[skip ci] publish latest

Signed-off-by: navigation2-ci <[email protected]>

2021summerOfCode/Summer_2021_Student_Program.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -961,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers</a></li>
 </ul>
 </li>
 </ul>

_sources/behavior_trees/trees/follow_point.rst.txt

@@ -20,20 +20,22 @@ This behavior tree will execute infinitely in time until the navigation request
 
 .. code-block:: xml
 
-	<root main_tree_to_execute="MainTree">
-	  <BehaviorTree ID="MainTree">
-	    <PipelineSequence name="NavigateWithReplanning">
-	      <RateController hz="1.0">
-	        <Sequence>
-	          <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-	            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
-	          </GoalUpdater>
-	         <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
-	        </Sequence>
-	      </RateController>
-	      <KeepRunningUntilFailure>
-	        <FollowPath path="{truncated_path}" controller_id="FollowPath"/>
-	      </KeepRunningUntilFailure>
-	    </PipelineSequence>
-	  </BehaviorTree>
-	</root>
+  <root main_tree_to_execute="MainTree">
+    <BehaviorTree ID="MainTree">
+      <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
+        <RateController hz="1.0">
+          <Sequence>
+            <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
+              <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            </GoalUpdater>
+          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
+          </Sequence>
+        </RateController>
+        <KeepRunningUntilFailure>
+          <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+        </KeepRunningUntilFailure>
+      </PipelineSequence>
+    </BehaviorTree>
+  </root>

_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt

@@ -37,42 +37,50 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
 
 .. code-block:: xml
 
-	<root main_tree_to_execute="MainTree">
-	  <BehaviorTree ID="MainTree">
-	    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
-	      <PipelineSequence name="NavigateWithReplanning">
-	        <RateController hz="0.333">
-	          <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
-	            <ReactiveSequence>
-	              <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.5"/>
-	              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
-	            </ReactiveSequence>
-	            <ReactiveFallback name="ComputePathThroughPosesRecoveryFallback">
-	              <GoalUpdated/>
-	              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
-	            </ReactiveFallback>
-	          </RecoveryNode>
-	        </RateController>
-	        <RecoveryNode number_of_retries="1" name="FollowPath">
-	          <FollowPath path="{path}" controller_id="FollowPath"/>
-	          <ReactiveFallback name="FollowPathRecoveryFallback">
-	            <GoalUpdated/>
-	            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
-	          </ReactiveFallback>
-	        </RecoveryNode>
-	      </PipelineSequence>
-	      <ReactiveFallback name="RecoveryFallback">
-	        <GoalUpdated/>
-	        <RoundRobin name="RecoveryActions">
-	          <Sequence name="ClearingActions">
-	            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
-	            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
-	          </Sequence>
-	          <Spin spin_dist="1.57"/>
-	          <Wait wait_duration="5"/>
-	          <BackUp backup_dist="0.15" backup_speed="0.025"/>
-	        </RoundRobin>
-	      </ReactiveFallback>
-	    </RecoveryNode>
-	  </BehaviorTree>
-	</root>
+  <root main_tree_to_execute="MainTree">
+    <BehaviorTree ID="MainTree">
+      <RecoveryNode number_of_retries="6" name="NavigateRecovery">
+        <PipelineSequence name="NavigateWithReplanning">
+          <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+          <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
+          <RateController hz="0.333">
+            <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
+              <ReactiveSequence>
+                <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
+                <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              </ReactiveSequence>
+              <Sequence>
+                <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
+                <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
+              </Sequence>
+            </RecoveryNode>
+          </RateController>
+          <RecoveryNode number_of_retries="1" name="FollowPath">
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <Sequence>
+              <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
+              <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
+            </Sequence>
+          </RecoveryNode>
+        </PipelineSequence>
+        <Sequence>
+          <Fallback>
+            <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
+            <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
+          </Fallback>
+          <ReactiveFallback name="RecoveryFallback">
+            <GoalUpdated/>
+            <RoundRobin name="RecoveryActions">
+              <Sequence name="ClearingActions">
+                <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
+                <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
+              </Sequence>
+              <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+              <Wait wait_duration="5.0"/>
+              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
+            </RoundRobin>
+          </ReactiveFallback>
+        </Sequence>
+      </RecoveryNode>
+    </BehaviorTree>
+  </root>