/2021summerOfCode/projects/create_plugins.html +++ b/2021summerOfCode/projects/create_plugins.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html index fa9465d6e..c081f9de7 100644 --- a/2021summerOfCode/projects/dynamic.html +++ b/2021summerOfCode/projects/dynamic.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html index fdc5bf6bb..e591de013 100644 --- a/2021summerOfCode/projects/grid_maps.html +++ b/2021summerOfCode/projects/grid_maps.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html index f855483a7..79fca3609 100644 --- a/2021summerOfCode/projects/localization.html +++ b/2021summerOfCode/projects/localization.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html index bb40001d5..83c536223 100644 --- a/2021summerOfCode/projects/multithreading.html +++ b/2021summerOfCode/projects/multithreading.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html index fe5be601c..ad499189b 100644 --- a/2021summerOfCode/projects/navigation_rebranding.html +++ b/2021summerOfCode/projects/navigation_rebranding.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html index 19d5057e9..7c5055d7f 100644 --- a/2021summerOfCode/projects/safety_node.html +++ b/2021summerOfCode/projects/safety_node.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html index 7f2fd5abf..30ee62b12 100644 --- a/2021summerOfCode/projects/semantics.html +++ b/2021summerOfCode/projects/semantics.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html index 42785cd09..691f91b7a 100644 --- a/2021summerOfCode/projects/spinners.html +++ b/2021summerOfCode/projects/spinners.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html index b63e10fd2..2b013702a 100644 --- a/2021summerOfCode/projects/testing.html +++ b/2021summerOfCode/projects/testing.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html index c43d2110c..7f42140fc 100644 --- a/2021summerOfCode/projects/twist_n_config.html +++ b/2021summerOfCode/projects/twist_n_config.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/_sources/configuration/packages/configuring-regulated-pp.rst.txt b/_sources/configuration/packages/configuring-regulated-pp.rst.txt index 5480cd3a8..470f0bdea 100644 --- a/_sources/configuration/packages/configuring-regulated-pp.rst.txt +++ b/_sources/configuration/packages/configuring-regulated-pp.rst.txt @@ -279,17 +279,6 @@ Regulated Pure Pursuit Parameters Description Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. If set to ``-1``, it will use the maximum distance possible to search every point on the path for the nearest path point. -:use_interpolation: - - ============== ============================= - Type Default - -------------- ----------------------------- - bool true - ============== ============================= - - Description - Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities. - Example ******* .. code-block:: yaml @@ -339,4 +328,3 @@ Example rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 max_robot_pose_search_dist: 10.0 - use_interpolation: false diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt index 6c2d64bd1..cae07ee3f 100644 --- a/_sources/migration/Iron.rst.txt +++ b/_sources/migration/Iron.rst.txt @@ -28,6 +28,10 @@ New option for the Voxel and Obstacle Layers `PR #3612 `_ adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and easily prevent the robot to go through places that are not present in the static map. +use_interpolation RPP Parameter Depreciated +******************************************* +After a distribution of testing by many users, we have depreciated the use_interpolation parameter and it is now default on at all times without the ability to disable. It improves velocity smoothness and overall quality of tracking positively in all cases. + Changes to MPPI Goal Critic *************************** diff --git a/about/index.html b/about/index.html index 1ada6716f..7be280c3e 100644 --- a/about/index.html +++ b/about/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/about/related_projects.html b/about/related_projects.html index 06c883142..7df80c9ca 100644 --- a/about/related_projects.html +++ b/about/related_projects.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/about/robots.html b/about/robots.html index ed814061e..71b3ff034 100644 --- a/about/robots.html +++ b/about/robots.html @@ -913,6 +913,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/about/ros1_comparison.html b/about/ros1_comparison.html index 5634754f8..8ccdebbc7 100644 --- a/about/ros1_comparison.html +++ b/about/ros1_comparison.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/index.html b/behavior_trees/index.html index e53154e4f..9921c1aa9 100644 --- a/behavior_trees/index.html +++ b/behavior_trees/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html index 62c7c56cd..968a620ab 100644 --- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html +++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html index c2653fe97..fb4f376a0 100644 --- a/behavior_trees/overview/nav2_specific_nodes.html +++ b/behavior_trees/overview/nav2_specific_nodes.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html index df9185ae7..e59b7a848 100644 --- a/behavior_trees/trees/follow_point.html +++ b/behavior_trees/trees/follow_point.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html index 96f968f4e..17e65a927 100644 --- a/behavior_trees/trees/nav_through_poses_recovery.html +++ b/behavior_trees/trees/nav_through_poses_recovery.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • 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 288d474df..451d15435 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 @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html index 2268e8021..2de606e1c 100644 --- a/behavior_trees/trees/nav_to_pose_recovery.html +++ b/behavior_trees/trees/nav_to_pose_recovery.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • 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 13059e5e7..aeb6f5264 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 @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html index f07ce2062..c9914b5ac 100644 --- a/behavior_trees/trees/odometry_calibration.html +++ b/behavior_trees/trees/odometry_calibration.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/commander_api/index.html b/commander_api/index.html index 692a0cbb5..f3f65199e 100644 --- a/commander_api/index.html +++ b/commander_api/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/concepts/index.html b/concepts/index.html index e66a49726..23d90cf42 100644 --- a/concepts/index.html +++ b/concepts/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/index.html b/configuration/index.html index 66d25e63e..4322ad091 100644 --- a/configuration/index.html +++ b/configuration/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html index 9a55f3ec8..ecf9d8d6d 100644 --- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html +++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html index de40e052f..6513a2b00 100644 --- a/configuration/packages/bt-plugins/actions/BackUp.html +++ b/configuration/packages/bt-plugins/actions/BackUp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html index 4831484dc..69403a44b 100644 --- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html +++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html index 626b27692..1affb308f 100644 --- a/configuration/packages/bt-plugins/actions/CancelBackUp.html +++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html index f146c1fcb..cca738a83 100644 --- a/configuration/packages/bt-plugins/actions/CancelControl.html +++ b/configuration/packages/bt-plugins/actions/CancelControl.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html index 9a88bd9e2..79c057116 100644 --- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html index da575f1e3..64454d0d5 100644 --- a/configuration/packages/bt-plugins/actions/CancelSpin.html +++ b/configuration/packages/bt-plugins/actions/CancelSpin.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html index 6ab815bc1..748423515 100644 --- a/configuration/packages/bt-plugins/actions/CancelWait.html +++ b/configuration/packages/bt-plugins/actions/CancelWait.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html index 5d2a7e4c6..a2013a018 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html index 18ade627d..7baa2cc6c 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html index 62d51d801..85c3cd871 100644 --- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html +++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html index f8aeefe1e..ea36c8328 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html index 09fddae0a..057b9de43 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html +++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html index 21bad2364..5edcd6746 100644 --- a/configuration/packages/bt-plugins/actions/ControllerSelector.html +++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html index 15c302490..77b3f78e0 100644 --- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html index f9e72d84c..58d510216 100644 --- a/configuration/packages/bt-plugins/actions/FollowPath.html +++ b/configuration/packages/bt-plugins/actions/FollowPath.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html index 5922d1c0e..e24a12b95 100644 --- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html index bbc6be7bd..6839d9692 100644 --- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html index 8a3b27635..1ea25d39a 100644 --- a/configuration/packages/bt-plugins/actions/NavigateToPose.html +++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html index 5e09e034e..20cde20a6 100644 --- a/configuration/packages/bt-plugins/actions/PlannerSelector.html +++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html index 124b706d0..6825751a7 100644 --- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html +++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html index 9f328baea..fa60c8424 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html index b6c2a96bc..9f38b4cfd 100644 --- a/configuration/packages/bt-plugins/actions/Smooth.html +++ b/configuration/packages/bt-plugins/actions/Smooth.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html index c9d07f2bc..36659db0d 100644 --- a/configuration/packages/bt-plugins/actions/SmootherSelector.html +++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html index 9b1578a52..bd428948c 100644 --- a/configuration/packages/bt-plugins/actions/Spin.html +++ b/configuration/packages/bt-plugins/actions/Spin.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html index e902a1a27..9bb144e30 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePath.html +++ b/configuration/packages/bt-plugins/actions/TruncatePath.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html index f2d094598..a8da7d698 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html +++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html index 6652ff4dd..14ba1b83f 100644 --- a/configuration/packages/bt-plugins/actions/Wait.html +++ b/configuration/packages/bt-plugins/actions/Wait.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html index a7adb6176..43747bad0 100644 --- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html +++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html index 9e43e805d..e79f9bf86 100644 --- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html +++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html index a55ef54cf..2d8daf8ab 100644 --- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html +++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html index 9b9f401f9..81785360a 100644 --- a/configuration/packages/bt-plugins/conditions/GoalReached.html +++ b/configuration/packages/bt-plugins/conditions/GoalReached.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html index a17340625..587063c45 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html index 35017c355..867205290 100644 --- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html +++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html index 4506b9526..2baf40fcb 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html index eafaaf3af..bf6b6341e 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html index ea8868a97..8b2cb8c2b 100644 --- a/configuration/packages/bt-plugins/conditions/IsPathValid.html +++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html index ff92c0819..1267c77db 100644 --- a/configuration/packages/bt-plugins/conditions/IsStuck.html +++ b/configuration/packages/bt-plugins/conditions/IsStuck.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html index 85e336335..203e24aaa 100644 --- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html +++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html index c87799148..fc515e05e 100644 --- a/configuration/packages/bt-plugins/conditions/TimeExpired.html +++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html index 010b25416..6042b77d0 100644 --- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html +++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html index dca2cf0d5..df61c0a41 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html index 667204323..835728cf0 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html index aa80887c7..2f32bcce0 100644 --- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html index 9705d6a53..bbfcac12d 100644 --- a/configuration/packages/bt-plugins/controls/PipelineSequence.html +++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html index 79ccce093..6ce545e73 100644 --- a/configuration/packages/bt-plugins/controls/RecoveryNode.html +++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html index 2951dde1e..e5e617855 100644 --- a/configuration/packages/bt-plugins/controls/RoundRobin.html +++ b/configuration/packages/bt-plugins/controls/RoundRobin.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html index 94ac142e4..629121658 100644 --- a/configuration/packages/bt-plugins/decorators/DistanceController.html +++ b/configuration/packages/bt-plugins/decorators/DistanceController.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html index 3d0c7a2c5..9d42233ee 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html +++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html index d35d1f6a6..1b7e5c873 100644 --- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html +++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html index 474142fec..d981c842e 100644 --- a/configuration/packages/bt-plugins/decorators/RateController.html +++ b/configuration/packages/bt-plugins/decorators/RateController.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html index a1e9c52c7..2f9940637 100644 --- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html +++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html index f63a7fe2a..f882f38f5 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.html +++ b/configuration/packages/bt-plugins/decorators/SpeedController.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html index ac2984fcf..6e8840b67 100644 --- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html index 66f5cf01c..54bc4cc34 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html index ca55e8b24..cf3505e59 100644 --- a/configuration/packages/configuring-amcl.html +++ b/configuration/packages/configuring-amcl.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html index 2e2508675..c3fc87759 100644 --- a/configuration/packages/configuring-behavior-server.html +++ b/configuration/packages/configuring-behavior-server.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html index 660c4dfc9..335221a2f 100644 --- a/configuration/packages/configuring-bt-navigator.html +++ b/configuration/packages/configuring-bt-navigator.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html index 7d007a890..0abceb910 100644 --- a/configuration/packages/configuring-bt-xml.html +++ b/configuration/packages/configuring-bt-xml.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html index e48ac84c2..bf36f1f45 100644 --- a/configuration/packages/configuring-collision-monitor.html +++ b/configuration/packages/configuring-collision-monitor.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html index 9d679e151..5556fa2d1 100644 --- a/configuration/packages/configuring-constrained-smoother.html +++ b/configuration/packages/configuring-constrained-smoother.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html index b01c537f6..b0fd0e67f 100644 --- a/configuration/packages/configuring-controller-server.html +++ b/configuration/packages/configuring-controller-server.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html index 4578e962f..53b6c4dd8 100644 --- a/configuration/packages/configuring-costmaps.html +++ b/configuration/packages/configuring-costmaps.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html index b3225df93..16ee79551 100644 --- a/configuration/packages/configuring-dwb-controller.html +++ b/configuration/packages/configuring-dwb-controller.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html index f4b4132d3..a341a5185 100644 --- a/configuration/packages/configuring-lifecycle.html +++ b/configuration/packages/configuring-lifecycle.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html index a37e49298..d167e0bbd 100644 --- a/configuration/packages/configuring-map-server.html +++ b/configuration/packages/configuring-map-server.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html index 09bf57ecb..33705d258 100644 --- a/configuration/packages/configuring-mppic.html +++ b/configuration/packages/configuring-mppic.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html index c3573702e..edf620432 100644 --- a/configuration/packages/configuring-navfn.html +++ b/configuration/packages/configuring-navfn.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html index 6fe318aa5..c463d2556 100644 --- a/configuration/packages/configuring-planner-server.html +++ b/configuration/packages/configuring-planner-server.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html index 9c7079718..28f111786 100644 --- a/configuration/packages/configuring-regulated-pp.html +++ b/configuration/packages/configuring-regulated-pp.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • @@ -1471,26 +1472,6 @@

    Regulated Pure Pursuit Parametersuse_interpolation -
    ---- - - - - - - - - -

    Type

    Default

    bool

    true

    -
    -
    Description

    Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities.

    -
    -
    -
     diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html index eee77c603..0b20e75da 100644 --- a/configuration/packages/configuring-rotation-shim-controller.html +++ b/configuration/packages/configuring-rotation-shim-controller.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html index 0384c6612..4ebc62be1 100644 --- a/configuration/packages/configuring-savitzky-golay-smoother.html +++ b/configuration/packages/configuring-savitzky-golay-smoother.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html index 5dd46f712..e39a1b3cb 100644 --- a/configuration/packages/configuring-simple-smoother.html +++ b/configuration/packages/configuring-simple-smoother.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html index 3c25243f3..bff60ee15 100644 --- a/configuration/packages/configuring-smac-planner.html +++ b/configuration/packages/configuring-smac-planner.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html index 63c91c4b3..e319037da 100644 --- a/configuration/packages/configuring-smoother-server.html +++ b/configuration/packages/configuring-smoother-server.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html index 256c49aaa..a646dc94c 100644 --- a/configuration/packages/configuring-thetastar.html +++ b/configuration/packages/configuring-thetastar.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html index 97bcf41f0..fa39be54c 100644 --- a/configuration/packages/configuring-velocity-smoother.html +++ b/configuration/packages/configuring-velocity-smoother.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html index 396c3760c..36f011469 100644 --- a/configuration/packages/configuring-waypoint-follower.html +++ b/configuration/packages/configuring-waypoint-follower.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html index 5ec1cc38d..0339b77d4 100644 --- a/configuration/packages/costmap-plugins/binary_filter.html +++ b/configuration/packages/costmap-plugins/binary_filter.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html index 10a1fcf17..52aab281f 100644 --- a/configuration/packages/costmap-plugins/denoise.html +++ b/configuration/packages/costmap-plugins/denoise.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html index 77fe63aa7..8cb2e42d7 100644 --- a/configuration/packages/costmap-plugins/inflation.html +++ b/configuration/packages/costmap-plugins/inflation.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html index a38ff2384..f0e524848 100644 --- a/configuration/packages/costmap-plugins/keepout_filter.html +++ b/configuration/packages/costmap-plugins/keepout_filter.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html index fe17d0911..177ff17b3 100644 --- a/configuration/packages/costmap-plugins/obstacle.html +++ b/configuration/packages/costmap-plugins/obstacle.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html index 22d137943..90e545fa7 100644 --- a/configuration/packages/costmap-plugins/range.html +++ b/configuration/packages/costmap-plugins/range.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html index b543cec89..a925930f3 100644 --- a/configuration/packages/costmap-plugins/speed_filter.html +++ b/configuration/packages/costmap-plugins/speed_filter.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html index 1234f8b0d..718598d53 100644 --- a/configuration/packages/costmap-plugins/static.html +++ b/configuration/packages/costmap-plugins/static.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html index fa25742f5..d7a41f134 100644 --- a/configuration/packages/costmap-plugins/voxel.html +++ b/configuration/packages/costmap-plugins/voxel.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html index acc6df0b5..d869e1212 100644 --- a/configuration/packages/dwb-params/controller.html +++ b/configuration/packages/dwb-params/controller.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html index 3e87ccdc6..99f0204b7 100644 --- a/configuration/packages/dwb-params/iterator.html +++ b/configuration/packages/dwb-params/iterator.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html index 9c7b10b18..fae8a338c 100644 --- a/configuration/packages/dwb-params/kinematic.html +++ b/configuration/packages/dwb-params/kinematic.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html index f32484455..d70602616 100644 --- a/configuration/packages/dwb-params/visualization.html +++ b/configuration/packages/dwb-params/visualization.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html index fd65ae463..75b7a3bab 100644 --- a/configuration/packages/dwb-plugins/limited_accel_generator.html +++ b/configuration/packages/dwb-plugins/limited_accel_generator.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html index dab04c77e..14afca2ee 100644 --- a/configuration/packages/dwb-plugins/standard_traj_generator.html +++ b/configuration/packages/dwb-plugins/standard_traj_generator.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html index 90027bb09..619d8a979 100644 --- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html index 562723d78..8689c6ccf 100644 --- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html index 3bfc57849..11b249032 100644 --- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html index c38756980..041cc3508 100644 --- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • 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 20f565156..9a2df93b2 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • 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 1b3ce4433..dd6d0cac2 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • 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 fa695b034..b3a230f60 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
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    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html index 5c92bec40..44ba7cc1a 100644 --- a/configuration/packages/smac/configuring-smac-2d.html +++ b/configuration/packages/smac/configuring-smac-2d.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html index 6b2668049..a3f5e1c27 100644 --- a/configuration/packages/smac/configuring-smac-hybrid.html +++ b/configuration/packages/smac/configuring-smac-hybrid.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html index 1ab340ade..ca6bd7c01 100644 --- a/configuration/packages/smac/configuring-smac-lattice.html +++ b/configuration/packages/smac/configuring-smac-lattice.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html index 0e0f16b15..556fd0f56 100644 --- a/configuration/packages/trajectory_critics/base_obstacle.html +++ b/configuration/packages/trajectory_critics/base_obstacle.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html index e1a576d0f..c8ac3e2f0 100644 --- a/configuration/packages/trajectory_critics/goal_align.html +++ b/configuration/packages/trajectory_critics/goal_align.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html index c16075081..8a0bf4b1e 100644 --- a/configuration/packages/trajectory_critics/goal_dist.html +++ b/configuration/packages/trajectory_critics/goal_dist.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html index a9039e0e2..753b41add 100644 --- a/configuration/packages/trajectory_critics/obstacle_footprint.html +++ b/configuration/packages/trajectory_critics/obstacle_footprint.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html index 6b3dcb65b..60da9546b 100644 --- a/configuration/packages/trajectory_critics/oscillation.html +++ b/configuration/packages/trajectory_critics/oscillation.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html index 3011fa725..e98107cff 100644 --- a/configuration/packages/trajectory_critics/path_align.html +++ b/configuration/packages/trajectory_critics/path_align.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/path_dist.html b/configuration/packages/trajectory_critics/path_dist.html index 35b8468c7..96996575d 100644 --- a/configuration/packages/trajectory_critics/path_dist.html +++ b/configuration/packages/trajectory_critics/path_dist.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/prefer_forward.html b/configuration/packages/trajectory_critics/prefer_forward.html index e48cda017..436be448a 100644 --- a/configuration/packages/trajectory_critics/prefer_forward.html +++ b/configuration/packages/trajectory_critics/prefer_forward.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html index e9dcc9bbf..285813f26 100644 --- a/configuration/packages/trajectory_critics/rotate_to_goal.html +++ b/configuration/packages/trajectory_critics/rotate_to_goal.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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    • diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html index 0091d4397..39506e778 100644 --- a/configuration/packages/trajectory_critics/twirling.html +++ b/configuration/packages/trajectory_critics/twirling.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
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    • +
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  • Introduction of Soft-Real Time Action Servers
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  • Introduction of Soft-Real Time Action Servers
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    • diff --git a/development_guides/devcontainer_docs/index.html b/development_guides/devcontainer_docs/index.html index 593210370..5b20254ac 100644 --- a/development_guides/devcontainer_docs/index.html +++ b/development_guides/devcontainer_docs/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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    • diff --git a/development_guides/index.html b/development_guides/index.html index f62782495..94da9c04d 100644 --- a/development_guides/index.html +++ b/development_guides/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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    • diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html index 83687e5e9..abcf46fdc 100644 --- a/development_guides/involvement_docs/index.html +++ b/development_guides/involvement_docs/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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    • diff --git a/genindex.html b/genindex.html index b27845b63..0247b4606 100644 --- a/genindex.html +++ b/genindex.html @@ -912,6 +912,7 @@
  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/getting_started/index.html b/getting_started/index.html index 0289daaaa..27700d351 100644 --- a/getting_started/index.html +++ b/getting_started/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/index.html b/index.html index e837a062d..2cef02dec 100644 --- a/index.html +++ b/index.html @@ -913,6 +913,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
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    • +
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  • Changes to MPPI Path Angle Critic
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    • +
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  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
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    • +
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    • +
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    • diff --git a/migration/Humble.html b/migration/Humble.html index 4f64b979f..74f6eedaa 100644 --- a/migration/Humble.html +++ b/migration/Humble.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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    • +
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    • diff --git a/migration/Iron.html b/migration/Iron.html index a3db5d966..67bba7a50 100644 --- a/migration/Iron.html +++ b/migration/Iron.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Path Angle Critic
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    • @@ -1011,6 +1012,10 @@

    New option for the Voxel and Obstacle LayersPR #3612 adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and easily prevent the robot to go through places that are not present in the static map.

    +
    +

    use_interpolation RPP Parameter Depreciated¶

    +

    After a distribution of testing by many users, we have depreciated the use_interpolation parameter and it is now default on at all times without the ability to disable. It improves velocity smoothness and overall quality of tracking positively in all cases.

    +

    Changes to MPPI Goal Critic¶

    The MPPI Goal critic’s formulation is changed to better keep up with speed on approach to goal instead of preemptively slowing too significantly. It also allows you to better use the weight to adjust the degree at which it slows more naturally. This change involves adjusting the threshold_to_consider to be the same as your prediction horizon (e.g. samples * dt * max speed) for both the goal critic and path follower critic to have a good hand-off between them without deceleration.

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  • Changes to MPPI Path Angle Critic
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  • Changes to MPPI Path Angle Critic
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
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177,ackerman:167,ackermann:[103,150,153,165,167,174],ackermannconstraint:96,acknowledg:87,acquir:28,across:[18,28,96,102,110,131,132,145,155,163,166,171,172,174,184,190],act:[9,14,28,130,152,153,169,171,173,185,189,191],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,44,45,47,48,52,54,57,75,77,78,79,80,83,84,86,87,91,92,96,98,104,107,149,150,151,155,158,159,163,165,167,168,170,171,172,173,174,175,176,182,183,184,185,187,190],action_a:20,action_b:20,action_c:20,action_nam:159,action_server_result_timeout:[86,87,91,98,104,107,156],action_typ:[83,84,189],actionnod:20,actionnodebas:159,actiont:163,activ:[12,27,28,58,71,72,73,84,86,87,91,94,98,104,107,143,148,149,152,153,154,155,158,161,162,163,170,171,174,175,184],actual:[19,52,84,90,96,100,131,154,163,168,172,173,174,177,181,183,184,189,191],actuat:145,adapt:[6,28,85,99,153,165,171,172,173],add:[0,2,8,17,74,75,76,77,78,79,80,81,82,90,91,96,111,112,116,131,145,148,152,153,154,155,158,163,168,170,171,172,173,174,175,176,179,180,181,184,186,188,189,190],add_act:[185,187],add_compile_opt:[179,180],added:[10,13,22,24,25,87,96,145,148,151,152,153,154,155,158,160,161,162,163,167,168,171,172,173,174,175,180,184,188,189,191],addin:184,adding:[1,9,85,131,132,145,154,155,170,171,173,175,178,181,184,185,187],addit:[3,11,17,20,22,23,24,25,28,83,84,89,131,144,145,153,154,155,156,159,163,167,170,171,173,179,180,181,184],addition:[0,11,28,145,146,151,152,153,156,163,184],address:[32,33,34,35,36,37,41,42,45,151,152,153,154,155,156,158],adequ:174,adher:172,adjac:[105,109,178],adjust:[9,11,28,29,77,80,82,84,86,87,91,92,96,98,104,106,107,131,155,156,168,173,181,187,189],admiss:[131,132,154],admittedli:11,advanc:[0,28,131,166,174],advantag:[12,28,155,191],advic:[167,174],advis:[22,24,25,28,170],affect:[83,89,153,154,156,173],aforement:96,after:[2,10,21,22,24,25,27,28,84,85,87,96,100,101,106,115,117,124,126,129,130,131,132,148,149,153,154,160,161,162,163,168,170,171,173,174,175,177,178,179,180,182,184,185,187,188,189,190,191],afterward:170,again:[19,20,21,23,75,143,145,149,151,166,170,173],against:[58,71,72,73,132,155,174],agent:[84,174],aggreg:175,aggregation_typ:[134,135,138,139],aggress:[84,131],agre:148,agreement:148,ahead:[86,96,99,121,122,134,138],aid:[2,23],aim:[1,7,9,10,13,106,169,173,174,180],air:184,aisl:[28,130,154,167,174],aislewai:[131,154],aitor:165,alarm:[83,156],alberto:165,aleksei:165,alexei:[14,150,165],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,90,96,99,101,102,103,148,150,151,153,154,155,156,160,161,165,168,171,173,174,176,178,180,181],alias:28,align:[117,134,138,139,156,184],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,39,74,84,85,86,94,96,99,101,103,105,106,109,113,131,136,144,145,146,148,150,151,152,153,154,156,158,161,162,163,165,167,170,171,172,173,174,175,176,177,179,180,181,184,185,187,188,190,191],allevi:174,alloc:[28,175,179,188],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,79,84,85,86,87,96,97,99,105,114,130,131,132,133,136,141,145,146,148,150,152,153,154,158,160,161,162,167,170,171,172,173,174,175,177,178,179,181,182,184,185,187],allow_primitive_interpol:[131,156],allow_revers:99,allow_reverse_expans:132,allow_unknown:[97,105,130,131,132,153,162],almost:[152,154],alon:181,along:[14,27,28,56,66,82,96,99,100,108,111,114,131,132,136,152,153,154,155,165,167,171,173,175,176,179,181,184,185,187],alongsid:[163,174],alot:[96,181],alpha1:85,alpha2:85,alpha3:85,alpha4:85,alpha5:85,alpha:[173,185],alreadi:[4,7,96,152,153,154,158,168,170,173,174,179,181,184],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,83,84,85,86,88,91,92,94,95,96,99,101,103,104,107,131,132,144,145,146,148,149,150,151,152,153,154,155,156,158,159,160,161,162,163,167,168,170,171,172,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,191],alter:145,altern:[3,23,28,56,145,146,153,168,170,179],although:146,altitud:184,altogeth:181,alwai:[9,16,21,70,83,84,94,106,132,143,153,154,173,174,184,185,191],always_on:[170,171,184],always_reset_initial_pos:85,always_send_full_costmap:[92,171],alwayson:171,ambigu:99,amcl:[6,7,17,27,28,29,50,63,149,150,152,165,171,172,174,181,184],amcl_pos:151,amclnod:154,amend:148,ament:[158,160,161,162,163,177],ament_cmak:[158,161,162,163,173],ament_cppcheck:148,ament_cpplint:148,ament_index_cpp:163,ament_index_python:[185,187],ament_uncrustifi:148,america:184,among:[17,28,105,167,174,178],amongst:173,amount:[92,113,123,125,127,129,130,131,132,141,152,153,155,185],amp:184,ampl:[22,24,25],amr:181,analog:[8,84,153,155,159,179,191],analysi:[7,28,148,150,180],analyt:[131,132,153,154],analytic_expansion_max_length:[131,132,154],analytic_expansion_ratio:[131,132],analyz:[5,6,7,10,27,28,159,180],andrei:165,angl:[27,28,54,83,84,105,123,130,131,153,165,174,184],angle_quantization_bin:131,angular:[56,84,96,99,100,118,119,122,131,134,137,138,140,155,161,170,174,191],angular_dist_threshold:[100,191],angular_distance_weight:56,angular_granular:[93,122],angular_limit:[84,155],angular_vel:161,angular_veloc:170,ani:[0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,184,185,186,187,188],cloned_tb3_simulation_launch:156,close:[23,28,51,79,83,84,92,96,99,106,132,135,141,145,153,154,161,168,174,184,189],closed_loop:106,closer:[55,96,131,155],closest:[56,99,117],closur:181,cloud:[7,28,145,146,149,152],cmake:[158,160,161,162,163,177,180],cmake_build_typ:180,cmakelist:[158,160,161,162,163,170,171,173,179,180],cmd:[170,171],cmd_vel:[13,83,84,161,170,180,189],cmd_vel_in_top:[84,189],cmd_vel_nav:[180,189],cmd_vel_out_top:[84,189],cmd_vel_raw:84,cmd_vel_smooth:[84,189],cmd_vel_teleop:86,code:[5,6,15,30,31,41,42,44,45,47,48,52,54,58,71,72,73,85,86,87,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,145,146,148,151,152,154,158,159,160,161,162,163,165,168,170,171,173,176,178,179,184,188,191],codebas:[91,148,156],codecov:12,codespac:[145,146],codifi:145,coeffici:[114,177,185,187],coffe:[146,190],colcon:[144,145,160,168,170,171,173,179,180,185,187],collabor:[4,14,148],collect:[27,169,171,180,181],collid:[4,9,168],collis:[1,7,9,28,29,30,52,86,90,92,96,99,100,104,111,141,150,151,153,154,158,165,166,167,168,170,171,173,174,191,192],collision_cost:96,collision_detector:83,collision_detector_st:[83,156],collision_margin_dist:96,collision_monitor:[84,189],collision_monitor_nod:189,collision_monitor_param:189,collision_monitor_st:84,collisionmonitor:155,color:[8,90,128,171,173,174,178,185,187,188],color_dark:185,color_light:185,column:[116,171],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],combin:[28,92,131,134,135,138,139,153,186],combination_method:[92,112,116,156,188],come:[8,13,14,28,96,99,126,131,148,154,155,158,161,162,163,170,172,173],command:[1,9,17,23,30,43,46,49,53,78,99,100,106,144,145,146,150,152,158,160,161,162,163,165,167,170,171,172,173,179,181,182,183,185,186,187,191],commandlin:[95,179,180],comment:[145,148,154,160,162,179,188],commerci:[28,148,184],commit:[145,148,166,177],common:[19,27,28,96,145,146,150,153,154,163,170,181,184],commonli:[20,43,46,49,53,163,171,181,184],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,145,148,150,158,163,172,174,175,177],compani:[148,150,174],companion:190,compar:[28,58,71,72,73,87,90,103,155],comparison:[14,150],compat:170,compens:184,compet:148,compil:[145,146,158,161,162,163,176,179,180],complement:[5,152,184],complementari:175,complet:[3,4,5,12,17,19,20,23,27,28,52,84,96,99,100,124,126,131,132,141,145,148,149,150,151,152,153,154,155,156,158,159,163,166,167,168,170,171,173,175,176,177,180,181,183,184,186,188,190,191],complex:[17,28,87,96,131,150,155,171,172,173,179,190],complexyolo:4,compli:[2,167,170,184],complianc:106,compliant:172,complic:150,complimentari:163,compon:[6,17,74,75,76,77,78,79,80,81,82,105,106,140,153,154,169,173,175,181,185,187],component_contain:175,component_container_isol:154,componentcontain:179,compos:[11,154,160,174,175,179,180],composable_node_descript:175,composablenod:[175,189],composablenodecontain:175,composit:[166,179,180,185,187],composition_demo:175,comprehens:145,compris:[13,173],comput:[7,17,18,19,20,21,22,28,41,42,96,98,99,103,105,130,131,132,134,138,150,154,155,158,159,161,162,165,167,168,170,171,172,174,176,180,181,183],computation:[28,116,154],compute_path_error_cod:[41,42,87,176],compute_path_error_code_id:175,compute_path_through_pos:[155,175],compute_path_to_pos:[155,175],compute_path_to_pose_error_cod:72,computeandpublishveloc:153,computeandsmoothpath:176,computepaththroughpos:[22,88],computepaththroughposesrecoveryfallback:22,computepathtopos:[18,19,20,21,23,24,25,49,51,77,80,82,88,159,163,176,182],computepathtoposeact:49,computepathtoposerecoveryfallback:[19,24,88],computevelocitycommand:[91,161],concaten:153,concept:[7,19,20,150,153,167,171,172,175,185,187,190],conceptu:172,concern:[146,148,154],conclus:23,concret:172,condit:[12,19,22,24,25,28,30,31,44,54,66,67,70,102,145,154,155,159,165,170,173,181,184,190,191],conditionnod:159,conf:[91,156,159],confer:150,config:[145,146,168,170,171,173,179,184,186],configur:[0,1,14,16,17,18,19,20,27,28,43,46,49,53,59,83,84,89,90,91,92,94,95,96,103,108,111,114,144,145,146,151,152,154,155,156,158,159,161,162,163,165,169,173,174,175,176,178,179,181,182,183,184,186,188,190],configured_param:[175,185,187,189],confin:[96,131,145,156,168],confirm:[168,171,177,184],conflict:152,conform:150,confus:20,conjunct:[27,96],connect:[14,20,28,94,97,105,109,130,145,146,152,153,154,165,167,170,171,172,173,178,184,190],connector:181,consequ:23,consid:[3,14,19,30,31,44,54,83,84,85,87,88,92,96,126,131,132,141,148,152,153,155,158,159,161,162,163,165,167,174,175,181,184,185],consider:[4,96,174],consider_footprint:96,consist:[8,18,146,148,153,154,165,170,171,172,174,175,184,190],consol:189,constant:[20,99,161,173,174],constantli:[152,154],constrain:[29,102,153,165,174],constrainedsmooth:[90,154],constraint:[22,100,106,153,154,163,165,167,174,191],constraintcrit:96,construct:[28,148,154],constructor:[27,28,154,156,159],constsharedptr:163,consult:14,consum:[9,154],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,148,150,174,175],contain:[9,11,18,22,24,25,28,45,48,89,96,103,106,132,147,151,152,153,154,155,156,158,160,161,162,163,165,170,171,173,174,175,176,177,179,181,185,187,189,191],container:145,containeris:145,content:[146,168,169,171,173],context:[11,13,19,20,22,23,24,25,88,144,159,165,190],contextu:[18,19,22,24,25,150,155],continu:[1,12,19,20,21,22,23,24,25,28,96,107,129,131,132,146,148,149,150,151,152,153,154,155,163,170,173,174,181,184,186],contractor:14,contrast:[154,184],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,28,131,148,171,174,175],contributor:[14,148],control:[2,4,7,9,11,13,17,18,19,21,22,23,24,25,27,29,34,43,45,55,56,71,72,73,75,76,77,78,82,84,92,99,103,106,114,118,119,120,121,122,123,124,125,126,132,133,134,135,136,137,138,139,140,141,142,150,151,152,156,158,159,160,163,164,166,168,169,170,173,175,176,179,180,181,182,183,186,187,188,189,190,192],controlcancel:23,controller_frequ:[91,93,96,99,100,191],controller_id:[19,21,22,23,24,25,27,43,45,88,153,159,182],controller_pati:153,controller_plugin:[91,93,99,100,152,161,167,191],controller_plugin_id:[117,118,119,120,121,122,133,134,135,136,137,140,141,142],controller_selector:43,controller_serv:[23,91,93,94,96,99,100,152,153,154,156,161,167,175,180,187,191],controllerselector:[22,24,25,88,153],controllerserv:154,controlnod:159,conveni:[146,181,187],convent:[22,24,25,28,171,172,175,184],converg:[85,90,96,184],convers:[27,95,148,185,187],convert:[0,28,96,107,114,131,132,150,151,153,162,172,184,185,187],convert_typ:[185,187],convex:96,cooper:2,coordin:[5,27,28,85,92,107,154,170,172,173,181,182,184],cope:184,copi:[154,168,170,171,173,176,179,185,187,188],copyright:148,core:[7,18,28,150,155,175,176],corner:[99,149,153,177,185,190],corpor:14,correct:[28,83,84,143,145,148,154,170,171,173,183,185,187,189],correctli:[20,28,149,153,154,168,170,171,172,184,185,187,189],correl:145,correspond:[28,79,83,84,87,96,97,105,108,109,110,111,112,113,114,115,116,130,131,132,153,154,158,159,160,171,172,178,184,187],correspont:185,corridor:[96,167,174],cost:[9,19,27,28,83,84,86,90,92,96,99,103,105,111,120,130,131,132,145,153,154,156,160,165,171,174,178],cost_check_point:90,cost_cloud:153,cost_penalti:[131,132],cost_pow:96,cost_scaling_factor:[92,96,105,110,160,171],cost_travel_multipli:130,cost_weight:96,costamp2d:185,costli:28,costmap2d:[143,164,165,178,185,187],costmap2dro:[154,161],costmap:[1,2,4,5,7,10,19,20,21,22,24,25,29,38,39,40,84,86,89,90,99,104,105,108,110,111,112,114,116,130,131,132,133,136,150,151,154,160,161,162,167,168,174,178,184,192],costmap_2d:[5,17,160,171],costmap_2d_cloud:153,costmap_2d_ro:115,costmap_:[160,162],costmap_filter_info:[95,108,111,114,185,187],costmap_filter_info_serv:[95,185,187],costmap_filters_demo_dir:[185,187],costmap_raw:[86,101,102,104,158,176],costmap_ro:[154,161,162],costmap_ros_:161,costmap_top:[101,102,104,158,176],costmapfilt:153,costmapfilterinfo:[108,111,114,185,187],costmapinfotyp:155,could:[1,2,3,6,7,9,10,21,28,83,84,91,105,145,146,152,153,154,155,159,160,161,165,172,174,176,179,182,184,185,187,188,189],couldn:179,count:[96,154,170,177,185],counter:[30,103,154,159,163,170],counterpart:174,coupl:[27,181,191],cours:[5,11,145,173,181],covari:[85,184],cover:[2,28,113,148,153,167,174,175,179,184,185,187],coverag:[3,4,6,12,28,163,166,175],cpp:[19,28,151,152,153,154,156,159,160,165,179,190],cpu:[4,7,84,145,154,174,175,181],crash:[28,94,152,154,174,175,190],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,41,42,76,79,84,92,94,96,102,103,131,144,146,148,150,151,152,153,154,155,160,165,167,168,170,171,172,173,174,175,178,181,183,184,185,187,188,189,190,191],create_cli:163,create_subscript:163,createplan:162,creation:[9,152,174],creativ:[6,8],creator:165,criteria:[28,124,126,141,148,154,165],criterion:90,critic:[1,7,9,28,117,133,134,135,136,137,138,139,140,141,142,151,167,174,175,179],critical_weight:96,cross:[143,145,150,167,168],crowd:[22,24,25,167],crtl:[145,146],crux:19,ctrl:145,cube:[168,171],cubic:90,cuda:7,cull:[22,51,165],current:[3,9,11,12,14,19,20,25,27,28,44,51,56,60,77,80,82,83,84,96,98,99,100,106,107,108,111,113,114,132,148,150,152,153,154,155,156,158,159,161,162,163,165,170,171,172,173,174,175,182,184,189,190,191],current_path:163,current_pos:163,curv:[105,160,174],curvatur:[96,99,131,153,161,167],curvature_lookahead_dist:[99,155],curvature_smooth:[104,176],cusp:[90,96,99],cusp_zone_length:90,custom:[10,18,19,20,22,24,25,27,28,55,56,76,78,85,86,87,96,103,107,132,144,145,146,150,154,155,158,161,162,163,165,167,169,171,184,188,189],customiz:155,cut:[131,132],cxprime:171,cyan:[90,173],cycl:[23,83,84,99,131,132,154,158],cycle_frequ:[86,158],cylind:[171,173,184],cylinder_inertia:173,dai:[11,84],damag:106,danc:184,danger:[90,150,189],dark:185,darker:187,dash:149,data:[1,4,7,9,10,27,28,83,84,87,89,96,102,112,113,116,130,131,132,145,150,153,155,156,165,170,171,172,175,177,180,181,184,185,187,188,189],data_typ:[92,112,116,171,188],dataset:181,date:[83,84,85,108,111,114,148,151],datum:184,david:[14,93,165],dcmake_build_typ:180,dco:147,deactiv:[28,94,158,161,162,163,175],dead:28,deadband:[106,154],deadband_veloc:106,deadlin:[86,87,91,98,104,107,156],deal:[7,28,170,172,174],dealloc:28,dealt:19,debug:[28,90,96,116,117,120,131,145,155,179,180],debug_optim:90,debug_trajectory_detail:[93,117,161],debug_visu:[131,156],debugg:[145,179],debuggin:96,decad:[6,14],decai:[85,96,110,165,171],decay_acceler:188,decay_model:188,decel_lim_i:[93,119],decel_lim_theta:[93,119],decel_lim_x:[93,119],deceler:[119,156],decemb:[103,174,188],decent:96,decid:[23,85,156,172,173,175],decis:[168,184],declar:[59,61,145,148,153,156,158,160,161,162,185,187],declare_autostart_cmd:[185,187],declare_mask_yaml_file_cmd:[185,187],declare_namespace_cmd:[185,187],declare_paramet:163,declare_parameter_if_not_declar:[161,162],declare_params_file_cmd:[185,187],declare_use_sim_time_cmd:[185,187],declarelaunchargu:[170,173,185,187],declareparamet:160,decod:187,decor:[19,21,23,154,159,165,182,190],decoratornod:159,decreas:[96,155,188,189],decrement:160,dedic:14,deduc:179,deeper:[96,131,171],deepli:190,def:[154,173,185,187],default_bt_xml_filenam:[87,152,159,163,182],default_control:43,default_critic_namespac:117,default_goal_check:46,default_model_path:173,default_nav_through_poses_bt_xml:[87,163],default_nav_to_pose_bt_xml:[87,156,163],default_plann:49,default_rviz_config_path:173,default_server_timeout:87,default_smooth:53,default_st:108,default_valu:[170,173,185,187],defaultsto:170,defin:[1,5,9,10,19,27,28,43,46,49,53,58,59,61,79,83,84,86,87,91,92,95,96,98,104,107,117,118,119,120,121,122,123,124,125,126,127,128,129,133,134,135,136,137,138,139,140,141,142,145,151,152,153,154,155,159,160,162,163,167,168,170,171,172,173,175,178,179,183,184,185,187,188,190],definit:[28,45,52,87,155,158,160,163,170,171,173,175],deg:96,degrad:[131,184],degre:[11,26,83,84,131,153,156,184],delai:[83,84,184],delet:[154,170],deliv:27,deliveri:1,deloc:50,delsei:[14,165],delta:105,demand:[28,161,162,184],demo:[8,10,23,28,154,168,175,184,185,187],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,84,144,154,156,160,184,188,189],deni:163,denois:[92,165],denoise_lay:[109,178],denoiselay:[109,178],denot:[171,179],dens:27,dense_qr:90,densiti:[85,96],depend:[19,28,84,96,114,144,145,146,151,153,154,155,156,158,159,161,162,163,167,168,170,173,174,178,179,181,183,184,185,189],depict:[23,90],deploi:[4,96,150,167],deploy:[153,175,184],deprec:[6,90,153,154],depth:[28,84,165,167,171,172,173,181,188],depth_camera:171,depth_camera_control:171,deriv:[84,146,158,160,170,173,184],descent:[101,154],describ:[19,20,96,148,149,156,160,161,162,163,167,170,173,179,180,184,187,188,189,190],descriopt:108,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,61,69,70,71,72,73,75,77,78,79,80,82,83,84,85,86,87,90,91,92,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,152,153,158,159,160,161,162,163,165,167,170,173,174,185,187],descriptor:172,design:[5,6,8,27,28,89,96,101,103,153,155,160,174,178,185,187,189,190],desir:[83,84,96,99,128,145,148,153,155,156,161,174,181,182,187],desired_linear_vel:[99,161],desired_linear_vel_:161,desk:150,despit:184,destin:[27,28,61,149,170,171,173],destroi:145,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,87,96,103,108,111,114,145,148,152,153,154,155,156,158,160,161,162,163,167,168,169,170,172,174,179,184,187,188,190],detect:[4,28,52,56,83,84,89,90,99,145,156,168,170,171,177,182],detection2d:171,detection3d:171,detector:[28,89,182],detectron2:4,determin:[0,67,107,117,128,163,167,173,178,179,180],determinist:[11,28,94,101,175],dev:[144,147,184],devcontain:[145,146],devcontainerid:145,devel:[186,188],develop:[3,4,5,8,11,14,22,24,25,28,84,103,105,143,145,146,154,166,173,174,175,179,191],developercertif:148,dever:145,deviat:[85,96,106,156,174],devic:[145,184],diademata:149,diagnost:170,diagnostic_msg:170,diagnosticarrai:170,diagon:109,diagram:[150,172,182],diamet:170,dictat:191,dictionari:156,did:[20,21,156,158,161,162,171,173,179,180],didn:174,diego:14,diff:[90,103,165,174,184],diff_driv:170,diff_drive_control:170,diffdriv:96,differ:[10,18,19,20,22,23,24,25,28,60,83,84,88,99,100,103,105,108,111,114,131,145,146,148,150,152,154,155,160,163,167,169,170,171,172,173,174,175,176,179,181,182,184,185,187,190,191],differenti:[8,85,96,100,103,105,150,153,154,165,167,168,170,171,173,174,181,184,191],differentialmotionmodel:85,difficult:[28,100,154,174,191],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[101,128,165],dijkstra:[3,97,154,165,167],dilig:146,dime:174,dimens:[153,173,177,181],dimension:184,direct:[4,56,90,96,99,103,106,118,131,132,137,144,145,153,156,166,167,172,177,183,184,189],directli:[28,96,129,145,146,148,153,159,160,173,179,184,185,187],directori:[128,144,145,146,153,154,156,158,160,161,162,163,165,168,170,171,173,174,185,187],disabl:[83,84,85,91,130,131,132,154,155,177,181],disable_calib_cb_fast_check:177,disagre:85,disappear:84,discard:[86,87,91,98,104,107,109,154,156,178],discontinu:[101,103,132],discours:[0,148],discov:[144,159],discover:[158,160,161,162,163],discoveri:[94,145],discret:[28,145,148,167,170],discretize_by_tim:122,discuss:[3,6,20,28,148,152,153,154,161,162,167,168,169,170,171,172,173,175,184,191],dislpai:171,dispatch:28,displac:[31,44],displai:[2,83,98,131,153,168,170,171,173,174,178,184,187,190],disproportion:96,disscuss:153,dist:[131,132,177],dist_to_travel:[26,44],distanc:[18,20,21,27,28,31,44,54,55,56,59,61,77,85,86,90,96,99,100,117,122,131,132,137,151,152,153,161,165,167,170,171,172,174,182,191],distance_backward:56,distance_forward:56,distance_remain:[153,163],distancecontrol:[18,19,88,90,152],distancetravel:88,distancetraveledcondit:152,distant:56,distinct:[28,172],distort:[101,177,178],distortionk1:171,distortionk2:171,distortionk3:171,distortiont1:171,distortiont2:171,distribut:[96,143,145,146,148,149,157,166,185],distro:[143,144,149,170,171,173,177,183,184,186,188],distroa:143,distrob:143,disturb:184,dive:173,diverg:[131,132,174,181],divid:[152,153,184],do_beamskip:85,do_refin:[101,102,104,131,132,155,176],doc:[8,144,149,152,184],dock:[18,19,28,167],docker:[145,146],dockerfil:[144,145],document:[8,10,15,19,23,28,144,145,148,149,152,170,171,172,173,178,179,180,181,185,186,187],doe:[4,9,20,22,23,24,25,83,84,89,96,111,113,131,132,145,153,154,155,156,158,161,162,163,168,170,174,175,176,184,185,187,190],doesn:[74,130,153,154,158,174,181,185],dog:181,doing:[27,107,111,148,163,179,184],doisi:165,domin:[112,116,156],don:[131,132,136,149,153,172,174,176,179,181,182,183,184,185,186],done:[13,19,20,28,84,145,151,152,153,160,161,162,163,166,167,171,179,180,181,190],dont:173,door:18,dot:[156,184],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,42,44,45,47,48,50,51,52,54,55,56,57,59,61,69,77,79,80,82,83,84,85,86,87,90,91,92,94,95,96,97,98,99,100,102,104,105,106,107,108,110,111,112,113,114,115,116,117,119,120,121,122,123,124,125,126,127,130,131,132,133,134,135,136,137,138,139,140,141,142,153,156,161,162],doubt:96,down:[27,28,94,96,99,105,114,149,150,152,154,155,174,175,179,184,187,189],download:[5,145,177],downsampl:[90,96,130,131,132,154,156],downsample_costmap:[130,131],downsample_factor:[130,131],downsample_obstacle_heurist:[131,156],downsampling_factor:[130,131],downstream:153,doxygen:147,dozen:28,drag:[149,190],dramat:[131,132,152],draw:[184,185,187],drawn:185,drift:[28,170],drivabl:[100,167,174,191],drive:[1,26,27,35,44,90,96,99,103,131,132,150,153,161,165,167,168,170,171,173,174,184,185],drive_on_head:[35,86],drive_on_heading_error_cod:44,driven:[4,174],driveonhead:[26,88,155],driver:[1,13,16,143,145,170,171,177,181],drivetrain:165,drivewhl_l:173,drivewhl_l_joint:170,drivewhl_r:173,drivewhl_r_joint:170,drop:[9,152,181,190],dropdown:2,dual:[146,184],dual_ekf_navsat:184,dub:154,dubin:[131,132,153,154,165,167],dubiou:154,due:[0,6,9,11,23,28,32,33,35,36,37,85,92,96,106,131,132,148,152,153,154,155,163,168,170,171,174,178,181,190,191],dumb:28,dummi:160,dump:167,duplic:[28,163],durabl:173,durat:[52,69,82,86,87,91,94,96,137,148,154,159,161,175,182],dure:[6,23,83,84,90,94,96,131,132,145,152,153,154,155,156,159,160,168,173,174,180,183,186,190],dwa:[3,17,165,167],dwb:[1,3,9,17,22,24,25,28,29,118,119,120,121,122,133,134,135,136,137,138,139,140,141,142,151,152,165,167,174,191],dwb_core:[91,93,152,153,167,191],dwb_critic:[93,117],dwb_local_plann:152,dwb_plugin:[93,117],dwblocalplann:[91,93,152,167,191],dynam:[0,3,13,15,18,22,24,25,28,78,79,83,84,96,131,132,150,151,152,153,158,159,160,161,162,163,166,167,171,173,174,187,188,189,190,192],dynamicfollowpath:152,each:[11,17,19,22,24,25,26,27,28,60,83,84,85,86,87,91,92,96,98,104,106,129,146,148,150,151,153,154,155,158,159,160,161,162,167,170,171,172,173,174,175,176,178,179,184,185,187,190],earli:[5,11,16],earlier:[85,131,132,146,149,154,158,172],earth:184,earth_wgs84:184,easi:[10,11,14,19,28,145,146,148,169,171,181,186],easier:[148,167,171,172,173,174,179,191],easili:[13,19,28,87,145,152,153,154,156,174,180,189],east:184,echo:184,ecosystem:[0,28,103,154,174],edg:[4,96,172,185],edit:[8,153,165,170,171,176],editor:[185,187,190],educ:14,effect:[2,4,84,90,113,130,145,152,154,170,185],effici:[23,28,103,171,174,175],effort:[8,14,28,106,148,150,153,167,171,174,188],efk:170,eight:[178,184],eitan:165,either:[1,19,20,27,28,84,85,95,96,113,145,146,155,156,165,167,170,171,180,187,190],ekf:[170,181,184],ekf_filter_nod:170,ekf_filter_node_map:184,ekf_filter_node_odom:184,ekf_localization_nod:170,ekf_nod:170,elaps:153,elast:[3,151,167,191],electr:184,electromagnet:184,element:[8,151,158,170,173],elev:[18,28,91,146,148,156,184],elif:[27,154],elimin:173,ellipsoid:184,elong:90,eloqu:28,els:[27,83,92,153,154,160,161,163,170,189],elsewher:180,email:[0,14,28,148],emb:172,embed:[6,28,154,174,175],emerg:[6,9,84,89],emit:171,emphas:184,emploi:84,empti:[41,42,112,115,116,127,152,153,154,161,163,178],emul:145,emulate_tti:[185,187],enabl:[10,13,23,51,83,84,85,92,96,99,107,108,109,110,111,112,113,114,115,116,127,128,129,131,132,145,146,150,153,154,155,158,161,162,163,165,170,171,173,174,175,181,186,188,189,190],enabled_:160,enact:[9,79,191],encod:[28,108,114,170,172,181,184,185,187],encompass:174,encount:[16,167,171,179,180],encourag:[0,14,23,96,148,173,175,179],end:[6,11,21,28,83,84,96,97,101,130,154,156,158,160,161,162,163,165,173,174,175,178,179,184,189],endpoint:[131,132],energi:[96,171],enforc:[90,106,111,153,177],enforce_path_invers:[96,156],engag:148,engin:[6,144,146,151,180,181],enhanc:148,enough:[19,155,168,177,184],enrich:146,ensur:[4,9,11,13,21,22,24,25,28,91,94,96,99,145,146,148,151,153,154,155,156,167,168,172,173,174,175,180,188],enter:[22,24,25,28,96,158,161,162,163,185],entir:[12,19,20,22,24,25,144,145,148,165,167,174,181],entiti:170,entri:[14,170,176,179,180],entryfil:174,entrypoint:144,enu:184,enumer:[30,31,41,42,44,45,52,54,190],env:145,environ:[4,5,9,10,12,28,103,143,144,145,146,148,149,150,167,168,170,171,172,174,181,183,184,185,189],environemnt:171,environment:[92,150],envok:[30,31,44,54],envrion:188,ephemer:145,eppstein:165,eqal:90,equal:[28,83,84,108,160,177,178,185,187],equat:105,equip:[171,181,184,190],eros:178,error:[28,30,31,41,42,44,45,47,48,52,54,58,71,72,73,83,84,85,87,143,152,153,154,165,168,171,176,178,181,183,184,188],error_cod:[58,71,72,73,175,176],error_code_id:[30,31,41,42,44,45,47,48,52,54,176],error_code_id_nam:[155,175],error_code_nam:[47,48,87],error_codes_to_check:58,especi:[85,131,132,146,151,154,172,176,181,183,184,186,188,191],essenc:172,essenti:[6,131,132,154,171,174],establish:175,estim:[15,84,85,101,106,149,151,153,160,161,162,163,170,171,172,183,184],estimated_time_remain:[153,163],etc:[4,10,13,18,27,28,83,84,87,91,108,145,146,148,153,155,156,158,163,167,169,170,172,174,181,184,186,190],eth:5,euclidean:[153,174],europ:184,evalu:[117,120,132,167,181],evalul:7,even:[20,21,22,24,95,96,99,106,131,146,152,153,154,165,167,168,169,170,174,179,181,185],evenli:85,event:[1,13,148,154],eventu:[155,171,173],ever:[96,153],everi:[18,20,22,24,25,56,81,90,92,96,99,112,116,131,148,153,154,159,160],everyon:[146,148],everyth:[149,154,160,170,184],everywher:[96,151],exact:[96,101,130,131,132,145,155,167,168,174,182,185],exactli:[130,149,174,187],exampl:[1,7,15,16,17,18,19,20,23,28,103,144,145,146,152,153,154,156,158,159,160,161,162,163,168,169,170,171,172,173,174,175,176,177,178,179,180,181,185,187,188,190,191],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:[30,31,44,54,86,87,91,98,104,107,114,153],exceed:[19,92,155],excel:[1,7,9,184,191],except:[27,28,39,83,91,148,153,155,162,165,170,179,181,187],exception:[163,170,180],excess:11,exchang:[96,131],exclud:155,exclus:23,exe:179,exec:145,exec_depend:[170,173,175],execut:[10,11,17,19,21,22,24,25,27,28,75,79,87,91,100,107,145,146,148,152,153,154,156,159,160,163,165,167,168,170,171,172,173,175,178,179,180,185,187,190],executeprocess:[170,171],executor:[11,27,28,107,153,155],exemplari:18,exhaust:166,exhibit:23,exist:[4,8,11,12,17,28,83,84,95,96,130,143,145,148,152,153,154,156,161,163,174,180,181,182,184,190],exit:[22,24,28,94,152,154,179,180],expand:[97,131,132,133,145,154,167,173],expans:[8,97,105,131,132,153,154,155,165],expect:[5,11,27,85,96,98,112,116,148,150,152,153,163,170,175,176,184],expected_planner_frequ:[98,105],expected_update_r:[112,116,188],expend:174,expens:[28,116,154,155,170],experi:[1,2,3,4,5,6,7,9,10,12,26,144,145,146,150,154,173,179,181,183],experienc:169,expert:[4,14],expir:[23,68,165,188],explain:[11,19,20,23,146,148,168,179,180,186,191],explan:[19,89,103],explicitli:[4,27,146,185],explor:[131,171,172],exponenti:[85,96,110,165,171],expos:[20,28,104,153,155,184],exposur:7,express:[28,114,156,161,184,185,187],extend:[160,170,184],extens:[23,28,96,145,146,155,181],extent:99,extern:[4,22,24,25,27,83,91,94,127,144,145,151,152,155,156,175,181,192],extra:[90,131,132,154,185],extract:[154,163,165],extrem:[2,19,83,111,153,171],face:184,facilit:[146,154],factor:[79,90,96,110,130,131,141,171,174],factori:159,fail:[19,20,22,24,25,27,28,91,94,107,130,131,132,151,153,154,155,158,163,165,179],failed_to_make_progress:[71,155],failed_to_smooth_path:[73,155],failur:[1,18,19,20,21,22,24,25,28,30,31,44,54,58,60,61,62,64,65,66,67,68,70,71,72,73,74,75,81,96,150,151,153,154,159,165,175,179,182],failure_toler:91,fair:8,fairli:179,faith:148,fake:28,fall:84,fallback:[22,24,25],fals:[26,27,30,52,65,83,84,85,87,90,91,92,94,96,97,99,105,106,107,108,110,112,113,114,115,116,117,120,122,130,131,132,133,136,149,153,154,155,158,160,162,163,170,171,174,178,179,181,183,184,185,188,189,190],familiar:[19,28,173],fanci:145,far:[83,84,96,131,132,149,154,156,171,174,182,191],farm:188,fashion:20,fast:[83,84,85,101,102,131,132,154,178,181],faster:[154,174],fault:[12,27,28],favor:154,favourit:[185,187],feasibl:[28,96,100,102,103,111,131,150,153,154,156,165,167,174,191],featur:[1,4,6,8,9,14,28,85,91,99,102,131,145,148,149,153,154,165,166,173,184,185],feaur:185,feed:175,feedback:[14,27,28,87,106,148,154,163],feedback_msg:163,feel:[6,143,146,173,174],ferguson:[14,150],fetch:[161,162],fetullah:165,few:[4,11,14,20,27,79,90,144,145,167,171,174,179],field:[4,27,83,84,85,114,130,152,153,154,155,156,158,160,162,163,170,171,173,175,177,179,181,184,185,187,188],figur:[184,190],file:[1,2,17,18,28,84,86,87,94,95,105,128,143,144,145,146,148,149,150,152,153,154,159,160,165,168,172,173,174,175,176,177,181,182,183,184,185,186,187,188,189,190],filenam:[170,171,184],filepath:[132,163,174],filesystem:[146,179],fill:[4,148,152,159,177,185,187,190],filter:[6,13,30,85,91,101,170,181,184,188,189,192],filter_dur:82,filter_info_top:[95,108,111,114,185,187],filter_mask:95,filter_mask_data:187,filter_mask_serv:[185,187],filter_space_valu:95,final_bt_statu:163,find:[14,28,56,86,87,91,96,98,99,104,106,107,131,132,145,146,148,149,150,152,153,155,156,161,163,167,173,174,176,178,179,180,182,183],find_if:161,find_packag:179,findchessboardcorn:177,finder:[153,171],findpackageshar:173,fine:[96,149,174,187],finish:[152,180,184],finit:[28,96,131,181,190],first:[20,28,74,75,83,96,115,144,145,148,150,154,155,156,161,165,166,168,170,171,172,173,174,175,176,178,179,181,182,183,184,185,186,187,188,190],first_map_onli:85,first_map_only_:85,firstli:23,fit:[96,174,184,189],fix:[99,113,148,152,155,156,166,168,170,171,172,173,177,181,184],flag:[9,145,170,173,177,179,180],flagship:14,flat:181,fleet:28,flexibl:[14,87,96,158],flip:[108,153,155,167,173],flip_threshold:108,flood:19,flow:[1,19,20,22,24,25,75,76,148,159,190],fluidli:96,fly:[153,179,190],fn_tol:90,focal:177,focallength:171,focu:[12,19,27,173,189,190],focus:[178,181],focuscamera:173,folder:[20,145,146,171,177,184],folk:[148,154,179],folllow:170,follow:[1,2,3,9,10,18,19,22,24,25,27,29,45,52,78,84,86,90,91,92,95,98,99,106,114,127,128,129,131,144,146,148,149,150,151,152,153,154,155,158,160,161,162,163,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,183,185,186,187,188,189,191,192],follow_gps_waypoint:[28,156,184],follow_path_error_cod:[45,71,87],follow_path_error_code_id:175,followpath:[18,19,20,21,22,23,24,25,27,28,34,43,46,88,91,93,96,99,100,152,155,156,159,161,163,167,182,191],followpathact:[43,46,53],followpathrecoveryfallback:[19,22,24,88],followwaypoint:[27,155],fonction:154,fondli:14,fool:174,footprint:[2,83,84,86,92,96,104,111,112,116,131,136,154,155,156,160,167,169,173,189],footprint_clearing_en:[92,112,116],footprint_pad:92,footprint_top:[84,101,102,104,158,176],footprintapproach:84,footprintcost:27,footprintcostatpos:27,forc:[85,96,156,181],forcefulli:145,forese:152,forget:183,forgot:148,fork:[28,93],forklift:23,form:[5,84,105,160,171,172],formal:[28,150,178],format:[10,83,84,90,96,128,145,153,170,171,173,184,185,187,190],former:[14,83,84],formerli:[91,155,165],formul:156,formula:187,fortun:170,forward:[0,9,19,28,56,90,95,99,100,117,122,132,137,140,141,145,149,156,159,172,174,184,191],forward_point_dist:[93,134,138],forward_prune_dist:[117,155],forward_sampling_dist:[100,191],found:[3,8,20,23,27,28,70,84,89,96,100,103,117,130,131,132,145,146,150,151,153,154,155,156,158,159,160,161,162,163,165,166,167,168,170,171,173,175,180,183,184,185,186,187,188],foundat:163,four:[19,28],foxi:[11,28,162],fraction:154,fragment:178,frame:[2,28,51,56,59,61,70,77,83,84,85,86,87,90,92,95,104,107,108,111,112,114,116,120,143,151,156,161,162,168,170,171,172,173,177,181,184,189],frame_id:[27,95,112,116,161,162,170,185,186,187],frame_nam:171,framework:[0,2,8,14,28,103,150,155,170,174,175],francisco:[150,165,181],free:[10,28,92,95,96,113,130,143,146,151,165,170,171,173,174,178,181,183,184,185],free_spac:178,free_thresh:[185,187],free_thresh_default:95,freeli:173,freespac:[22,24,25,174],frequenc:[19,20,83,86,91,92,96,98,106,131,132,170,181,184],frequent:[132,174,184],fresh:145,friction:2,friendli:[96,173],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,43,46,49,51,53,56,60,83,84,85,86,87,89,90,91,92,95,96,99,100,101,105,106,107,112,114,116,130,131,132,134,137,138,142,143,144,145,146,147,148,149,150,151,152,153,154,156,158,159,160,161,162,163,165,166,167,168,170,171,172,173,174,175,176,177,178,181,182,183,184,185,186,187,188,189,190,191],from_imag:144,from_msg:154,from_numb:158,from_second:161,front:[83,84,131,134,138,161,173,174,189],front_cast:173,frustrat:154,fsm:28,full:[5,7,12,20,28,85,92,96,111,117,131,143,148,152,153,154,166,167,168,1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:179,invilad_start:175,invok:[30,31,41,42,44,45,47,48,52,54,57,144,145,175,180],involv:[4,5,6,11,19,21,96,99,147,153,155,156,168,175,181],ipc:145,iro:150,iron:[87,95,163],irregular:[151,181],is_recoveri:[26,30,54],is_voltag:65,isbatterycharg:[88,155],isbatterylow:[19,20,88],isbatterylowcondit:152,ish:14,isn:[96,148,179,181],isol:[146,180],ispathvalid:[25,88],isstuck:88,issu:[0,2,3,5,6,8,14,22,24,25,27,28,86,87,91,96,98,104,107,148,152,153,154,166,167,172,174,178,179,181,184,185,187,188],istaskcomplet:[27,154],item:[2,11,19,27,28,166],iter:[22,24,25,27,28,51,84,87,90,93,96,102,106,130,131,132,155,160,181],iteration_count:96,its:[1,6,8,9,11,12,19,20,22,23,24,25,27,28,77,80,81,82,84,90,92,96,97,100,102,103,105,130,131,132,144,148,151,152,153,154,155,156,158,160,161,162,163,165,167,168,170,171,172,173,174,175,176,177,178,179,180,181,184,185,187,188,189,190,191],itself:[28,114,131,132,145,154,159,163,171,176,185,187,190],ixi:[171,173],ixx:[171,173],ixz:[171,173],iyi:[171,173],iyz:[171,173],izz:[171,173],jag:102,jaggedli:96,jazzi:84,jerk:187,jerki:[96,106],jeronimo:165,jetbrain:146,jetson:[4,181],jitter:96,job:[28,96],join:[148,168,170,171,173,185,187],joint:[170,171,173,184],joint_state_publish:[170,173],joint_state_publisher_gui:[170,173],joint_state_publisher_gui_nod:[170,173],joint_state_publisher_nod:[170,173],jonatan:150,joshua:[14,165],joshuawallac:14,journal:150,joystick:181,jpeg:153,jpg:153,json:[2,145,146],jump:[131,170,181,184],june:103,junior:148,just:[8,21,22,24,25,28,79,92,96,137,146,148,154,159,160,168,170,171,172,173,179,180,184,185],juzhenatpku:2,kalman:[170,184],kcachegrind:180,keep:[14,19,28,84,96,145,152,153,156,159,161,162,165,170,172,173,184,185,190],keep_goal_orient:90,keep_start_orient:90,keepout:[92,95,153,165,187,192],keepout_filt:[92,111,178,185],keepout_filter_mask:185,keepout_mask:185,keepout_param:185,keepoutfilt:[92,111,153,185],keeprunninguntilfailur:[21,182],kei:[20,85,145,148,149,163,175,178,181,184],kept:[14,109],kernel:178,key_nam:190,key_name2:190,keyboard:184,kick:[28,158],kidnap:50,kill:179,kind:[23,150,170,179],kinemat:[2,93,100,102,103,150,153,165,167,170,173,174,184,191],kinodynam:3,kiwibot:184,know:[11,14,28,99,103,143,148,152,153,159,160,165,172,173,181,184,187,190],knowledg:[4,7,11,148,179,188],known:[19,23,27,28,85,99,154,163,165,174,177,184,188],konolig:165,kurt:165,label:145,lack:181,laid:[185,187],lambda:159,lambda_short:85,land:8,landmark:170,landscap:181,lane:[28,95,111,153,165,185],languag:176,larg:[20,28,84,96,99,131,132,152,166,170,173,174,177],larger:[28,79,94,96,99,101,130,148,153,165,179,189],largest:[167,168],laser:[6,9,83,84,85,112,116,165,171,172,189],laser_likelihood_max_dist:85,laser_link:173,laser_max_rang:85,laser_min_rang:85,laser_model_typ:85,laserscan:[84,92,112,116,155,186],last:[6,14,20,22,24,55,56,85,90,97,103,105,106,122,130,131,132,134,135,138,139,145,154,163,167,168,170,172,173,175,181,185,187,189],lastli:[148,155,167,168,170,171,172,173],lat:184,latenc:[17,106,151,152,181],later:[5,96,131,132,145,146,148,154,158,159,160,161,162,163,171,180,188,190],latest:[83,84,144,145,191],latitud:184,latitude_deg:184,latter:176,lattic:[3,100,103,131,154,155,165,166,167,174,191],lattice_filepath:132,launch:[17,27,28,86,94,95,146,149,158,160,161,162,163,167,168,172,175,177,178,181,182,184,185,187,189,190],launch_ro:[170,173,179,185,187],launchconfigur:[170,173,185,187],launchdescript:[170,173,185,187],layer:[2,4,7,10,11,92,108,111,113,114,130,131,133,145,150,151,153,154,160,171,174,184,185,188],layeredcostmap:160,lazi:153,ld_preload:188,lead:[14,96,99,128,148,153,154,187],leader:14,leadership:14,lean:144,learn:[4,7,11,19,28,88,146,150,158,159,162,171,172,173],least:[21,84,145,148,153,170,189],leav:[96,99,152,179,181,189],led:[83,155,156],left:[6,28,41,42,99,105,115,131,132,145,149,154,161,162,168,170,171,173,177,178,180,183,184,187,190],left_joint:170,left_wheel_est_vel:170,leg:[103,146,150,165,167,174,181],legaci:117,length:[79,90,92,96,105,131,132,154,171,173,174,175,177],length_factor:[23,79],less:[9,61,84,86,87,91,96,98,99,104,107,109,131,151,154,170,178,181,184,185,191],let:[11,19,20,28,127,129,143,146,153,154,158,159,162,170,171,172,173,174,181,182,184,187,189],lethal:[92,96,110,165,171],lethal_cost_threshold:92,lethal_obstacl:[160,178],level:[5,9,17,19,22,24,25,28,84,89,102,148,150,153,154,155,175,180,181,185,187,189,190],leverag:[7,11,27,144,146,154,174,176,182,184],lib:[179,188],libgazebo_ros_camera:171,libgazebo_ros_diff_dr:170,libgazebo_ros_factori:[154,170,171],libgazebo_ros_gps_sensor:184,libgazebo_ros_imu_sensor:170,libgazebo_ros_init:[154,170,171],libgazebo_ros_ray_sensor:171,libjemalloc:188,libjmalloc:188,librari:[5,6,7,10,15,17,27,28,87,151,152,154,158,160,161,162,163,171,172,176,179,188,190],libstdc:179,licens:[1,2,3,4,5,6,7,8,9,10,11,12,13,147],lidar:[6,9,28,168,170,171,178,184,188],lidar_joint:171,lidar_link:[171,172],life:190,lifecycl:[17,27,29,106,143,150,152,153,163,167,169,174,180,185,187],lifecycle_manag:[94,175,185,187],lifecycle_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56,131,132,165,173,182],shortest:[28,167],should:[1,2,3,6,9,11,18,19,23,28,71,72,73,75,82,83,86,87,90,91,92,95,96,98,99,104,106,107,109,112,114,116,131,132,146,148,149,151,152,153,154,155,156,158,159,160,161,162,163,168,170,171,172,173,174,175,176,178,179,180,181,182,183,184,185,186,187,189,190,191],shouldn:96,shovel:28,show:[2,27,114,146,149,154,158,159,160,161,162,163,167,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189],showcas:184,shown:[13,19,27,96,148,149,153,159,163,167,168,170,171,175,176,182,184,187,189,190],shrijit:150,shut:[27,28,175],shutdown:[28,154,175],shutter:181,shuttingdown:175,sid:158,side:[26,38,39,92,96,128,145,171,173,175,178,180,190],sidebar:[148,177,180],siemen:190,sig:179,sight:[101,167,184],sigma_hit:85,sign:[0,106,148],signal:[9,101,165,180,184],signatur:[159,163],signific:[8,9,96,174,184],significantli:[7,9,18,23,24,25,79,96,100,131,154,156,165,174,184,191],silent:153,sim_tim:[93,121,122],simiar:172,similar:[7,9,10,20,22,24,27,28,83,95,96,103,144,146,153,154,159,167,170,171,173,174,176,179,181,184,188,190,191],similarli:[22,24,83,89,156,170],simpl:[3,28,29,101,131,132,146,148,150,151,158,159,160,162,165,167,168,172,173,174,176,179,182,184,186,190,191],simple_smooth:[52,102,104,176],simplegoalcheck:[45,91,93,99,100,117,153,165,191],simpleprogresscheck:[91,93,99,100,155,165,191],simpler:[131,172,173],simplesmooth:[53,102,104,176],simplest:159,simpli:[18,96,131,145,148,153,154,158,159,170,173,174,179,185,187,188,190],simplic:185,simplifi:[6,149,152,159,161,163,179],simul:[1,2,3,4,5,6,7,9,10,11,12,13,17,84,87,96,100,121,122,143,149,156,158,160,161,162,163,168,169,173,174,179,180,183,184,185,186,187,188],simulate_ahead_tim:[86,100,158,191],simulation_time_step:[84,86],simultan:[145,160,171,185,187],sinc:[6,28,90,96,99,100,102,111,131,132,153,154,156,160,163,167,168,169,170,171,172,173,174,175,176,179,181,184,185,187,189,190,191],singh:[99,150,165],singl:[11,17,20,22,24,25,27,28,91,95,96,107,148,151,152,153,154,159,160,162,165,170,171,172,173,174,175,176,179,180,181,184,188],singletrigg:[88,153],singular:174,sister:153,sit:9,situat:[1,10,19,22,24,25,28,84,99,149,150,153,154,165,168,171,174,176,179,180,181],size:[27,28,38,39,131,132,154,160,166,167,168,170,171,173,177,178,181,184,185,187,188],skew:177,skid:[153,167,181],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,179],skillset:7,skinni:174,skip:[85,96,158,170],skirt:154,slack:[0,14,28,148],slam:[6,15,92,150,151,152,171,172,174,179,181,183,192],slam_toolbox:[15,179,186],sleep:[84,129,159],slide:173,slider:[173,185],slight:101,slightli:[96,101,106,130,131],slop:177,slow:[84,85,96,99,114,141,153,155,156,174,179,187,189],slowdown:[84,189],slowdown_ratio:[84,189],slower:[83,84,178],slowing_factor:[93,141],slowli:96,smac:[29,90,96,99,100,111,153,166,167,168,191],smac_plann:99,smacplann:165,smacplanner2d:[103,130,153,165],smacplannerhybrid:[103,131,154,165],smacplannerlattic:[103,132,165],small:[96,106,131,150,152,155,163,165,166,168,170,173,174,178,181,183,184,191],smaller:[13,19,28,99,109,131,132,154,181,185,187],smart:[28,108],smooth:[21,27,28,52,82,90,96,100,101,102,104,106,130,131,132,150,153,154,155,165,170,174,176,184,189,191],smooth_path:[131,132],smoothed_path:[27,52,176],smoothed_path_in_collis:[73,155],smoother:[17,29,52,53,73,99,130,131,132,150,156,163,166,167,175,189,192],smoother_error_cod:[73,87,176],smoother_id:[27,52,176],smoother_plugin:[90,101,102,104,176],smoother_selector:53,smoother_serv:[90,101,102,104,175,176],smootherselector:88,smoothing_complet:52,smoothing_dur:52,smoothing_duration_us:52,smoothing_frequ:106,smoothing_path_error_cod:52,smoothli:[96,174],smoothpath:[27,88,90,154,176],sms:158,snippet:[19,158,161,162,163,168,170,171,173,175,179],soc:4,soccer:[28,184],socket:146,soft:[23,91,96],soften:101,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,99,148,150,155,171,175,179],sole:[156,190],solut:[28,86,87,91,96,98,104,107,131,132,174,178,181],solv:[23,143,162,179],solver:[90,165],some:[4,7,11,13,18,19,20,22,27,28,43,46,47,48,49,53,83,86,87,91,96,98,101,103,104,106,107,111,131,145,148,151,153,154,156,159,161,162,163,167,168,170,171,172,173,174,178,179,181,182,184,185,190],someon:[11,14],someth:[0,19,20,27,148,154,170,172,179,184,185],sometim:[19,148,174,190],somewhat:[131,174,191],somewher:187,sonar:[28,84,155,171,188,189],sonoma:184,soon:28,sooner:185,sound:[83,156],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,28,85,86,87,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,112,116,143,145,147,148,149,150,154,158,159,160,161,162,163,168,169,170,171,172,173,177,179,181,183,184,185,186,187,188,189],source_fil:[185,187],source_timeout:[83,84,189],south:184,space:[1,4,10,21,28,83,84,85,92,95,96,97,99,105,108,130,131,132,145,146,153,154,165,167,170,174,178,183,185],span:[14,150,184],sparingli:96,spars:[27,28,165,188],sparse_normal_choleski:90,spatial:[28,153],spatio:[165,188],spatio_temporal_voxel_lay:188,spatiotemporalvoxellay:188,spawn:[145,168,170,171],spawn_ent:[154,170],speak:[131,180],special:[28,79,83,84,91,148,155,159,160,190],specif:[2,3,6,11,17,18,19,22,23,24,25,27,28,31,44,88,92,96,99,145,146,151,152,153,154,155,156,159,161,162,163,167,170,171,172,174,176,177,179,185,186,190,191],specifi:[19,22,23,24,25,27,47,48,56,65,75,83,84,87,92,95,128,129,131,132,144,145,146,152,153,154,155,156,159,160,161,162,165,167,170,171,172,174,177,180,184],speed:[2,7,9,20,26,28,31,44,82,84,86,90,91,92,95,96,99,106,111,119,130,131,132,144,145,153,154,156,161,163,165,167,174,181,184,189,192],speed_filt:[92,114,187],speed_filter_mask:187,speed_limit:[91,114,187],speed_limit_top:[91,114,187],speed_mask:187,speed_param:187,speedcontrol:[19,88,152],speedfilt:[92,114,153,187],spend:19,spent:180,sphere:[168,171,173],sphere_inertia:173,spheric:[173,184],spherical_coordin:184,sphinx_doc:165,spike:[131,132,154],spin:[11,19,20,22,23,24,25,26,27,28,36,88,142,152,153,154,155,158,159,165],spin_dist:[19,22,23,24,25,26,27,54,88,159],spin_error_cod:54,spinner:11,spiral:[154,174],spiritu:150,spite:170,spline:3,split:[17,152,184],splitter:173,sponsor:14,spot:[22,24,25,132,149,158],squar:[26,38,39,83,84,92,177],src:[143,144,145,160,170,171,173,179,185,187],ssh:[145,146,179],stabil:[151,152,153,154,155,156],stabl:[99,144,145,153],stabliti:149,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,77,80,82,91,94,95,98,148,150,151,154,155,156,161,166,167,171,174,175,179,180,184,190],stage:[28,92,145,161],stai:[96,111,131,167,174,182],stale:[145,153],stall:106,stamp:[128,161,162,186],stand:[84,154],standalon:[109,155,165,178,184,185,187],standard:[2,6,10,85,96,148,171,172,177,184,185,187,190],standardtrajectorygener:[93,117],star:[29,167,174],start:[4,5,12,17,20,21,22,24,25,27,28,41,42,56,83,84,90,96,99,100,116,131,147,148,150,152,153,154,158,160,161,162,163,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,188,189,190,191],start_controller_server_nod:180,start_costmap_filter_info_server_cmd:[185,187],start_lifecycle_manager_cmd:[185,187],start_map_server_cmd:[185,187],start_sync_slam_toolbox_nod:179,start_time_:163,startup:[5,28,94,143,145,149,152,175,177,185,187],state:[3,15,17,20,22,24,25,27,60,84,90,91,92,93,94,96,99,100,103,106,108,124,126,149,152,153,154,158,159,161,162,163,165,167,168,170,171,172,174,175,184,186,187,190,191],state_top:[84,155],statement:148,static_lay:[92,108,111,114,160,171,178,184,185,187,188],static_transform_publish:[168,172],staticlay:[92,171],station:[28,167],statist:[4,9,180],statu:[18,28,148,154,158,159,185],status1:173,status:[27,163],std:[58,152,154,158,159,161,162,163,179],std_msg:[108,127,170],stddev:[170,171,184],stdin:179,steep:105,steeper:105,steer:[90,130,154,171,174,181],step:[20,28,84,86,96,171,173,179,180,181],step_siz:27,stereo:[84,177,181],stereolab:181,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,96,150,165,179,181],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,186,188],steven:150,sticki:1,still:[19,20,27,94,99,106,111,143,145,146,153,154,155,156,170,171,173,174,179,181,184,185],stl:179,stl_vector:179,stochast:96,stop:[9,21,28,74,84,89,94,96,106,107,117,126,141,152,153,155,156,173,181,189],stop_on_failur:[107,151,153],stop_pub_timeout:[84,189],stoppedgoalcheck:[91,165],storag:[145,163],store:[85,92,112,116,145,150,155,160,161,163,171,172,180,184],stori:10,strace:145,strafe_theta:140,strafe_x:140,straight:[131,132,162,173,174,176],straightforward:171,strategi:[148,184],stream:154,streamlin:[144,146],stretch:146,strictli:[6,132,155],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,56,57,59,61,70,77,78,83,84,85,86,87,90,91,92,94,95,96,98,100,104,106,107,108,111,112,113,114,115,116,117,127,128,131,132,134,135,138,139,152,155,158,159,160,161,162,163,170,175,188],strive:[14,148],stroke:[2,169],strongli:28,structur:[6,8,19,28,150,155,163,167,172,173,175,184,187,188,190],stuck:[1,19,22,24,25,28,30,31,44,54,67,154,165,174],student:[7,148],studio:146,stutter:174,stvl:192,stvl_layer:[92,188],style:[22,24,25,174,188],sub:[0,22,24,25,154,156],subcommand:145,subfield:181,subject:[28,96,170],submit:[13,148,165],suboptim:[96,174,181],subproject:13,subscrib:[28,43,46,49,53,64,65,78,84,85,91,113,115,153,170,171,182,184],subscribe_to_upd:[92,115],subscript:[78,83,84,153,163,165,170,175],subsect:[145,171],subsequ:[20,28,85,145,165],subset:180,subsiqu:[131,132,181],substanti:[1,96,131,148,151,174],substitut:[87,173,182,185,187],subtleti:163,subtli:154,subtre:[18,20,22,23,24,25,28,38,39,40,88,159,165],succe:[19,20,74,75,165],succeed:[27,81,154,158,162],success:[14,19,20,23,28,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,75,96,153,154,155,158,159,165,173,178,184,191],successfulli:[1,19,28,154,158,163,170,172,173,175,182],successor:[96,150,155],sucessfulli:172,sudo:[144,149,170,171,173,177,180,184,186,188],suffici:[4,19,28,96,132,141,163,178,180,181],suffix:180,suggest:[20,90,96,167,172,173],suit:[0,145],suitabl:[90,100,154,165,167,172,191],sum:[85,133,134,135,136,138,139,167,173],sum_scor:[133,136],summar:[167,172,174],summari:17,summer:[5,11],superior:155,suppli:[11,28,77,80,82,87],support:[2,6,13,14,27,28,43,46,49,53,83,99,103,143,145,146,150,151,152,155,165,167,171,173,174,178,185,187,188,190],suppos:172,sure:[1,2,7,12,27,96,112,116,143,144,145,148,153,156,160,163,165,168,170,171,174,177,178,179,181,183,184,185,186,187,188,189],surfac:[28,150,184],surface_model:184,surpris:191,surround:167,survei:150,susbcrib:128,sustain:28,swap:[154,155],sweep:[173,174],symbol:179,symlink:[144,160,185,187],symmetr:156,symmetri:154,sync:190,sync_slam_toolbox_nod:179,synchron:[28,181],syntax:[145,156,173,179],sysdep:179,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,84,85,91,94,96,144,145,146,148,149,150,151,154,156,163,167,171,172,173,174,175,176,177,179,180,181,183,189],systemat:175,systemdefaultsqo:163,sysv:179,tab:[143,168,171],tabl:[154,160,161,163,169,174,175],tackl:[168,169],tag:[144,145,154,159,170,171,173],tailor:167,take:[1,9,12,17,18,22,23,27,28,41,42,45,47,48,61,79,83,84,85,86,87,91,94,96,98,100,101,102,104,107,128,130,131,145,148,149,151,153,154,155,156,158,159,161,162,163,165,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,187,191],taken:[4,75,83,84,90,96,114,128,153,160,163,185,187],talk:[1,145,150,170,172,179,186,188],talker:143,tangent:[4,177,184],tangenti:177,tar:177,target:[6,96,99,114,145,146,152,153,156,167,173,179,182,183,187,190],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,22,23,24,25,27,28,51,78,84,87,89,96,100,107,148,150,151,153,155,158,159,163,167,168,169,171,174,176,181,182,184,190,191,192],taskexecutor:27,taskresult:[27,154],tb3:[150,156],tb3_gp:184,tb3_simulation_launch:[149,158,160,161,162,163,174,178,179,182,185,186,187,189],tbb:7,tcp:146,team:[14,146,182],tear:106,teardown:[28,167],teb:[3,96,151,155,165,167,174,191],teb_local_plann:152,teblocalplann:152,technic:[8,22,24,25,148,158,160,161,162,163,185],techniqu:[3,4,6,28,84,101,102,103,153,171,174,181,184],technolog:[8,14,150,181,184],tediou:173,teleop:[0,27,30,86,165,184],teleop_twist_keyboard:184,teleoper:184,telepres:1,tell:[28,148,158,159,160,170,179,184],temperatur:96,templat:[103,144,148,153,159,163,169,173,179],tempor:[165,188],temporari:[22,23,24,25,86,87,91,98,104,107,181,185,187],tend:191,term:[96,148,163,171,172,181,185],termin:[90,102,130,131,132,143,149,152,158,168,170,171,177,179,180,182,183,184,186],terminatependinggo:163,test:[0,3,4,6,17,86,96,132,145,148,166,170,177,182,186,188,190],text:[158,160,188],tf1:173,tf2:[28,152,169,170,172,173,174],tf2_echo:[170,172],tf2_msg:170,tf2_ro:[161,168,170,172],tf2_tool:171,tf_:[161,162],tf_broadcast:85,tf_static:154,tfmessag:170,than:[17,20,22,24,25,28,55,56,61,65,79,84,85,86,87,91,92,94,96,98,99,100,104,107,108,109,131,132,145,152,153,154,155,156,161,163,165,172,174,178,179,180,181,182,184,185,186,189,191],thank:14,thei:[0,7,19,20,22,24,25,28,83,84,87,94,96,103,142,145,146,148,150,152,153,154,155,156,158,159,161,162,163,167,169,170,171,172,173,174,175,179,180,184,185,189,190],theinput:170,them:[4,7,22,27,28,83,91,96,107,111,112,116,132,145,146,148,150,151,153,154,155,156,158,159,160,161,162,168,171,172,173,174,175,176,179,180,181,183,184,185,186,187,189,190,191],themselv:[163,190],theoret:96,theori:96,therebi:148,therefor:[20,23,83,96,173,174,175,179,184,185,187,189,190],theta:[27,29,100,101,106,153,165,167,174,191],theta_scal:140,thetastarplann:[105,165],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,43,46,49,51,53,54,57,60,71,72,73,79,81,83,84,85,86,87,88,90,91,92,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,110,111,112,113,114,115,116,130,131,132,133,145,146,147,148,149,150,151,152,153,154,155,156,158,159,160,161,162,163,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191],thing:[13,28,146,154,155,160,161,162,170,173,174,179,180,187],think:[0,8,28,174],third:[74,161,185,187],those:[9,14,28,101,145,154,167,171,173,174,175,176,179],though:[20,22,96,174,175,181,184,185,187,189],thought:[28,154,159],thrash:181,thread:[7,11,13,27,28,91,96,156,179],three:[26,28,103,155,172,174,175,184],threshhold:95,threshold:[61,84,91,95,96,99,100,108,137,154,165,181,183,185,187,191],threshold_to_consid:[96,156],throttl:[80,152,165],through:[1,9,17,18,19,20,23,24,25,27,28,29,41,94,96,105,112,116,131,132,145,148,149,150,152,153,154,155,156,160,165,167,169,170,171,172,173,174,175,179,180,181,184,185,186,187,188,191],throughout:[2,60,145,151,154,173,175,181],thrown:154,thu:[83,84,90,96,105,106,167,170,171,180,181,184],thusli:[168,174,191],tick:[19,20,22,23,24,25,28,60,74,77,80,81,82,154,159,165],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,28,143,148,152,153,154,174,179,190],tie:4,tied:[28,132],tight:[100,132,167,174,191],tighter:174,tightli:181,tile:184,till:74,tilt:177,time:[0,1,3,4,6,7,8,9,11,14,17,19,20,21,22,23,24,25,26,27,28,30,31,44,52,54,56,57,69,74,75,83,84,85,86,87,91,92,96,99,100,101,102,103,106,108,111,113,114,121,122,123,125,127,128,129,130,131,132,141,144,145,146,148,151,152,154,159,160,163,165,166,167,168,170,172,174,175,176,178,179,180,181,182,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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 Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","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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177,ackerman:167,ackermann:[103,150,153,165,167,174],ackermannconstraint:96,acknowledg:87,acquir:28,across:[18,28,96,102,110,131,132,145,155,163,166,171,172,174,184,190],act:[9,14,28,130,152,153,169,171,173,185,189,191],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,44,45,47,48,52,54,57,75,77,78,79,80,83,84,86,87,91,92,96,98,104,107,149,150,151,155,158,159,163,165,167,168,170,171,172,173,174,175,176,182,183,184,185,187,190],action_a:20,action_b:20,action_c:20,action_nam:159,action_server_result_timeout:[86,87,91,98,104,107,156],action_typ:[83,84,189],actionnod:20,actionnodebas:159,actiont:163,activ:[12,27,28,58,71,72,73,84,86,87,91,94,98,104,107,143,148,149,152,153,154,155,158,161,162,163,170,171,174,175,184],actual:[19,52,84,90,96,100,131,154,163,168,172,173,174,177,181,183,184,189,191],actuat:145,adapt:[6,28,85,99,153,165,171,172,173],add:[0,2,8,17,74,75,76,77,78,79,80,81,82,90,91,96,111,112,116,131,145,148,152,153,154,155,158,163,168,170,171,172,173,174,175,176,179,180,181,184,186,188,189,190],add_act:[185,187],add_compile_opt:[179,180],added:[10,13,22,24,25,87,96,145,148,151,152,153,154,155,158,160,161,162,163,167,168,171,172,173,174,175,180,184,188,189,191],addin:184,adding:[1,9,85,131,132,145,154,155,170,171,173,175,178,181,184,185,187],addit:[3,11,17,20,22,23,24,25,28,83,84,89,131,144,145,153,154,155,156,159,163,167,170,171,173,179,180,181,184],addition:[0,11,28,145,146,151,152,153,156,163,184],address:[32,33,34,35,36,37,41,42,45,151,152,153,154,155,156,158],adequ:174,adher:172,adjac:[105,109,178],adjust:[9,11,28,29,77,80,82,84,86,87,91,92,96,98,104,106,107,131,155,156,168,173,181,187,189],admiss:[131,132,154],admittedli:11,advanc:[0,28,131,166,174],advantag:[12,28,155,191],advic:[167,174],advis:[22,24,25,28,170],affect:[83,89,153,154,156,173],aforement:96,after:[2,10,21,22,24,25,27,28,84,85,87,96,100,101,106,115,117,124,126,129,130,131,132,148,149,153,154,156,160,161,162,163,168,170,171,173,174,175,177,178,179,180,182,184,185,187,188,189,190,191],afterward:170,again:[19,20,21,23,75,143,145,149,151,166,170,173],against:[58,71,72,73,132,155,174],agent:[84,174],aggreg:175,aggregation_typ:[134,135,138,139],aggress:[84,131],agre:148,agreement:148,ahead:[86,96,99,121,122,134,138],aid:[2,23],aim:[1,7,9,10,13,106,169,173,174,180],air:184,aisl:[28,130,154,167,174],aislewai:[131,154],aitor:165,alarm:[83,156],alberto:165,aleksei:165,alexei:[14,150,165],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,90,96,99,101,102,103,148,150,151,153,154,155,156,160,161,165,168,171,173,174,176,178,180,181],alias:28,align:[117,134,138,139,156,184],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,39,74,84,85,86,94,96,99,101,103,105,106,109,113,131,136,144,145,146,148,150,151,152,153,154,156,158,161,162,163,165,167,170,171,172,173,174,175,176,177,179,180,181,184,185,187,188,190,191],allevi:174,alloc:[28,175,179,188],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,79,84,85,86,87,96,97,99,105,114,130,131,132,133,136,141,145,146,148,150,152,153,154,158,160,161,162,167,170,171,172,173,174,175,177,178,179,181,182,184,185,187],allow_primitive_interpol:[131,156],allow_revers:99,allow_reverse_expans:132,allow_unknown:[97,105,130,131,132,153,162],almost:[152,154],alon:181,along:[14,27,28,56,66,82,96,99,100,108,111,114,131,132,136,152,153,154,155,165,167,171,173,175,176,179,181,184,185,187],alongsid:[163,174],alot:[96,181],alpha1:85,alpha2:85,alpha3:85,alpha4:85,alpha5:85,alpha:[173,185],alreadi:[4,7,96,152,153,154,158,168,170,173,174,179,181,184],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,83,84,85,86,88,91,92,94,95,96,99,101,103,104,107,131,132,144,145,146,148,149,150,151,152,153,154,155,156,158,159,160,161,162,163,167,168,170,171,172,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,191],alter:145,altern:[3,23,28,56,145,146,153,168,170,179],although:146,altitud:184,altogeth:181,alwai:[9,16,21,70,83,84,94,106,132,143,153,154,173,174,184,185,191],always_on:[170,171,184],always_reset_initial_pos:85,always_send_full_costmap:[92,171],alwayson:171,ambigu:99,amcl:[6,7,17,27,28,29,50,63,149,150,152,165,171,172,174,181,184],amcl_pos:151,amclnod:154,amend:148,ament:[158,160,161,162,163,177],ament_cmak:[158,161,162,163,173],ament_cppcheck:148,ament_cpplint:148,ament_index_cpp:163,ament_index_python:[185,187],ament_uncrustifi:148,america:184,among:[17,28,105,167,174,178],amongst:173,amount:[92,113,123,125,127,129,130,131,132,141,152,153,155,185],amp:184,ampl:[22,24,25],amr:181,analog:[8,84,153,155,159,179,191],analysi:[7,28,148,150,180],analyt:[131,132,153,154],analytic_expansion_max_length:[131,132,154],analytic_expansion_ratio:[131,132],analyz:[5,6,7,10,27,28,159,180],andrei:165,angl:[27,28,54,83,84,105,123,130,131,153,165,174,184],angle_quantization_bin:131,angular:[56,84,96,99,100,118,119,122,131,134,137,138,140,155,161,170,174,191],angular_dist_threshold:[100,191],angular_distance_weight:56,angular_granular:[93,122],angular_limit:[84,155],angular_vel:161,angular_veloc:170,ani:[0,3,9,11,14,17,19,20,21,23,28,43,46,49,51,53,58,60,74,83,84,91,94,96,99,102,103,105,111,112,116,131,143,145,146,148,150,152,153,154,155,156,158,159,160,161,162,163,165,167,171,172,173,174,175,176,178,179,180,181,182,184,185,187,189,190,191],anim:[4,178],annot:[28,153,160,161,162,185,187],announc:148,anoth:[0,1,4,6,10,21,22,24,27,28,58,83,86,87,91,98,103,104,107,130,131,145,148,153,154,156,159,165,167,168,170,171,173,176,179,182,184,185,186,187,188],anshumaan:165,answer:[0,148,153],anybot:5,anyhow:154,anyon:11,anyth:[21,28,83,153,159,160,163,174,185,190],anywai:174,anywher:[146,154],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,148],apart:[23,191],apex:146,api:[18,28,52,150,151,153,158,160,163,171,176,184],appear:[84,148,149,153,154,155,171,173,177,178,183,184,189,190],append:[145,148,170,171],appli:[0,7,11,28,96,99,102,105,106,111,130,131,132,140,146,153,159,172,173,174,178,179,180,186,187],applic:[1,3,6,10,12,14,18,19,22,23,24,25,27,28,56,83,84,86,87,90,91,96,98,104,107,143,145,151,154,155,158,160,163,165,167,174,175,178,179,180,181,182,184,187,188,190,191],appreci:[28,148],approach:[23,28,79,84,96,97,99,103,105,130,131,132,150,153,155,156,165,167,170,174,176,189,191],approach_velocity_scaling_dist:99,appropri:[2,19,91,96,98,106,114,148,154,155,163,167,170,172,173,174,179,181,189,190],approv:[3,148],approxim:[84,100,106,130,131,149,155,167,168,174,177,191],apt:[144,145,149,170,171,173,177,180,184,186,188],arbitrari:[28,84,103,146,165,167,169,174],arbitrarili:150,arc:[83,84,171],architectur:[11,153,181],area:[3,7,28,38,39,84,92,108,111,113,114,130,131,132,148,153,154,155,158,160,165,171,173,174,177,180,185,187],area_memori:181,areerrorcodespres:[88,155],arg:[144,177,179,180,189],argc:179,argument:[27,144,154,155,156,159,161,170,173,176,179,180,184,185,187,189],argv:179,arm:158,aroun:155,around:[9,14,19,23,28,38,56,79,83,84,90,92,96,99,110,148,150,153,165,171,172,173,174,177,184,186,191],arrai:[90,131],arriv:[107,128,153,165],arrow:[173,183,184],art:103,articl:[150,175],artifact:[101,103,145,178],artifici:96,as_str:163,asid:[170,171],ask:[0,3,28,148,160,179,190],asla:14,aspect:[20,145,146,176,177],assembl:190,assess:174,asset:179,assign:[28,52,56,90],assist:[0,27,30,148,165,174],assisted_teleop:[32,86],assisted_teleop_error_cod:30,assisted_teleop_serv:30,assistedteleop:[27,32,88,154,155,165],associ:[28,155,170,171,172],assum:[19,20,146,153,160,161,165,168,172,173,178,179,184,185,186,187,188,189,190],assumpt:[106,174,184,186],assymmetr:181,asymmetr:90,async_slam_toolbox_nod:171,asynchron:[19,20,28,152],ata:[128,165],atom:13,attach:[28,92,148,168,170,171,172,175],attempt:[1,19,21,22,24,25,28,79,94,95,96,102,130,131,132,146,156,179,181,185],attempt_respawn_reconnect:94,attent:[28,96,174],attest:148,attract:96,attribut:[96,155,185],augment:[184,192],auth_token:158,author:[146,148,150],auto:[145,161,163],auto_start:183,autom:[144,145,146],automat:[18,28,96,99,113,145,148,153,154,168,170,172,173,174,175,184,185,187],autonom:[1,27,28,96,99,150,153,181,184],autonomi:[1,27,28,151,154,155,175,184,190],autostart:[27,94,149,174,175,183,185,187],auxiliari:27,avail:[5,9,27,28,70,83,84,92,96,99,105,143,144,146,148,151,153,154,160,165,167,170,171,174,175,176,177,179,182,184,188],averag:[83,84,85,105],avoid:[1,28,84,86,87,89,90,91,92,96,98,104,107,111,132,145,150,153,154,160,167,168,170,171,172,173,174,189],awai:[21,90,96,100,130,155,171,177,190,191],awar:[22,24,25,90,96,103,105,131,132,153,171,174],awkward:[96,174],axes:106,axi:[27,106,160,173,184],back:[1,9,22,24,25,27,28,31,90,96,100,108,132,148,151,154,155,159,161,162,163,165,172,173,174,184,190],back_up:86,background:[95,152,154,173,174,185],backport:96,backtrac:[155,192],backup:[1,19,20,22,23,24,25,27,33,88,151,154,155,158,165],backup_dist:[19,22,23,24,25,27,31,88,153],backup_error_cod:31,backup_serv:[31,44],backup_spe:[19,22,23,24,25,27,31,88,153],backward:[56,117,137,140,153,155,179],backward_ro:179,bad:[22,24,25,28,85,158,181],bake:174,balanc:[96,102],ball:28,band:[3,151,167,184,191],bar:[173,177,190],barrier:14,base:[2,5,6,9,17,19,21,28,51,56,59,61,77,82,83,84,85,86,87,90,92,95,96,101,103,104,108,111,114,123,131,133,134,135,136,138,139,144,145,146,148,150,151,153,154,155,158,159,161,162,163,165,167,170,171,172,173,174,178,179,181,184,185,187,188,189,190],base_:173,base_class_typ:[158,160,161,162,163],base_footprint:[83,84,85,173,184,189],base_frame_id:[83,84,85,189],base_height:173,base_joint:[173,184],base_las:172,base_laser2:172,base_length:173,base_link:[28,51,56,59,61,70,77,86,87,92,101,102,104,158,159,160,163,168,170,171,172,173,176,181,184],base_link_fram:[170,184],base_shift_correct:[83,84],base_width:173,baselin:[96,131,171],baseobstacl:93,baseobstaclecrit:93,bash:[143,144,145,149,160,168,170,171,173,183,185,186,187],bashrc:[143,145],basi:[5,96,174],basic:[4,5,17,18,19,27,28,132,151,153,154,160,163,167,168,169,170,171,172,179,181,188],basic_class_typ:160,basicnavig:[27,154,184],basket:27,batch:96,batch_siz:96,batteri:[19,20,28,64,65,154,155,165,182],battery_statu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ilder:[145,159],buildtool_depend:173,buildx:145,built:[11,145,148,160,168,169,170,171,173,177,178,179,184,185,186,187,188,189,191],builtin_interfac:175,bulldoz:28,bunch:143,burden:174,busi:28,button:[149,155,160,161,162,163,168,171,177,182,183,184],bypass:[84,89,185],c_str:[162,163],cach:[131,132,144,145,154],cache_obstacle_heurist:[131,132,174],cachefrom:145,calcul:[19,27,83,84,108,154,160,161,162,170,178,184],calendar:148,calib_cb_fast_check:177,calibr:[18,184,192],calibrationdata:177,call:[17,27,28,38,39,40,84,91,98,131,132,137,148,149,151,152,153,154,155,158,159,160,161,162,163,165,172,173,174,175,176,179,180,184,185],callabl:160,callback:[11,13,28,153,163],callback_group:154,caller:[22,24,25],callgrind:180,came:153,camera:[28,108,128,155,171,188,192],camera_calibr:177,camera_depth_fram:171,camera_depth_joint:171,camera_image_topic_nam:128,camera_joint:171,camera_link:[171,172],camera_nam:177,camera_odom:181,cameracalibr:177,can:[0,1,3,4,5,6,7,8,11,13,14,17,18,19,20,22,23,24,25,26,27,28,29,32,33,34,35,36,37,41,42,45,75,77,78,80,82,83,84,85,87,88,89,90,91,92,95,96,99,100,101,103,105,107,112,116,131,132,143,144,145,146,148,149,150,151,152,153,154,155,156,158,159,160,161,162,163,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191],cancel:[17,21,23,27,32,33,34,35,36,37,149,159,163,165,182],cancelassistedteleop:[88,154],cancelbackup:88,cancelcontrol:[23,88,154],canceldriveonhead:88,cancelingcontrolandwait:23,cancelnav:154,cancelspin:88,canceltask:27,cancelwait:88,candid:[1,7,96,148,167],cannot:[28,70,96,99,106,131,132,137,153,155,163,175,184,188,190],canon:28,capabl:[4,7,10,15,27,145,146,150,153,166,171,181,182,184,191],captur:[28,154,167,180,181],car:[103,150,153,165,168,174],cardin:184,care:[96,131],career:11,carefulli:[167,181],carl:[14,165],carlo:[6,28,85,171],carri:[28,152,153,154,162,182],carrot:21,cart:4,cartesian:[28,96,156,184],cartograph:151,cast:7,caster:173,caster_joint:173,caster_xoff:173,catchi:8,categori:167,cater:154,cati:182,caus:[23,31,44,83,84,85,96,131,132,149,154,174,178,181,185,187],caution:[146,178],ccach:[144,145],ccw:26,ceas:84,cell:[27,28,105,109,110,112,113,116,154,160,167,168,171,173,178,185,187],center:[19,28,38,39,96,111,130,131,132,154,158,168,172,173,177,183,184],central:[28,184],cerescostawaresmooth:[104,176],certain:[20,152,154,160,167,169,171,182],certainli:[156,181],certif:[84,147],certifi:[9,84,148],chain:[184,187,189],challeng:28,chanc:[1,7,9,20,154],chang:[6,11,12,13,14,17,18,19,22,24,25,27,28,60,62,74,84,86,87,90,91,92,96,98,102,104,106,107,124,126,130,131,132,134,138,145,148,149,152,160,161,163,166,168,170,171,174,179,181,182,183,184,185,187,188,189,190],change_penalti:[131,132],changemap:27,channel:[131,148],chao:148,chapter:[28,185,187],charact:101,characterist:[4,12,102,170],charg:[28,64,155,165,167],charger:28,charuco:177,chassi:[172,173],chat:148,check:[0,7,9,11,14,19,20,23,27,28,51,52,58,60,61,62,64,65,66,68,70,71,72,73,79,83,86,87,88,90,91,92,96,99,100,104,107,111,123,124,125,126,137,143,144,145,146,148,150,152,153,154,156,158,159,160,161,162,163,165,167,168,170,171,172,174,177,178,179,183,184,185,187,191],check_for_collis:[27,52],checker:[18,45,91,117,151,158,191],checkerboard:177,checklist:169,checkout:[99,144,181],chessboard:177,child:[19,20,23,70,74,75,77,80,81,82,154,165,170,171,172,173,184],child_frame_id:170,children:[19,20,23,74,75,76,79,165,180],chip:174,choic:[10,27,28,174,175,181,186],choos:[105,145,146,149,163,168,172,174,178,179,184,187],chosen:[27,28,145,155,187],christoph:165,chronicl:145,chug:179,cilqr:3,circl:[20,28,83,84,174,177,189],circular:[28,96,103,150,156,167,168,173,174],cite:[99,150],citizen:188,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:148,class_list_macro:[158,160,161,162,163],classic:174,classification2d:171,classification3d:171,clavero:150,clean:[28,96,145,152,154,158,161,162,163,174],cleaner:173,cleaningup:175,cleanli:[28,94,163,174,180],cleanup:[158,161,162,163,175],clear:[19,20,22,23,24,25,27,28,38,39,40,92,112,113,116,148,153,154,155,162,165,171,177,181,188],clear_after_read:188,clear_around_:153,clear_around_local_costmap:38,clear_entirely_global_costmap:[19,22,23,24,25,88,159],clear_entirely_local_costmap:[19,22,23,24,25,40,88,159],clear_except_:153,clear_except_local_costmap:39,clear_on_max_read:[113,171],clear_threshold:113,clearallcostmap:27,cleararoundrobot:154,clearcostmaparoundrobot:88,clearcostmapexceptregion:88,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,88,153,159],clearer:171,clearexceptregion:154,clearglobalcostmap:[19,22,23,24,25,27,88,159],clearing_endpoint:153,clearingact:[19,22,23,24,25,88],clearlocalcostmap:[19,20,22,23,24,25,27,38,39,40,88,159],clever:179,cli:[28,95,145,146,152,153,180,186],click:[16,146,149,160,161,162,163,168,171,177,183,184,190],clicked_point:182,clicked_point_to_pos:182,client:[20,28,151,153,154,158,159,163,176],client_nod:154,client_node_:154,clinet_node_:154,clip:[171,185],clock:[185,187],clock_:[161,163],clone:[144,177,182,184,185,186,187,188],cloned_tb3_simulation_launch:156,close:[23,28,51,79,83,84,92,96,99,106,132,135,141,145,153,154,161,168,174,184,189],closed_loop:106,closer:[55,96,131,155],closest:[56,99,117],closur:181,cloud:[7,28,145,146,149,152],cmake:[158,160,161,162,163,177,180],cmake_build_typ:180,cmakelist:[158,160,161,162,163,170,171,173,179,180],cmd:[170,171],cmd_vel:[13,83,84,161,170,180,189],cmd_vel_in_top:[84,189],cmd_vel_nav:[180,189],cmd_vel_out_top:[84,189],cmd_vel_raw:84,cmd_vel_smooth:[84,189],cmd_vel_teleop:86,code:[5,6,15,30,31,41,42,44,45,47,48,52,54,58,71,72,73,85,86,87,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,145,146,148,151,152,154,158,159,160,161,162,163,165,168,170,171,173,176,178,179,184,188,191],codebas:[91,148,156],codecov:12,codespac:[145,146],codifi:145,coeffici:[114,177,185,187],coffe:[146,190],colcon:[144,145,160,168,170,171,173,179,180,185,187],collabor:[4,14,148],collect:[27,169,171,180,181],collid:[4,9,168],collis:[1,7,9,28,29,30,52,86,90,92,96,99,100,104,111,141,150,151,153,154,158,165,166,167,168,170,171,173,174,191,192],collision_cost:96,collision_detector:83,collision_detector_st:[83,156],collision_margin_dist:96,collision_monitor:[84,189],collision_monitor_nod:189,collision_monitor_param:189,collision_monitor_st:84,collisionmonitor:155,color:[8,90,128,171,173,174,178,185,187,188],color_dark:185,color_light:185,column:[116,171],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],combin:[28,92,131,134,135,138,139,153,186],combination_method:[92,112,116,156,188],come:[8,13,14,28,96,99,126,131,148,154,155,158,161,162,163,170,172,173],command:[1,9,17,23,30,43,46,49,53,78,99,100,106,144,145,146,150,152,158,160,161,162,163,165,167,170,171,172,173,179,181,182,183,185,186,187,191],commandlin:[95,179,180],comment:[145,148,154,160,162,179,188],commerci:[28,148,184],commit:[145,148,166,177],common:[19,27,28,96,145,146,150,153,154,163,170,181,184],commonli:[20,43,46,49,53,163,171,181,184],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,145,148,150,158,163,172,174,175,177],compani:[148,150,174],companion:190,compar:[28,58,71,72,73,87,90,103,155],comparison:[14,150],compat:170,compens:184,compet:148,compil:[145,146,158,161,162,163,176,179,180],complement:[5,152,184],complementari:175,complet:[3,4,5,12,17,19,20,23,27,28,52,84,96,99,100,124,126,131,132,141,145,148,149,150,151,152,153,154,155,156,158,159,163,166,167,168,170,171,173,175,176,177,180,181,183,184,186,188,190,191],complex:[17,28,87,96,131,150,155,171,172,173,179,190],complexyolo:4,compli:[2,167,170,184],complianc:106,compliant:172,complic:150,complimentari:163,compon:[6,17,74,75,76,77,78,79,80,81,82,105,106,140,153,154,169,173,175,181,185,187],component_contain:175,component_container_isol:154,componentcontain:179,compos:[11,154,160,174,175,179,180],composable_node_descript:175,composablenod:[175,189],composablenodecontain:175,composit:[166,179,180,185,187],composition_demo:175,comprehens:145,compris:[13,173],comput:[7,17,18,19,20,21,22,28,41,42,96,98,99,103,105,130,131,132,134,138,150,154,155,158,159,161,162,165,167,168,170,171,172,174,176,180,181,183],computation:[28,116,154],compute_path_error_cod:[41,42,87,176],compute_path_error_code_id:175,compute_path_through_pos:[155,175],compute_path_to_pos:[155,175],compute_path_to_pose_error_cod:72,computeandpublishveloc:153,computeandsmoothpath:176,computepaththroughpos:[22,88],computepaththroughposesrecoveryfallback:22,computepathtopos:[18,19,20,21,23,24,25,49,51,77,80,82,88,159,163,176,182],computepathtoposeact:49,computepathtoposerecoveryfallback:[19,24,88],computevelocitycommand:[91,161],concaten:153,concept:[7,19,20,150,153,167,171,172,175,185,187,190],conceptu:172,concern:[146,148,154],conclus:23,concret:172,condit:[12,19,22,24,25,28,30,31,44,54,66,67,70,102,145,154,155,159,165,170,173,181,184,190,191],conditionnod:159,conf:[91,156,159],confer:150,config:[145,146,168,170,171,173,179,184,186],configur:[0,1,14,16,17,18,19,20,27,28,43,46,49,53,59,83,84,89,90,91,92,94,95,96,103,108,111,114,144,145,146,151,152,154,155,156,158,159,161,162,163,165,169,173,174,175,176,178,179,181,182,183,184,186,188,190],configured_param:[175,185,187,189],confin:[96,131,145,156,168],confirm:[168,171,177,184],conflict:152,conform:150,confus:20,conjunct:[27,96],connect:[14,20,28,94,97,105,109,130,145,146,152,153,154,165,167,170,171,172,173,178,184,190],connector:181,consequ:23,consid:[3,14,19,30,31,44,54,83,84,85,87,88,92,96,126,131,132,141,148,152,153,155,158,159,161,162,163,165,167,174,175,181,184,185],consider:[4,96,174],consider_footprint:96,consist:[8,18,146,148,153,154,165,170,171,172,174,175,184,190],consol:189,constant:[20,99,161,173,174],constantli:[152,154],constrain:[29,102,153,165,174],constrainedsmooth:[90,154],constraint:[22,100,106,153,154,163,165,167,174,191],constraintcrit:96,construct:[28,148,154],constructor:[27,28,154,156,159],constsharedptr:163,consult:14,consum:[9,154],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,148,150,174,175],contain:[9,11,18,22,24,25,28,45,48,89,96,103,106,132,147,151,152,153,154,155,156,158,160,161,162,163,165,170,171,173,174,175,176,177,179,181,185,187,189,191],container:145,containeris:145,content:[146,168,169,171,173],context:[11,13,19,20,22,23,24,25,88,144,159,165,190],contextu:[18,19,22,24,25,150,155],continu:[1,12,19,20,21,22,23,24,25,28,96,107,129,131,132,146,148,149,150,151,152,153,154,155,163,170,173,174,181,184,186],contractor:14,contrast:[154,184],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,28,131,148,171,174,175],contributor:[14,148],control:[2,4,7,9,11,13,17,18,19,21,22,23,24,25,27,29,34,43,45,55,56,71,72,73,75,76,77,78,82,84,92,99,103,106,114,118,119,120,121,122,123,124,125,126,132,133,134,135,136,137,138,139,140,141,142,150,151,152,156,158,159,160,163,164,166,168,169,170,173,175,176,179,180,181,182,183,186,187,188,189,190,192],controlcancel:23,controller_frequ:[91,93,96,99,100,191],controller_id:[19,21,22,23,24,25,27,43,45,88,153,159,182],controller_pati:153,controller_plugin:[91,93,99,100,152,161,167,191],controller_plugin_id:[117,118,119,120,121,122,133,134,135,136,137,140,141,142],controller_selector:43,controller_serv:[23,91,93,94,96,99,100,152,153,154,156,161,167,175,180,187,191],controllerselector:[22,24,25,88,153],controllerserv:154,controlnod:159,conveni:[146,181,187],convent:[22,24,25,28,171,172,175,184],converg:[85,90,96,184],convers:[27,95,148,185,187],convert:[0,28,96,107,114,131,132,150,151,153,162,172,184,185,187],convert_typ:[185,187],convex:96,cooper:2,coordin:[5,27,28,85,92,107,154,170,172,173,181,182,184],cope:184,copi:[154,168,170,171,173,176,179,185,187,188],copyright:148,core:[7,18,28,150,155,175,176],corner:[99,149,153,177,185,190],corpor:14,correct:[28,83,84,143,145,148,154,170,171,173,183,185,187,189],correctli:[20,28,149,153,154,168,170,171,172,184,185,187,189],correl:145,correspond:[28,79,83,84,87,96,97,105,108,109,110,111,112,113,114,115,116,130,131,132,153,154,158,159,160,171,172,178,184,187],correspont:185,corridor:[96,167,174],cost:[9,19,27,28,83,84,86,90,92,96,99,103,105,111,120,130,131,132,145,153,154,156,160,165,171,174,178],cost_check_point:90,cost_cloud:153,cost_penalti:[131,132],cost_pow:96,cost_scaling_factor:[92,96,105,110,160,171],cost_travel_multipli:130,cost_weight:96,costamp2d:185,costli:28,costmap2d:[143,164,165,178,185,187],costmap2dro:[154,161],costmap:[1,2,4,5,7,10,19,20,21,22,24,25,29,38,39,40,84,86,89,90,99,104,105,108,110,111,112,114,116,130,131,132,133,136,150,151,154,160,161,162,167,168,174,178,184,192],costmap_2d:[5,17,160,171],costmap_2d_cloud:153,costmap_2d_ro:115,costmap_:[160,162],costmap_filter_info:[95,108,111,114,185,187],costmap_filter_info_serv:[95,185,187],costmap_filters_demo_dir:[185,187],costmap_raw:[86,101,102,104,158,176],costmap_ro:[154,161,162],costmap_ros_:161,costmap_top:[101,102,104,158,176],costmapfilt:153,costmapfilterinfo:[108,111,114,185,187],costmapinfotyp:155,could:[1,2,3,6,7,9,10,21,28,83,84,91,105,145,146,152,153,154,155,159,160,161,165,172,174,176,179,182,184,185,187,188,189],couldn:179,count:[96,154,170,177,185],counter:[30,103,154,159,163,170],counterpart:174,coupl:[27,181,191],cours:[5,11,145,173,181],covari:[85,184],cover:[2,28,113,148,153,167,174,175,179,184,185,187],coverag:[3,4,6,12,28,163,166,175],cpp:[19,28,151,152,153,154,156,159,160,165,179,190],cpu:[4,7,84,145,154,174,175,181],crash:[28,94,152,154,174,175,190],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,41,42,76,79,84,92,94,96,102,103,131,144,146,148,150,151,152,153,154,155,160,165,167,168,170,171,172,173,174,175,178,181,183,184,185,187,188,189,190,191],create_cli:163,create_subscript:163,createplan:162,creation:[9,152,174],creativ:[6,8],creator:165,criteria:[28,124,126,141,148,154,165],criterion:90,critic:[1,7,9,28,117,133,134,135,136,137,138,139,140,141,142,151,167,174,175,179],critical_weight:96,cross:[143,145,150,167,168],crowd:[22,24,25,167],crtl:[145,146],crux:19,ctrl:145,cube:[168,171],cubic:90,cuda:7,cull:[22,51,165],current:[3,9,11,12,14,19,20,25,27,28,44,51,56,60,77,80,82,83,84,96,98,99,100,106,107,108,111,113,114,132,148,150,152,153,154,155,156,158,159,161,162,163,165,170,171,172,173,174,175,182,184,189,190,191],current_path:163,current_pos:163,curv:[105,160,174],curvatur:[96,99,131,153,161,167],curvature_lookahead_dist:[99,155],curvature_smooth:[104,176],cusp:[90,96,99],cusp_zone_length:90,custom:[10,18,19,20,22,24,25,27,28,55,56,76,78,85,86,87,96,103,107,132,144,145,146,150,154,155,158,161,162,163,165,167,169,171,184,188,189],customiz:155,cut:[131,132],cxprime:171,cyan:[90,173],cycl:[23,83,84,99,131,132,154,158],cycle_frequ:[86,158],cylind:[171,173,184],cylinder_inertia:173,dai:[11,84],damag:106,danc:184,danger:[90,150,189],dark:185,darker:187,dash:149,data:[1,4,7,9,10,27,28,83,84,87,89,96,102,112,113,116,130,131,132,145,150,153,155,156,165,170,171,172,175,177,180,181,184,185,187,188,189],data_typ:[92,112,116,171,188],dataset:181,date:[83,84,85,108,111,114,148,151],datum:184,david:[14,93,165],dcmake_build_typ:180,dco:147,deactiv:[28,94,158,161,162,163,175],dead:28,deadband:[106,154],deadband_veloc:106,deadlin:[86,87,91,98,104,107,156],deal:[7,28,170,172,174],dealloc:28,dealt:19,debug:[28,90,96,116,117,120,131,145,155,179,180],debug_optim:90,debug_trajectory_detail:[93,117,161],debug_visu:[131,156],debugg:[145,179],debuggin:96,decad:[6,14],decai:[85,96,110,165,171],decay_acceler:188,decay_model:188,decel_lim_i:[93,119],decel_lim_theta:[93,119],decel_lim_x:[93,119],deceler:[119,156],decemb:[103,174,188],decent:96,decid:[23,85,156,172,173,175],decis:[168,184],declar:[59,61,145,148,153,156,158,160,161,162,185,187],declare_autostart_cmd:[185,187],declare_mask_yaml_file_cmd:[185,187],declare_namespace_cmd:[185,187],declare_paramet:163,declare_parameter_if_not_declar:[161,162],declare_params_file_cmd:[185,187],declare_use_sim_time_cmd:[185,187],declarelaunchargu:[170,173,185,187],declareparamet:160,decod:187,decor:[19,21,23,154,159,165,182,190],decoratornod:159,decreas:[96,155,188,189],decrement:160,dedic:14,deduc:179,deeper:[96,131,171],deepli:190,def:[154,173,185,187],default_bt_xml_filenam:[87,152,159,163,182],default_control:43,default_critic_namespac:117,default_goal_check:46,default_model_path:173,default_nav_through_poses_bt_xml:[87,163],default_nav_to_pose_bt_xml:[87,156,163],default_plann:49,default_rviz_config_path:173,default_server_timeout:87,default_smooth:53,default_st:108,default_valu:[170,173,185,187],defaultsto:170,defin:[1,5,9,10,19,27,28,43,46,49,53,58,59,61,79,83,84,86,87,91,92,95,96,98,104,107,117,118,119,120,121,122,123,124,125,126,127,128,129,133,134,135,136,137,138,139,140,141,142,145,151,152,153,154,155,159,160,162,163,167,168,170,171,172,173,175,178,179,183,184,185,187,188,190],definit:[28,45,52,87,155,158,160,163,170,171,173,175],deg:96,degrad:[131,184],degre:[11,26,83,84,131,153,156,184],delai:[83,84,184],delet:[154,170],deliv:27,deliveri:1,deloc:50,delsei:[14,165],delta:105,demand:[28,161,162,184],demo:[8,10,23,28,154,168,175,184,185,187],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,84,144,154,156,160,184,188,189],deni:163,denois:[92,165],denoise_lay:[109,178],denoiselay:[109,178],denot:[171,179],dens:27,dense_qr:90,densiti:[85,96],depend:[19,28,84,96,114,144,145,146,151,153,154,155,156,158,159,161,162,163,167,168,170,173,174,178,179,181,183,184,185,189],depict:[23,90],deploi:[4,96,150,167],deploy:[153,175,184],deprec:[6,90,153,154],depth:[28,84,165,167,171,172,173,181,188],depth_camera:171,depth_camera_control:171,deriv:[84,146,158,160,170,173,184],descent:[101,154],describ:[19,20,96,148,149,156,160,161,162,163,167,170,173,179,180,184,187,188,189,190],descriopt:108,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,61,69,70,71,72,73,75,77,78,79,80,82,83,84,85,86,87,90,91,92,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,152,153,158,159,160,161,162,163,165,167,170,173,174,185,187],descriptor:172,design:[5,6,8,27,28,89,96,101,103,153,155,160,174,178,185,187,189,190],desir:[83,84,96,99,128,145,148,153,155,156,161,174,181,182,187],desired_linear_vel:[99,161],desired_linear_vel_:161,desk:150,despit:184,destin:[27,28,61,149,170,171,173],destroi:145,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,87,96,103,108,111,114,145,148,152,153,154,155,156,158,160,161,162,163,167,168,169,170,172,174,179,184,187,188,190],detect:[4,28,52,56,83,84,89,90,99,145,156,168,170,171,177,182],detection2d:171,detection3d:171,detector:[28,89,182],detectron2:4,determin:[0,67,107,117,128,163,167,173,178,179,180],determinist:[11,28,94,101,175],dev:[144,147,184],devcontain:[145,146],devcontainerid:145,devel:[186,188],develop:[3,4,5,8,11,14,22,24,25,28,84,103,105,143,145,146,154,166,173,174,175,179,191],developercertif:148,dever:145,deviat:[85,96,106,156,174],devic:[145,184],diademata:149,diagnost:170,diagnostic_msg:170,diagnosticarrai:170,diagon:109,diagram:[150,172,182],diamet:170,dictat:191,dictionari:156,did:[20,21,156,158,161,162,171,173,179,180],didn:174,diego:14,diff:[90,103,165,174,184],diff_driv:170,diff_drive_control:170,diffdriv:96,differ:[10,18,19,20,22,23,24,25,28,60,83,84,88,99,100,103,105,108,111,114,131,145,146,148,150,152,154,155,160,163,167,169,170,171,172,173,174,175,176,179,181,182,184,185,187,190,191],differenti:[8,85,96,100,103,105,150,153,154,165,167,168,170,171,173,174,181,184,191],differentialmotionmodel:85,difficult:[28,100,154,174,191],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[101,128,165],dijkstra:[3,97,154,165,167],dilig:146,dime:174,dimens:[153,173,177,181],dimension:184,direct:[4,56,90,96,99,103,106,118,131,132,137,144,145,153,156,166,167,172,177,183,184,189],directli:[28,96,129,145,146,148,153,159,160,173,179,184,185,187],directori:[128,144,145,146,153,154,156,158,160,161,162,163,165,168,170,171,173,174,185,187],disabl:[83,84,85,91,130,131,132,154,155,177,181],disable_calib_cb_fast_check:177,disagre:85,disappear:84,discard:[86,87,91,98,104,107,109,154,156,178],discontinu:[101,103,132],discours:[0,148],discov:[144,159],discover:[158,160,161,162,163],discoveri:[94,145],discret:[28,145,148,167,170],discretize_by_tim:122,discuss:[3,6,20,28,148,152,153,154,161,162,167,168,169,170,171,172,173,175,184,191],dislpai:171,dispatch:28,displac:[31,44],displai:[2,83,98,131,153,168,170,171,173,174,178,184,187,190],disproportion:96,disscuss:153,dist:[131,132,177],dist_to_travel:[26,44],distanc:[18,20,21,27,28,31,44,54,55,56,59,61,77,85,86,90,96,99,100,117,122,131,132,137,151,152,153,161,165,167,170,171,172,174,182,191],distance_backward:56,distance_forward:56,distance_remain:[153,163],distancecontrol:[18,19,88,90,152],distancetravel:88,distancetraveledcondit:152,distant:56,distinct:[28,172],distort:[101,177,178],distortionk1:171,distortionk2:171,distortionk3:171,distortiont1:171,distortiont2:171,distribut:[96,143,145,146,148,149,156,157,166,185],distro:[143,144,149,170,171,173,177,183,184,186,188],distroa:143,distrob:143,disturb:184,dive:173,diverg:[131,132,174,181],divid:[152,153,184],do_beamskip:85,do_refin:[101,102,104,131,132,155,176],doc:[8,144,149,152,184],dock:[18,19,28,167],docker:[145,146],dockerfil:[144,145],document:[8,10,15,19,23,28,144,145,148,149,152,170,171,172,173,178,179,180,181,185,186,187],doe:[4,9,20,22,23,24,25,83,84,89,96,111,113,131,132,145,153,154,155,156,158,161,162,163,168,170,174,175,176,184,185,187,190],doesn:[74,130,153,154,158,174,181,185],dog:181,doing:[27,107,111,148,163,179,184],doisi:165,domin:[112,116,156],don:[131,132,136,149,153,172,174,176,179,181,182,183,184,185,186],done:[13,19,20,28,84,145,151,152,153,160,161,162,163,166,167,171,179,180,181,190],dont:173,door:18,dot:[156,184],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,42,44,45,47,48,50,51,52,54,55,56,57,59,61,69,77,79,80,82,83,84,85,86,87,90,91,92,94,95,96,97,98,99,100,102,104,105,106,107,108,110,111,112,113,114,115,116,117,119,120,121,122,123,124,125,126,127,130,131,132,133,134,135,136,137,138,139,140,141,142,153,156,161,162],doubt:96,down:[27,28,94,96,99,105,114,149,150,152,154,155,174,175,179,184,187,189],download:[5,145,177],downsampl:[90,96,130,131,132,154,156],downsample_costmap:[130,131],downsample_factor:[130,131],downsample_obstacle_heurist:[131,156],downsampling_factor:[130,131],downstream:153,doxygen:147,dozen:28,drag:[149,190],dramat:[131,132,152],draw:[184,185,187],drawn:185,drift:[28,170],drivabl:[100,167,174,191],drive:[1,26,27,35,44,90,96,99,103,131,132,150,153,161,165,167,168,170,171,173,174,184,185],drive_on_head:[35,86],drive_on_heading_error_cod:44,driven:[4,174],driveonhead:[26,88,155],driver:[1,13,16,143,145,170,171,177,181],drivetrain:165,drivewhl_l:173,drivewhl_l_joint:170,drivewhl_r:173,drivewhl_r_joint:170,drop:[9,152,181,190],dropdown:2,dual:[146,184],dual_ekf_navsat:184,dub:154,dubin:[131,132,153,154,165,167],dubiou:154,due:[0,6,9,11,23,28,32,33,35,36,37,85,92,96,106,131,132,148,152,153,154,155,163,168,170,171,174,178,181,190,191],dumb:28,dummi:160,dump:167,duplic:[28,163],durabl:173,durat:[52,69,82,86,87,91,94,96,137,148,154,159,161,175,182],dure:[6,23,83,84,90,94,96,131,132,145,152,153,154,155,156,159,160,168,173,174,180,183,186,190],dwa:[3,17,165,167],dwb:[1,3,9,17,22,24,25,28,29,118,119,120,121,122,133,134,135,136,137,138,139,140,141,142,151,152,165,167,174,191],dwb_core:[91,93,152,153,167,191],dwb_critic:[93,117],dwb_local_plann:152,dwb_plugin:[93,117],dwblocalplann:[91,93,152,167,191],dynam:[0,3,13,15,18,22,24,25,28,78,79,83,84,96,131,132,150,151,152,153,158,159,160,161,162,163,166,167,171,173,174,187,188,189,190,192],dynamicfollowpath:152,each:[11,17,19,22,24,25,26,27,28,60,83,84,85,86,87,91,92,96,98,104,106,129,146,148,150,151,153,154,155,158,159,160,161,162,167,170,171,172,173,174,175,176,178,179,184,185,187,190],earli:[5,11,16],earlier:[85,131,132,146,149,154,158,172],earth:184,earth_wgs84:184,easi:[10,11,14,19,28,145,146,148,169,171,181,186],easier:[148,167,171,172,173,174,179,191],easili:[13,19,28,87,145,152,153,154,156,174,180,189],east:184,echo:184,ecosystem:[0,28,103,154,174],edg:[4,96,172,185],edit:[8,153,165,170,171,176],editor:[185,187,190],educ:14,effect:[2,4,84,90,113,130,145,152,154,170,185],effici:[23,28,103,171,174,175],effort:[8,14,28,106,148,150,153,167,171,174,188],efk:170,eight:[178,184],eitan:165,either:[1,19,20,27,28,84,85,95,96,113,145,146,155,156,165,167,170,171,180,187,190],ekf:[170,181,184],ekf_filter_nod:170,ekf_filter_node_map:184,ekf_filter_node_odom:184,ekf_localization_nod:170,ekf_nod:170,elaps:153,elast:[3,151,167,191],electr:184,electromagnet:184,element:[8,151,158,170,173],elev:[18,28,91,146,148,156,184],elif:[27,154],elimin:173,ellipsoid:184,elong:90,eloqu:28,els:[27,83,92,153,154,160,161,163,170,189],elsewher:180,email:[0,14,28,148],emb:172,embed:[6,28,154,174,175],emerg:[6,9,84,89],emit:171,emphas:184,emploi:84,empti:[41,42,112,115,116,127,152,153,154,161,163,178],emul:145,emulate_tti:[185,187],enabl:[10,13,23,51,83,84,85,92,96,99,107,108,109,110,111,112,113,114,115,116,127,128,129,131,132,145,146,150,153,154,155,158,161,162,163,165,170,171,173,174,175,181,186,188,189,190],enabled_:160,enact:[9,79,191],encod:[28,108,114,170,172,181,184,185,187],encompass:174,encount:[16,167,171,179,180],encourag:[0,14,23,96,148,173,175,179],end:[6,11,21,28,83,84,96,97,101,130,154,156,158,160,161,162,163,165,173,174,175,178,179,184,189],endpoint:[131,132],energi:[96,171],enforc:[90,106,111,153,177],enforce_path_invers:[96,156],engag:148,engin:[6,144,146,151,180,181],enhanc:148,enough:[19,155,168,177,184],enrich:146,ensur:[4,9,11,13,21,22,24,25,28,91,94,96,99,145,146,148,151,153,154,155,156,167,168,172,173,174,175,180,188],enter:[22,24,25,28,96,158,161,162,163,185],entir:[12,19,20,22,24,25,144,145,148,165,167,174,181],entiti:170,entri:[14,170,176,179,180],entryfil:174,entrypoint:144,enu:184,enumer:[30,31,41,42,44,45,52,54,190],env:145,environ:[4,5,9,10,12,28,103,143,144,145,146,148,149,150,167,168,170,171,172,174,181,183,184,185,189],environemnt:171,environment:[92,150],envok:[30,31,44,54],envrion:188,ephemer:145,eppstein:165,eqal:90,equal:[28,83,84,108,160,177,178,185,187],equat:105,equip:[171,181,184,190],eros:178,error:[28,30,31,41,42,44,45,47,48,52,54,58,71,72,73,83,84,85,87,143,152,153,154,165,168,171,176,178,181,183,184,188],error_cod:[58,71,72,73,175,176],error_code_id:[30,31,41,42,44,45,47,48,52,54,176],error_code_id_nam:[155,175],error_code_nam:[47,48,87],error_codes_to_check:58,especi:[85,131,132,146,151,154,172,176,181,183,184,186,188,191],essenc:172,essenti:[6,131,132,154,171,174],establish:175,estim:[15,84,85,101,106,149,151,153,160,161,162,163,170,171,172,183,184],estimated_time_remain:[153,163],etc:[4,10,13,18,27,28,83,84,87,91,108,145,146,148,153,155,156,158,163,167,169,170,172,174,181,184,186,190],eth:5,euclidean:[153,174],europ:184,evalu:[117,120,132,167,181],evalul:7,even:[20,21,22,24,95,96,99,106,131,146,152,153,154,165,167,168,169,170,174,179,181,185],evenli:85,event:[1,13,148,154],eventu:[155,171,173],ever:[96,153],everi:[18,20,22,24,25,56,81,90,92,96,99,112,116,131,148,153,154,159,160],everyon:[146,148],everyth:[149,154,160,170,184],everywher:[96,151],exact:[96,101,130,131,132,145,155,167,168,174,182,185],exactli:[130,149,174,187],exampl:[1,7,15,16,17,18,19,20,23,28,103,144,145,146,152,153,154,156,158,159,160,161,162,163,168,169,170,171,172,173,174,175,176,177,178,179,180,181,185,187,188,190,191],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:[30,31,44,54,86,87,91,98,104,107,114,153],exceed:[19,92,155],excel:[1,7,9,184,191],except:[27,28,39,83,91,148,153,155,162,165,170,179,181,187],exception:[163,170,180],excess:11,exchang:[96,131],exclud:155,exclus:23,exe:179,exec:145,exec_depend:[170,173,175],execut:[10,11,17,19,21,22,24,25,27,28,75,79,87,91,100,107,145,146,148,152,153,154,156,159,160,163,165,167,168,170,171,172,173,175,178,179,180,185,187,190],executeprocess:[170,171],executor:[11,27,28,107,153,155],exemplari:18,exhaust:166,exhibit:23,exist:[4,8,11,12,17,28,83,84,95,96,130,143,145,148,152,153,154,156,161,163,174,180,181,182,184,190],exit:[22,24,28,94,152,154,179,180],expand:[97,131,132,133,145,154,167,173],expans:[8,97,105,131,132,153,154,155,165],expect:[5,11,27,85,96,98,112,116,148,150,152,153,163,170,175,176,184],expected_planner_frequ:[98,105],expected_update_r:[112,116,188],expend:174,expens:[28,116,154,155,170],experi:[1,2,3,4,5,6,7,9,10,12,26,144,145,146,150,154,173,179,181,183],experienc:169,expert:[4,14],expir:[23,68,165,188],explain:[11,19,20,23,146,148,168,179,180,186,191],explan:[19,89,103],explicitli:[4,27,146,185],explor:[131,171,172],exponenti:[85,96,110,165,171],expos:[20,28,104,153,155,184],exposur:7,express:[28,114,156,161,184,185,187],extend:[160,170,184],extens:[23,28,96,145,146,155,181],extent:99,extern:[4,22,24,25,27,83,91,94,127,144,145,151,152,155,156,175,181,192],extra:[90,131,132,154,185],extract:[154,163,165],extrem:[2,19,83,111,153,171],face:184,facilit:[146,154],factor:[79,90,96,110,130,131,141,171,174],factori:159,fail:[19,20,22,24,25,27,28,91,94,107,130,131,132,151,153,154,155,158,163,165,179],failed_to_make_progress:[71,155],failed_to_smooth_path:[73,155],failur:[1,18,19,20,21,22,24,25,28,30,31,44,54,58,60,61,62,64,65,66,67,68,70,71,72,73,74,75,81,96,150,151,153,154,159,165,175,179,182],failure_toler:91,fair:8,fairli:179,faith:148,fake:28,fall:84,fallback:[22,24,25],fals:[26,27,30,52,65,83,84,85,87,90,91,92,94,96,97,99,105,106,107,108,110,112,113,114,115,116,117,120,122,130,131,132,133,136,149,153,154,155,158,160,162,163,170,171,174,178,179,181,183,184,185,188,189,190],familiar:[19,28,173],fanci:145,far:[83,84,96,131,132,149,154,156,171,174,182,191],farm:188,fashion:20,fast:[83,84,85,101,102,131,132,154,178,181],faster:[154,174],fault:[12,27,28],favor:154,favourit:[185,187],feasibl:[28,96,100,102,103,111,131,150,153,154,156,165,167,174,191],featur:[1,4,6,8,9,14,28,85,91,99,102,131,145,148,149,153,154,165,166,173,184,185],feaur:185,feed:175,feedback:[14,27,28,87,106,148,154,163],feedback_msg:163,feel:[6,143,146,173,174],ferguson:[14,150],fetch:[161,162],fetullah:165,few:[4,11,14,20,27,79,90,144,145,167,171,174,179],field:[4,27,83,84,85,114,130,152,153,154,155,156,158,160,162,163,170,171,173,175,177,179,181,184,185,187,188],figur:[184,190],file:[1,2,17,18,28,84,86,87,94,95,105,128,143,144,145,146,148,149,150,152,153,154,159,160,165,168,172,173,174,175,176,177,181,182,183,184,185,186,187,188,189,190],filenam:[170,171,184],filepath:[132,163,174],filesystem:[146,179],fill:[4,148,152,159,177,185,187,190],filter:[6,13,30,85,91,101,170,181,184,188,189,192],filter_dur:82,filter_info_top:[95,108,111,114,185,187],filter_mask:95,filter_mask_data:187,filter_mask_serv:[185,187],filter_space_valu:95,final_bt_statu:163,find:[14,28,56,86,87,91,96,98,99,104,106,107,131,132,145,146,148,149,150,152,153,155,156,161,163,167,173,174,176,178,179,180,182,183],find_if:161,find_packag:179,findchessboardcorn:177,finder:[153,171],findpackageshar:173,fine:[96,149,174,187],finish:[152,180,184],finit:[28,96,131,181,190],first:[20,28,74,75,83,96,115,144,145,148,150,154,155,156,161,165,166,168,170,171,172,173,174,175,176,178,179,181,182,183,184,185,186,187,188,190],first_map_onli:85,first_map_only_:85,firstli:23,fit:[96,174,184,189],fix:[99,113,148,152,155,156,166,168,170,171,172,173,177,181,184],flag:[9,145,170,173,177,179,180],flagship:14,flat:181,fleet:28,flexibl:[14,87,96,158],flip:[108,153,155,167,173],flip_threshold:108,flood:19,flow:[1,19,20,22,24,25,75,76,148,159,190],fluidli:96,fly:[153,179,190],fn_tol:90,focal:177,focallength:171,focu:[12,19,27,173,189,190],focus:[178,181],focuscamera:173,folder:[20,145,146,171,177,184],folk:[148,154,179],folllow:170,follow:[1,2,3,9,10,18,19,22,24,25,27,29,45,52,78,84,86,90,91,92,95,98,99,106,114,127,128,129,131,144,146,148,149,150,151,152,153,154,155,158,160,161,162,163,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,183,185,186,187,188,189,191,192],follow_gps_waypoint:[28,156,184],follow_path_error_cod:[45,71,87],follow_path_error_code_id:175,followpath:[18,19,20,21,22,23,24,25,27,28,34,43,46,88,91,93,96,99,100,152,155,156,159,161,163,167,182,191],followpathact:[43,46,53],followpathrecoveryfallback:[19,22,24,88],followwaypoint:[27,155],fonction:154,fondli:14,fool:174,footprint:[2,83,84,86,92,96,104,111,112,116,131,136,154,155,156,160,167,169,173,189],footprint_clearing_en:[92,112,116],footprint_pad:92,footprint_top:[84,101,102,104,158,176],footprintapproach:84,footprintcost:27,footprintcostatpos:27,forc:[85,96,156,181],forcefulli:145,forese:152,forget:183,forgot:148,fork:[28,93],forklift:23,form:[5,84,105,160,171,172],formal:[28,150,178],format:[10,83,84,90,96,128,145,153,170,171,173,184,185,187,190],former:[14,83,84],formerli:[91,155,165],formul:156,formula:187,fortun:170,forward:[0,9,19,28,56,90,95,99,100,117,122,132,137,140,141,145,149,156,159,172,174,184,191],forward_point_dist:[93,134,138],forward_prune_dist:[117,155],forward_sampling_dist:[100,191],found:[3,8,20,23,27,28,70,84,89,96,100,103,117,130,131,132,145,146,150,151,153,154,155,156,158,159,160,161,162,163,165,166,167,168,170,171,173,175,180,183,184,185,186,187,188],foundat:163,four:[19,28],foxi:[11,28,162],fraction:154,fragment:178,frame:[2,28,51,56,59,61,70,77,83,84,85,86,87,90,92,95,104,107,108,111,112,114,116,120,143,151,156,161,162,168,170,171,172,173,177,181,184,189],frame_id:[27,95,112,116,161,162,170,185,186,187],frame_nam:171,framework:[0,2,8,14,28,103,150,155,170,174,175],francisco:[150,165,181],free:[10,28,92,95,96,113,130,143,146,151,165,170,171,173,174,178,181,183,184,185],free_spac:178,free_thresh:[185,187],free_thresh_default:95,freeli:173,freespac:[22,24,25,174],frequenc:[19,20,83,86,91,92,96,98,106,131,132,170,181,184],frequent:[132,174,184],fresh:145,friction:2,friendli:[96,173],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,43,46,49,51,53,56,60,83,84,85,86,87,89,90,91,92,95,96,99,100,101,105,106,107,112,114,116,130,131,132,134,137,138,142,143,144,145,146,147,148,149,150,151,152,153,154,156,158,159,160,161,162,163,165,166,167,168,170,171,172,173,174,175,176,177,178,181,182,183,184,185,186,187,188,189,190,191],from_imag:144,from_msg:154,from_numb:158,from_second:161,front:[83,84,131,134,138,161,173,174,189],front_cast:173,frustrat:154,fsm:28,full:[5,7,12,20,28,85,92,96,111,117,131,143,148,152,153,154,166,167,168,169,170,172,173,174,178,181,182,184,185,187,190,191],fulli:[28,85,131,132,148,149,153,154,167,174,176,181,184,188],fun:[0,16],fundament:[163,179],further:[11,20,23,96,102,131,132,145,148,154,172,179,181],furthest:[96,131],fuse:[28,166,170,184],fusion:[15,28,170,172,181,184],futur:[1,4,8,11,22,28,83,84,85,108,111,114,152,154,156,182],gain:[8,96,99],galact:[85,87,158,160,162,171,188,190],game:[28,181],gamma:96,gap:173,gate:181,gather:[14,28],gaussian:[85,96,170,171,184],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,143,149,158,159,160,161,162,163,168,169,173,174,178,183,185,187,188],gazebo_gps_world:184,gazebo_model_path:149,gazebo_ro:[154,170],gazebo_ros_camera:171,gazebo_ros_pkg:170,gazebo_ros_ray_sensor:171,gazeborosimusensor:170,gdb:[145,179],gdb_test_nod:179,gdb_test_pkg:179,gdbtester:179,gear:153,gen:96,gener:[0,3,5,10,19,23,28,79,84,90,97,103,105,106,117,130,131,132,145,146,147,150,151,153,154,155,156,165,167,168,170,171,172,174,175,178,179,180,181,186],general_goal_check:153,generate_launch_descript:[170,171,173,185,187],generos:174,gentl:174,genuin:163,geodesi:184,geograph:[170,184],geometr:[173,174],geometri:[4,5,9,170,171,173],geometry_msg:[41,42,47,51,56,78,152,161,162,163,170,186],get:[1,4,10,19,20,27,28,68,87,91,96,101,105,112,116,131,135,144,145,147,150,152,153,154,155,158,159,160,161,162,163,165,166,169,170,172,173,175,176,177,178,180,181,182,183,184,185,187,188,189,191,192],get_clock:161,get_logg:[158,159,161,162],get_package_share_directori:[163,179,180,185,187],get_paramet:[160,161,162,163],get_shared_package_path:153,getandtrackrout:27,getblackboard:163,getcostidx:27,getcostmap:162,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:163,getdefaultbtfilenam:163,getdefaultbtfilepath:163,getfeedback:[27,154],getglobalcostmap:27,getglobalframeid:[27,162],getindex:[27,160],getinput:159,getlocalcostmap:27,getnam:163,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:155,getresult:[27,154],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:153,ghcr:144,gif:[23,184],gimp:185,gine:[99,150],git:[5,144,146,148,177,185,186,187,188],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],give:[11,91,96,148,149,150,152,156,158,159,166,167,170,171,172,173,174,175,179,187,191],given:[3,6,23,27,28,31,34,44,52,54,84,86,96,101,102,108,152,153,154,155,156,159,160,161,162,165,167,170,174,176,180,184,190],global:[19,22,23,24,25,27,50,60,62,66,79,85,86,88,90,92,99,107,115,120,138,139,151,152,154,155,156,160,161,162,165,168,170,171,172,173,174,178,183,185,187,188],global_costmap:[19,22,23,24,25,86,88,92,101,102,104,108,111,114,158,159,160,168,171,176,178,184,185,187,188],global_costmap_top:[86,158],global_footprint_top:[86,158],global_fram:[51,59,61,77,86,87,92,155,158,159,160,163,171],global_frame_:162,global_frame_id:[85,107],global_path:162,global_plan_:161,global_plan_pos:161,global_plann:17,global_planner_plugin:162,globallyupdatedgo:88,globalplann:162,globalupdatedgo:[25,60],gmail:2,gmsl2:181,gnss:184,gnu:[179,188],goal:[11,18,19,20,21,22,24,25,27,28,34,41,42,45,47,48,51,55,60,61,62,67,78,79,86,87,88,90,91,97,98,99,104,107,117,123,124,125,126,130,131,132,134,135,141,142,149,151,152,158,159,161,162,163,170,173,174,175,176,182,184,186,187,189,191],goal_:159,goal_blackboard_id:[87,163],goal_blackboard_id_:163,goal_check:[46,91,93,99,100,153,161,191],goal_checker_id:[27,45,46],goal_checker_nam:117,goal_checker_plugin:[91,93,99,100,152,153,191],goal_checker_plugin_id:[124,126],goal_checker_selector:46,goal_distance_bia:117,goal_pos:[27,153,154,161,163,186],goal_reached_tol:61,goal_sub_:163,goal_upd:[78,182],goal_updater_top:78,goalalign:[93,117],goalaligncrit:93,goalanglecrit:96,goalcheck:[46,152,154,161],goalcheckerselector:[22,24,25,88,153],goalcomplet:163,goalcrit:96,goaldist:[93,117],goaldistcrit:93,goalreach:[20,77,80,82,88],goalreceiv:163,goals_blackboard_id:[87,163],goaltool:183,goalupd:[19,20,22,23,24,25,60,88,159],goalupdat:[21,88,182],goalupdatedcondit:152,goe:[9,20,23,114,154,158,161,162,163,176],going:[4,14,27,28,79,96,150,153,154,159,176,179,182,184,185,187,189],golai:[29,165],golden:181,gone:19,gonzalez:184,good:[1,6,28,85,96,105,106,131,148,150,156,158,160,161,162,163,168,169,173,174,177,179,181,184],googl:148,gothroughpos:27,gotopos:[27,154],gpal:90,gps:[166,184],gps_link:184,gps_waypoint:184,gps_waypoint_follow:[1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or:[85,143,144,159,170,178],illustr:178,ilqr:3,imag:[16,23,28,90,101,128,132,151,153,173,176,177,178,184,185,187],image_format:128,image_pipelin:177,image_raw:[128,171,177],imagin:[19,28,158,165,184],immedi:[22,24,84,94,153,158,163,170,173,179],immin:[84,150],impact:[22,24,96,156,174,179],impass:185,impl:128,implement:[3,5,6,7,10,17,21,22,24,25,28,30,31,41,42,44,45,47,48,54,57,75,85,86,87,91,92,94,95,96,97,98,99,103,104,105,106,107,146,148,151,153,154,155,158,161,162,163,165,167,168,170,171,174,175,176,186,188,190],implementaion:165,impli:128,implicit:27,implicitli:154,imposs:156,impract:184,improv:[1,7,9,11,12,26,28,90,101,103,131,132,145,149,151,152,153,155,156,166,180,181],imu0:[170,181,184],imu0_config:[170,184],imu:[28,170,171,172,181,184],imu_joint:170,imu_link:170,imu_plugin:170,imu_sensor:170,inact:[28,96,158,161,162,163,173,175],incentiv:[96,156],includ:[4,6,7,10,13,14,19,27,28,75,87,88,103,108,122,144,145,146,147,148,150,151,152,153,158,159,160,161,162,163,165,167,170,171,172,173,179,180,182,185,186,187,188,191],include_last_point:122,inclus:[145,156,171,179],incom:[84,89,108,111,114,152,185,187],incompat:145,incomplet:166,inconsist:153,incorpor:[85,145,153],incorrect:[153,165],incorrectli:153,increas:[12,28,90,96,105,131,154,155,172,174,175,177],increasingli:[28,181],incred:18,increment:[30,83,84,86,131,154],increment_recovery_count:159,inde:184,indefinit:[19,20,27,148,182],independ:[14,28,86,114,150,153,155,159,171,181,189],index:[27,128,144,158,160,161,162,163,165,190],indic:[52,83,84,85,108,111,114,127,148,152,153,159,160,171,187],individu:[11,17,28,83,84,89,103,148,151,154,155,174,186],indoor:[108,181],induc:[155,165,192],industri:[14,28,84,99,153,165,167,185],ineri:181,inerti:[171,173,181],inertia:[170,171,173],inf_is_valid:[92,112,116,188],infeas:[102,165],infer:173,infin:56,infinit:[21,91,112,116,131,132,181],inflat:[28,85,92,111,113,131,133,165,171,178,185,188],inflate_around_unknown:[92,110],inflate_con:113,inflate_unknown:[92,110],inflation_lay:[92,108,109,111,114,160,168,171,178,184,185,187],inflation_radiu:[92,96,110,171],inflationlay:[92,171],influenc:96,info:[10,90,93,108,111,114,146,153,160,170,177],inform:[1,2,4,10,20,21,28,83,84,89,95,96,99,100,103,106,108,111,112,114,116,117,130,131,132,144,148,151,152,154,155,156,158,159,160,161,162,163,165,170,171,172,173,174,175,176,178,179,180,181,183,184,185,186,187,188,189,190],infrar:171,infux:154,ing:20,ingest:184,inher:[145,146],inherit:[153,159,160,161,162,163],init:[27,154],init_pos:27,initalorientationasrefer:170,initi:[8,27,63,70,85,96,102,143,145,146,149,152,154,155,158,160,161,162,163,165,173,174,182,184,185,189],initial_cov_:85,initial_orientation_as_refer:170,initial_pos:[27,63,85,154],initial_pose_:85,initial_transform_timeout:[92,156],initializegoalpos:163,initialposereceiv:[20,88],inject:179,injuri:9,inlin:[160,162,188],inner:[11,189],inorm:160,inout_port:190,inproceed:150,input:[6,20,27,28,84,87,90,96,101,102,112,113,116,127,150,153,155,156,158,159,160,161,162,165,170,173,176,179,182,184,189,190],input_at_waypoint:127,input_go:[21,22,51,78,182],input_path:[21,55,56,182],input_port:190,input_sensor_typ:[113,171],input_top:127,inputatwaypoint:[107,153,165],inputport:159,inquiri:14,inscrib:[154,174],inscribed_inflated_obstacl:178,insert:[159,171,179],insid:[28,84,89,90,91,93,103,107,145,146,154,155,156,160,170,171,175,179,180,185,188,189],insight:[11,154,166,174],inspect:[27,145],instabl:154,instal:[143,145,146,147,158,160,161,162,163,168,170,171,172,173,176,177,178,179,180,181,183,184,185,186,187,189,191],instanc:[28,84,128,149,156,159,167,170,175,184,185,187],instantan:[91,155],instanti:[167,173,175],instead:[13,19,22,24,25,78,83,85,96,102,117,144,145,151,152,153,154,155,156,158,163,170,171,172,174,175,176,179,181,182,183,184,185,189],instruct:[28,107,149,158,160,161,162,163,170,171,179,180,186],instrument:96,int16:175,integ:185,integr:[0,1,7,12,17,18,29,56,84,99,146,153,154,169,170,171,172,175,179,181,190],intel:[4,14,96,154],intel_realsense_r200_depth:[83,84,92,188],intellig:[150,174],intellisens:145,intend:[87,149,152],intent:[23,96,174],intention:[14,90,185],interact:[28,87,88,96,150,153,154,173,175,176,179,192],interactive_waypoint_follow:184,intercorrel:178,interest:[7,10,11,14,18,27,28,145,148,163,172,174,176,179,180,182,183,186,190],interfac:[3,5,13,17,20,28,84,87,104,145,146,150,151,152,155,158,159,160,163,165,171,176,183,184,188],interfer:[92,185],interins:181,interior:177,intermediari:[22,150,153],intern:[19,22,24,25,100,150,155,160,163,170,175,181,184,191],interoper:171,interpol:[106,131,185],interpolation_resolut:162,interpolation_resolution_:162,interpret:[92,95,172,178],interprocess:145,intersect:99,interti:173,interv:[83,84],interven:1,intial_pos:20,intoroduc:156,intrest:179,intrins:181,introduc:[28,83,99,146,148,151,153,154,169,171,173,175,178],introduct:[18,88,173],intuit:[174,191],inturn:23,invalid:[18,27,145,155,163],invers:[96,156,185],inversion_xy_toler:96,inversion_yaw_toler:96,invert:[25,96,153],invest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:[68,85,96,137,149,152,153,154,159,160,163,165],reset_dist:[38,39,153],reset_period:96,resolut:[27,92,96,116,130,131,132,153,160,165,167,168,171,183,185,187],resolv:[22,24,25,94,152,154,176,188],resour:162,resourc:[27,28,86,91,96,104,145,154,155,158,161,163,168,169,170,172,174,175,180,185,188],respawn:[94,174,189],respawn_delai:189,respect:[4,28,100,111,153,154,159,166,167,170,171,173,174,184,188,191],respond:[0,175],respons:[20,22,24,25,28,38,39,40,84,94,154,158,163,167,175],rest:[19,38,39,91,96,128,146,156,170,171,172,175,180,184],restart:145,restrict:[28,84,114,153,155,156,165,174,184,187],result:[9,17,20,27,28,55,56,78,86,87,90,91,96,98,99,101,102,104,105,107,148,152,153,158,159,160,163,165,174,175,177,178,181,190,191],resultstatu:158,resum:155,retain:[20,60,101,102,130,131,132],retick:20,retrain:4,retransit:154,retreiv:10,retri:[18,22,24,25,75,165],retriev:[161,162,163],retrofit:181,retrospect:154,retrospective_penalti:[131,132],retry_attempt_limit:96,retryuntilsuccesful:23,retryuntilsuccess:23,retryuntilsucessful:23,retun:[96,154,174],reus:[28,145,158,173,175],revers:[90,96,99,103,106,131,132,154,156,175,187],reverse_penalti:[131,132],reversing_en:90,revert:179,review:[0,13,145,146,148,163,174],revisit:[146,155],rework:150,rewrit:156,rewrittenyaml:[153,185,187],rfid:27,rgb:171,rgba:173,rgbd:9,rich:28,right:[28,96,105,106,131,132,148,149,154,170,172,177,178,180,184],right_joint:170,right_wheel_est_vel:170,righthand:128,rigid:[173,174],rise:90,roam:168,robbin:76,robin:[20,165],robocup:182,robot:[1,2,4,5,6,7,8,9,10,12,13,14,19,20,21,22,23,24,25,26,27,31,38,39,44,50,51,55,56,59,61,67,77,79,82,83,84,85,86,87,89,90,91,92,96,99,100,103,104,106,107,108,111,112,114,116,123,124,125,126,127,129,130,131,132,133,134,135,136,137,138,140,141,142,146,149,150,151,152,153,155,160,161,162,163,165,167,171,172,175,176,178,179,180,182,183,184,185,187,188,189,190,191,192],robot_base_fram:[51,59,61,77,86,87,92,101,102,104,158,159,160,163,170,171,176],robot_descript:[170,173],robot_fram:56,robot_loc:[15,28,107,170,172,181,184],robot_localization_nod:170,robot_model_typ:[85,154],robot_nam:174,robot_navig:27,robot_radiu:[28,92,160,168,171,174],robot_sdf:174,robot_state_publish:[171,172,173],robot_state_publisher_nod:[170,173],robotech:90,roboticist:28,robotmodel1:173,robotmodel:173,robust:[4,6,28,190],rocker:146,role:[14,28,159,163,167,168,179],roll:[86,92,95,96,143,145,166,170,174,181,184,190],rolling_window:[92,171,184],room:[10,96,183,185,187],root:[18,19,20,21,22,23,24,25,26,88,144,145,146,154,158,159,161,162,163,170,171,173,182,190],root_kei:[185,187],ros1:[150,152,153,171],ros2:[143,149,154,158,160,161,162,163,168,170,171,172,173,177,178,179,180,181,182,183,184,185,186,187,188,189],ros2_control:170,ros:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],ros__paramet:[59,61,83,84,85,86,87,90,91,92,93,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,111,114,130,131,132,152,153,156,158,159,161,162,163,167,170,171,176,178,184,185,187,188,189,191],ros_distro:144,ros_w:144,roscon:[1,186,188],rosdep:[143,144,145],rosdistro:143,rosout:170,rot_stopped_veloc:126,rotat:[27,28,29,54,85,86,90,96,99,106,119,123,124,126,130,132,141,155,161,165,166,167,170,172,173,184,192],rotate_to_heading_angular_vel:[99,100,191],rotate_to_heading_min_angl:99,rotatetogo:93,rotatetogoalcrit:93,rotation_penalti:132,rotational_acc_lim:[86,158],rotationshimcontrol:[100,191],rough:[99,100,154,173,174,191],roughli:[96,103,149],round:[20,76,84,165,169],roundrobin:[19,22,23,24,25,88],rout:[3,10,27,28,96,131,163,166,174,175],route_error_code_id:175,route_id:175,route_msg:175,route_serv:175,route_tim:175,routeserv:175,rpp:[167,174,191],rpy:[171,173,184],rsj:150,rst:165,rtk:184,rtprio:[91,156],ruffin:[14,145,150],ruffsl:14,rule:[10,28,161,162,172],run:[0,3,4,7,9,14,17,20,27,28,74,77,80,82,85,86,87,91,94,95,96,98,103,104,107,128,131,132,143,144,145,146,148,152,153,154,156,165,167,169,172,174,175,177,179,180,181,183,184,186,189,190],runarg:145,runtim:[28,153,154,158,159,160,161,162,163,184,188],rviz2:[163,173,183],rviz:[17,149,160,161,162,163,169,170,174,178,181,184,186,187,190],rviz_common:173,rviz_config_fil:174,rviz_default_plugin:173,rviz_nod:[170,173],rvizconfig:173,ryzhikov:165,safe:[9,13,28,99,150,153,158,159,167,171,172,174],safer:9,safeti:[0,1,28,84,89,94,151,152,153,165,166,174,185,186,189],sai:[11,19,20,28,148,179],said:[167,184],sake:19,salt:[155,178],sam_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[131,180],special:[28,79,83,84,91,148,155,159,160,190],specif:[2,3,6,11,17,18,19,22,23,24,25,27,28,31,44,88,92,96,99,145,146,151,152,153,154,155,156,159,161,162,163,167,170,171,172,174,176,177,179,185,186,190,191],specifi:[19,22,23,24,25,27,47,48,56,65,75,83,84,87,92,95,128,129,131,132,144,145,146,152,153,154,155,156,159,160,161,162,165,167,170,171,172,174,177,180,184],speed:[2,7,9,20,26,28,31,44,82,84,86,90,91,92,95,96,99,106,111,119,130,131,132,144,145,153,154,156,161,163,165,167,174,181,184,189,192],speed_filt:[92,114,187],speed_filter_mask:187,speed_limit:[91,114,187],speed_limit_top:[91,114,187],speed_mask:187,speed_param:187,speedcontrol:[19,88,152],speedfilt:[92,114,153,187],spend:19,spent:180,sphere:[168,171,173],sphere_inertia:173,spheric:[173,184],spherical_coordin:184,sphinx_doc:165,spike:[131,132,154],spin:[11,19,20,22,23,24,25,26,27,28,36,88,142,152,153,154,155,158,159,165],spin_dist:[19,22,23,24,25,26,27,54,88,159],spin_error_cod:54,spinner:11,spiral:[154,174],spiritu:150,spite:170,spline:3,split:[17,152,184],splitter:173,sponsor:14,spot:[22,24,25,132,149,158],squar:[26,38,39,83,84,92,177],src:[143,144,145,160,170,171,173,179,185,187],ssh:[145,146,179],stabil:[151,152,153,154,155,156],stabl:[99,144,145,153],stabliti:149,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,77,80,82,91,94,95,98,148,150,151,154,155,156,161,166,167,171,174,175,179,180,184,190],stage:[28,92,145,161],stai:[96,111,131,167,174,182],stale:[145,153],stall:106,stamp:[128,161,162,186],stand:[84,154],standalon:[109,155,165,178,184,185,187],standard:[2,6,10,85,96,148,171,172,177,184,185,187,190],standardtrajectorygener:[93,117],star:[29,167,174],start:[4,5,12,17,20,21,22,24,25,27,28,41,42,56,83,84,90,96,99,100,116,131,147,148,150,152,153,154,158,160,161,162,163,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,188,189,190,191],start_controller_server_nod:180,start_costmap_filter_info_server_cmd:[185,187],start_lifecycle_manager_cmd:[185,187],start_map_server_cmd:[185,187],start_sync_slam_toolbox_nod:179,start_time_:163,startup:[5,28,94,143,145,149,152,175,177,185,187],state:[3,15,17,20,22,24,25,27,60,84,90,91,92,93,94,96,99,100,103,106,108,124,126,149,152,153,154,158,159,161,162,163,165,167,168,170,171,172,174,175,184,186,187,190,191],state_top:[84,155],statement:148,static_lay:[92,108,111,114,160,171,178,184,185,187,188],static_transform_publish:[168,172],staticlay:[92,171],station:[28,167],statist:[4,9,180],statu:[18,28,148,154,158,159,185],status1:173,status:[27,163],std:[58,152,154,158,159,161,162,163,179],std_msg:[108,127,170],stddev:[170,171,184],stdin:179,steep:105,steeper:105,steer:[90,130,154,171,174,181],step:[20,28,84,86,96,171,173,179,180,181],step_siz:27,stereo:[84,177,181],stereolab:181,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,96,150,165,179,181],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,186,188],steven:150,sticki:1,still:[19,20,27,94,99,106,111,143,145,146,153,154,155,156,170,171,173,174,179,181,184,185],stl:179,stl_vector:179,stochast:96,stop:[9,21,28,74,84,89,94,96,106,107,117,126,141,152,153,155,156,173,181,189],stop_on_failur:[107,151,153],stop_pub_timeout:[84,189],stoppedgoalcheck:[91,165],storag:[145,163],store:[85,92,112,116,145,150,155,160,161,163,171,172,180,184],stori:10,strace:145,strafe_theta:140,strafe_x:140,straight:[131,132,162,173,174,176],straightforward:171,strategi:[148,184],stream:154,streamlin:[144,146],stretch:146,strictli:[6,132,155],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,56,57,59,61,70,77,78,83,84,85,86,87,90,91,92,94,95,96,98,100,104,106,107,108,111,112,113,114,115,116,117,127,128,131,132,134,135,138,139,152,155,158,159,160,161,162,163,170,175,188],strive:[14,148],stroke:[2,169],strongli:28,structur:[6,8,19,28,150,155,163,167,172,173,175,184,187,188,190],stuck:[1,19,22,24,25,28,30,31,44,54,67,154,165,174],student:[7,148],studio:146,stutter:174,stvl:192,stvl_layer:[92,188],style:[22,24,25,174,188],sub:[0,22,24,25,154,156],subcommand:145,subfield:181,subject:[28,96,170],submit:[13,148,165],suboptim:[96,174,181],subproject:13,subscrib:[28,43,46,49,53,64,65,78,84,85,91,113,115,153,170,171,182,184],subscribe_to_upd:[92,115],subscript:[78,83,84,153,163,165,170,175],subsect:[145,171],subsequ:[20,28,85,145,165],subset:180,subsiqu:[131,132,181],substanti:[1,96,131,148,151,174],substitut:[87,173,182,185,187],subtleti:163,subtli:154,subtre:[18,20,22,23,24,25,28,38,39,40,88,159,165],succe:[19,20,74,75,165],succeed:[27,81,154,158,162],success:[14,19,20,23,28,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,75,96,153,154,155,158,159,165,173,178,184,191],successfulli:[1,19,28,154,158,163,170,172,173,175,182],successor:[96,150,155],sucessfulli:172,sudo:[144,149,170,171,173,177,180,184,186,188],suffici:[4,19,28,96,132,141,163,178,180,181],suffix:180,suggest:[20,90,96,167,172,173],suit:[0,145],suitabl:[90,100,154,165,167,172,191],sum:[85,133,134,135,136,138,139,167,173],sum_scor:[133,136],summar:[167,172,174],summari:17,summer:[5,11],superior:155,suppli:[11,28,77,80,82,87],support:[2,6,13,14,27,28,43,46,49,53,83,99,103,143,145,146,150,151,152,155,165,167,171,173,174,178,185,187,188,190],suppos:172,sure:[1,2,7,12,27,96,112,116,143,144,145,148,153,156,160,163,165,168,170,171,174,177,178,179,181,183,184,185,186,187,188,189],surfac:[28,150,184],surface_model:184,surpris:191,surround:167,survei:150,susbcrib:128,sustain:28,swap:[154,155],sweep:[173,174],symbol:179,symlink:[144,160,185,187],symmetr:156,symmetri:154,sync:190,sync_slam_toolbox_nod:179,synchron:[28,181],syntax:[145,156,173,179],sysdep:179,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,84,85,91,94,96,144,145,146,148,149,150,151,154,156,163,167,171,172,173,174,175,176,177,179,180,181,183,189],systemat:175,systemdefaultsqo:163,sysv:179,tab:[143,168,171],tabl:[154,160,161,163,169,174,175],tackl:[168,169],tag:[144,145,154,159,170,171,173],tailor:167,take:[1,9,12,17,18,22,23,27,28,41,42,45,47,48,61,79,83,84,85,86,87,91,94,96,98,100,101,102,104,107,128,130,131,145,148,149,151,153,154,155,156,158,159,161,162,163,165,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,187,191],taken:[4,75,83,84,90,96,114,128,153,160,163,185,187],talk:[1,145,150,170,172,179,186,188],talker:143,tangent:[4,177,184],tangenti:177,tar:177,target:[6,96,99,114,145,146,152,153,156,167,173,179,182,183,187,190],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,22,23,24,25,27,28,51,78,84,87,89,96,100,107,148,150,151,153,155,158,159,163,167,168,169,171,174,176,181,182,184,190,191,192],taskexecutor:27,taskresult:[27,154],tb3:[150,156],tb3_gp:184,tb3_simulation_launch:[149,158,160,161,162,163,174,178,179,182,185,186,187,189],tbb:7,tcp:146,team:[14,146,182],tear:106,teardown:[28,167],teb:[3,96,151,155,165,167,174,191],teb_local_plann:152,teblocalplann:152,technic:[8,22,24,25,148,158,160,161,162,163,185],techniqu:[3,4,6,28,84,101,102,103,153,171,174,181,184],technolog:[8,14,150,181,184],tediou:173,teleop:[0,27,30,86,165,184],teleop_twist_keyboard:184,teleoper:184,telepres:1,tell:[28,148,158,159,160,170,179,184],temperatur:96,templat:[103,144,148,153,159,163,169,173,179],tempor:[165,188],temporari:[22,23,24,25,86,87,91,98,104,107,181,185,187],tend:191,term:[96,148,163,171,172,181,185],termin:[90,102,130,131,132,143,149,152,158,168,170,171,177,179,180,182,183,184,186],terminatependinggo:163,test:[0,3,4,6,17,86,96,132,145,148,156,166,170,177,182,186,188,190],text:[158,160,188],tf1:173,tf2:[28,152,169,170,172,173,174],tf2_echo:[170,172],tf2_msg:170,tf2_ro:[161,168,170,172],tf2_tool:171,tf_:[161,162],tf_broadcast:85,tf_static:154,tfmessag:170,than:[17,20,22,24,25,28,55,56,61,65,79,84,85,86,87,91,92,94,96,98,99,100,104,107,108,109,131,132,145,152,153,154,155,156,161,163,165,172,174,178,179,180,181,182,184,185,186,189,191],thank:14,thei:[0,7,19,20,22,24,25,28,83,84,87,94,96,103,142,145,146,148,150,152,153,154,155,156,158,159,161,162,163,167,169,170,171,172,173,174,175,179,180,184,185,189,190],theinput:170,them:[4,7,22,27,28,83,91,96,107,111,112,116,132,145,146,148,150,151,153,154,155,156,158,159,160,161,162,168,171,172,173,174,175,176,179,180,181,183,184,185,186,187,189,190,191],themselv:[163,190],theoret:96,theori:96,therebi:148,therefor:[20,23,83,96,173,174,175,179,184,185,187,189,190],theta:[27,29,100,101,106,153,165,167,174,191],theta_scal:140,thetastarplann:[105,165],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,43,46,49,51,53,54,57,60,71,72,73,79,81,83,84,85,86,87,88,90,91,92,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,110,111,112,113,114,115,116,130,131,132,133,145,146,147,148,149,150,151,152,153,154,155,156,158,159,160,161,162,163,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191],thing:[13,28,146,154,155,160,161,162,170,173,174,179,180,187],think:[0,8,28,174],third:[74,161,185,187],those:[9,14,28,101,145,154,167,171,173,174,175,176,179],though:[20,22,96,174,175,181,184,185,187,189],thought:[28,154,159],thrash:181,thread:[7,11,13,27,28,91,96,156,179],three:[26,28,103,155,172,174,175,184],threshhold:95,threshold:[61,84,91,95,96,99,100,108,137,154,165,181,183,185,187,191],threshold_to_consid:[96,156],throttl:[80,152,165],through:[1,9,17,18,19,20,23,24,25,27,28,29,41,94,96,105,112,116,131,132,145,148,149,150,152,153,154,155,156,160,165,167,169,170,171,172,173,174,175,179,180,181,184,185,186,187,188,191],throughout:[2,60,145,151,154,173,175,181],thrown:154,thu:[83,84,90,96,105,106,167,170,171,180,181,184],thusli:[168,174,191],tick:[19,20,22,23,24,25,28,60,74,77,80,81,82,154,159,165],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,28,143,148,152,153,154,174,179,190],tie:4,tied:[28,132],tight:[100,132,167,174,191],tighter:174,tightli:181,tile:184,till:74,tilt:177,time:[0,1,3,4,6,7,8,9,11,14,17,19,20,21,22,23,24,25,26,27,28,30,31,44,52,54,56,57,69,74,75,83,84,85,86,87,91,92,96,99,100,101,102,103,106,108,111,113,114,121,122,123,125,127,128,129,130,131,132,141,144,145,146,148,151,152,154,159,160,163,165,166,167,168,170,172,174,175,176,178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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 Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","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 Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","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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  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
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  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
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  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
    • +
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
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  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
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  • Introduction of Soft-Real Time Action Servers
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  • New option for the Voxel and Obstacle Layers
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
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  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
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  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Goal Critic
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  • Introduction of Soft-Real Time Action Servers
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/integrating_vio.html b/tutorials/docs/integrating_vio.html index a1ce36871..146e67a83 100644 --- a/tutorials/docs/integrating_vio.html +++ b/tutorials/docs/integrating_vio.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html index 4cf08d37d..12de69bb3 100644 --- a/tutorials/docs/navigation2_dynamic_point_following.html +++ b/tutorials/docs/navigation2_dynamic_point_following.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.html b/tutorials/docs/navigation2_on_real_turtlebot3.html index 5d8b2db32..13d0a6ea3 100644 --- a/tutorials/docs/navigation2_on_real_turtlebot3.html +++ b/tutorials/docs/navigation2_on_real_turtlebot3.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html index 256c87fc4..2f309f0e1 100644 --- a/tutorials/docs/navigation2_with_gps.html +++ b/tutorials/docs/navigation2_with_gps.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html index 5c6e65fce..7b038f7af 100644 --- a/tutorials/docs/navigation2_with_keepout_filter.html +++ b/tutorials/docs/navigation2_with_keepout_filter.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_with_slam.html b/tutorials/docs/navigation2_with_slam.html index 26680ee6e..cc17acd25 100644 --- a/tutorials/docs/navigation2_with_slam.html +++ b/tutorials/docs/navigation2_with_slam.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html index e814640d2..b4539d288 100644 --- a/tutorials/docs/navigation2_with_speed_filter.html +++ b/tutorials/docs/navigation2_with_speed_filter.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/navigation2_with_stvl.html b/tutorials/docs/navigation2_with_stvl.html index 3dd0e5c07..ae2a8fe61 100644 --- a/tutorials/docs/navigation2_with_stvl.html +++ b/tutorials/docs/navigation2_with_stvl.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/using_collision_monitor.html b/tutorials/docs/using_collision_monitor.html index ed7c4da9e..0895235e9 100644 --- a/tutorials/docs/using_collision_monitor.html +++ b/tutorials/docs/using_collision_monitor.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html index 293b77d21..6fa64c787 100644 --- a/tutorials/docs/using_groot.html +++ b/tutorials/docs/using_groot.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/docs/using_shim_controller.html b/tutorials/docs/using_shim_controller.html index bae139b9c..882c570a1 100644 --- a/tutorials/docs/using_shim_controller.html +++ b/tutorials/docs/using_shim_controller.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • diff --git a/tutorials/index.html b/tutorials/index.html index 4d59794b0..1b2411b5d 100644 --- a/tutorials/index.html +++ b/tutorials/index.html @@ -914,6 +914,7 @@
  • Introduction of Soft-Real Time Action Servers
  • Introduce a new Multi-Robot Bringup Launch
  • New option for the Voxel and Obstacle Layers
    • +
  • use_interpolation RPP Parameter Depreciated
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality