From 3afb5d16a7c66928a25b8c93595936b53112922e Mon Sep 17 00:00:00 2001
From: navigation2-ci <navigation2-ci@circleci.com>
Date: Fri, 9 Feb 2024 19:51:46 +0000
Subject: [PATCH] [skip ci] publish latest

Signed-off-by: navigation2-ci <navigation2-ci@circleci.com>
---
 .../Summer_2021_Student_Program.html          |   1 +
 .../projects/assisted_teleop.html             |   1 +
 .../create_configuration_assistant.html       |   1 +
 2021summerOfCode/projects/create_plugins.html |   1 +
 2021summerOfCode/projects/dynamic.html        |   1 +
 2021summerOfCode/projects/grid_maps.html      |   1 +
 2021summerOfCode/projects/localization.html   |   1 +
 2021summerOfCode/projects/multithreading.html |   1 +
 .../projects/navigation_rebranding.html       |   1 +
 2021summerOfCode/projects/safety_node.html    |   1 +
 2021summerOfCode/projects/semantics.html      |   1 +
 2021summerOfCode/projects/spinners.html       |   1 +
 2021summerOfCode/projects/testing.html        |   1 +
 2021summerOfCode/projects/twist_n_config.html |   1 +
 _images/selector_plugin_demo.gif              | Bin 0 -> 4704734 bytes
 .../behavior_trees/trees/follow_point.rst.txt |  36 ++++----
 .../trees/nav_through_poses_recovery.rst.txt  |  86 ++++++++++--------
 ..._pose_and_pause_near_goal_obstacle.rst.txt |  82 +++++++++--------
 .../trees/nav_to_pose_recovery.rst.txt        |  80 ++++++++--------
 ...anning_and_if_path_becomes_invalid.rst.txt |  81 ++++++++---------
 _sources/migration/Iron.rst.txt               |  21 ++++-
 about/index.html                              |   1 +
 about/related_projects.html                   |   1 +
 about/robots.html                             |   1 +
 behavior_trees/index.html                     |   1 +
 .../detailed_behavior_tree_walkthrough.html   |   1 +
 .../overview/nav2_specific_nodes.html         |   1 +
 behavior_trees/trees/follow_point.html        |   9 +-
 .../trees/nav_through_poses_recovery.html     |  51 ++++++-----
 ..._to_pose_and_pause_near_goal_obstacle.html |  11 ++-
 .../trees/nav_to_pose_recovery.html           |  49 ++++++----
 ...eplanning_and_if_path_becomes_invalid.html |  30 +++---
 .../trees/odometry_calibration.html           |   1 +
 commander_api/index.html                      |   1 +
 concepts/index.html                           |   1 +
 configuration/index.html                      |   1 +
 .../bt-plugins/actions/AssistedTeleop.html    |   1 +
 .../packages/bt-plugins/actions/BackUp.html   |   1 +
 .../actions/CancelAssistedTeleop.html         |   1 +
 .../bt-plugins/actions/CancelBackUp.html      |   1 +
 .../bt-plugins/actions/CancelControl.html     |   1 +
 .../bt-plugins/actions/CancelCoverage.html    |   1 +
 .../actions/CancelDriveOnHeading.html         |   1 +
 .../bt-plugins/actions/CancelSpin.html        |   1 +
 .../bt-plugins/actions/CancelWait.html        |   1 +
 .../actions/ClearCostmapAroundRobot.html      |   1 +
 .../actions/ClearCostmapExceptRegion.html     |   1 +
 .../actions/ClearEntireCostmap.html           |   1 +
 .../actions/ComputeCoveragePath.html          |   1 +
 .../actions/ComputePathThroughPoses.html      |   1 +
 .../bt-plugins/actions/ComputePathToPose.html |   1 +
 .../actions/ControllerSelector.html           |   1 +
 .../bt-plugins/actions/DriveOnHeading.html    |   1 +
 .../bt-plugins/actions/FollowPath.html        |   1 +
 .../actions/GoalCheckerSelector.html          |   1 +
 .../actions/NavigateThroughPoses.html         |   1 +
 .../bt-plugins/actions/NavigateToPose.html    |   1 +
 .../bt-plugins/actions/PlannerSelector.html   |   1 +
 .../actions/ProgressCheckerSelector.html      |   1 +
 .../ReinitializeGlobalLocalization.html       |   1 +
 .../bt-plugins/actions/RemovePassedGoals.html |   1 +
 .../packages/bt-plugins/actions/Smooth.html   |   1 +
 .../bt-plugins/actions/SmootherSelector.html  |   1 +
 .../packages/bt-plugins/actions/Spin.html     |   1 +
 .../bt-plugins/actions/TruncatePath.html      |   1 +
 .../bt-plugins/actions/TruncatePathLocal.html |   1 +
 .../packages/bt-plugins/actions/Wait.html     |   1 +
 .../conditions/AreErrorCodesPresent.html      |   1 +
 .../conditions/DistanceTraveled.html          |   1 +
 .../conditions/GloballyUpdatedGoal.html       |   1 +
 .../bt-plugins/conditions/GoalReached.html    |   1 +
 .../bt-plugins/conditions/GoalUpdated.html    |   1 +
 .../conditions/InitialPoseReceived.html       |   1 +
 .../conditions/IsBatteryCharging.html         |   1 +
 .../bt-plugins/conditions/IsBatteryLow.html   |   1 +
 .../bt-plugins/conditions/IsPathValid.html    |   1 +
 .../bt-plugins/conditions/IsStuck.html        |   1 +
 .../conditions/PathExpiringTimer.html         |   1 +
 .../bt-plugins/conditions/TimeExpired.html    |   1 +
 .../conditions/TransformAvailable.html        |   1 +
 .../WouldAControllerRecoveryHelp.html         |   1 +
 .../conditions/WouldAPlannerRecoveryHelp.html |   1 +
 .../WouldASmootherRecoveryHelp.html           |   1 +
 .../bt-plugins/controls/PipelineSequence.html |   1 +
 .../bt-plugins/controls/RecoveryNode.html     |   1 +
 .../bt-plugins/controls/RoundRobin.html       |   1 +
 .../decorators/DistanceController.html        |   1 +
 .../bt-plugins/decorators/GoalUpdater.html    |   1 +
 .../decorators/PathLongerOnApproach.html      |   1 +
 .../bt-plugins/decorators/RateController.html |   1 +
 .../bt-plugins/decorators/SingleTrigger.html  |   1 +
 .../decorators/SpeedController.html           |   1 +
 .../configuring-collision-detector-node.html  |   1 +
 .../configuring-collision-monitor-node.html   |   1 +
 configuration/packages/configuring-amcl.html  |   1 +
 .../packages/configuring-behavior-server.html |   1 +
 .../packages/configuring-bt-navigator.html    |   1 +
 .../packages/configuring-bt-xml.html          |   1 +
 .../configuring-collision-monitor.html        |   1 +
 .../configuring-constrained-smoother.html     |   1 +
 .../configuring-controller-server.html        |   1 +
 .../packages/configuring-costmaps.html        |   1 +
 .../packages/configuring-coverage-server.html |   1 +
 .../packages/configuring-dwb-controller.html  |   1 +
 ...onfiguring-graceful-motion-controller.html |   1 +
 .../packages/configuring-lifecycle.html       |   1 +
 .../packages/configuring-map-server.html      |   1 +
 configuration/packages/configuring-mppic.html |   1 +
 configuration/packages/configuring-navfn.html |   1 +
 .../packages/configuring-planner-server.html  |   1 +
 .../packages/configuring-regulated-pp.html    |   1 +
 .../configuring-rotation-shim-controller.html |   1 +
 .../configuring-savitzky-golay-smoother.html  |   1 +
 .../packages/configuring-simple-smoother.html |   1 +
 .../packages/configuring-smac-planner.html    |   1 +
 .../packages/configuring-smoother-server.html |   1 +
 .../packages/configuring-thetastar.html       |   1 +
 .../configuring-velocity-smoother.html        |   1 +
 .../configuring-waypoint-follower.html        |   1 +
 .../costmap-plugins/binary_filter.html        |   1 +
 .../packages/costmap-plugins/denoise.html     |   1 +
 .../packages/costmap-plugins/inflation.html   |   1 +
 .../costmap-plugins/keepout_filter.html       |   1 +
 .../packages/costmap-plugins/obstacle.html    |   1 +
 .../packages/costmap-plugins/range.html       |   1 +
 .../costmap-plugins/speed_filter.html         |   1 +
 .../packages/costmap-plugins/static.html      |   1 +
 .../packages/costmap-plugins/voxel.html       |   1 +
 .../packages/dwb-params/controller.html       |   1 +
 .../packages/dwb-params/iterator.html         |   1 +
 .../packages/dwb-params/kinematic.html        |   1 +
 .../packages/dwb-params/visualization.html    |   1 +
 .../dwb-plugins/limited_accel_generator.html  |   1 +
 .../dwb-plugins/standard_traj_generator.html  |   1 +
 .../pose_progress_checker.html                |   1 +
 .../simple_goal_checker.html                  |   1 +
 .../simple_progress_checker.html              |   1 +
 .../stopped_goal_checker.html                 |   1 +
 .../input_at_waypoint.html                    |   1 +
 .../photo_at_waypoint.html                    |   1 +
 .../wait_at_waypoint.html                     |   1 +
 .../packages/smac/configuring-smac-2d.html    |   1 +
 .../smac/configuring-smac-hybrid.html         |   1 +
 .../smac/configuring-smac-lattice.html        |   1 +
 .../trajectory_critics/base_obstacle.html     |   1 +
 .../trajectory_critics/goal_align.html        |   1 +
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 .../obstacle_footprint.html                   |   1 +
 .../trajectory_critics/oscillation.html       |   1 +
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 .../packages/trajectory_critics/twirling.html |   1 +
 .../build_troubleshooting_guide.html          |   1 +
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 .../devcontainer_docs/devcontainer_guide.html |   1 +
 .../devcontainer_docs/index.html              |   1 +
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 .../involvement_docs/index.html               |   1 +
 genindex.html                                 |   1 +
 getting_started/index.html                    |   1 +
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 migration/Dashing.html                        |   1 +
 migration/Eloquent.html                       |   1 +
 migration/Foxy.html                           |   1 +
 migration/Galactic.html                       |   1 +
 migration/Humble.html                         |   1 +
 migration/Iron.html                           |  15 +++
 migration/index.html                          |   1 +
 .../docs/writing_new_behavior_plugin.html     |   1 +
 .../docs/writing_new_bt_plugin.html           |   1 +
 .../docs/writing_new_costmap2d_plugin.html    |   1 +
 .../writing_new_nav2controller_plugin.html    |   1 +
 .../docs/writing_new_nav2planner_plugin.html  |   1 +
 .../docs/writing_new_navigator_plugin.html    |   1 +
 plugin_tutorials/index.html                   |   1 +
 plugins/index.html                            |   1 +
 roadmap/roadmap.html                          |   1 +
 search.html                                   |   1 +
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 setup_guides/algorithm/select_algorithm.html  |   1 +
 setup_guides/footprint/setup_footprint.html   |   1 +
 setup_guides/index.html                       |   1 +
 setup_guides/odom/setup_odom.html             |   1 +
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 .../transformation/setup_transforms.html      |   1 +
 setup_guides/urdf/setup_urdf.html             |   1 +
 tuning/index.html                             |   1 +
 tutorials/docs/adding_a_nav2_task_server.html |   1 +
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 .../filtering_of_noise-induced_obstacles.html |   1 +
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 tutorials/docs/integrating_vio.html           |   1 +
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 .../docs/navigation2_on_real_turtlebot3.html  |   1 +
 tutorials/docs/navigation2_with_gps.html      |   1 +
 .../docs/navigation2_with_keepout_filter.html |   1 +
 tutorials/docs/navigation2_with_slam.html     |   1 +
 .../docs/navigation2_with_speed_filter.html   |   1 +
 tutorials/docs/navigation2_with_stvl.html     |   1 +
 tutorials/docs/using_collision_monitor.html   |   1 +
 tutorials/docs/using_groot.html               |   1 +
 tutorials/docs/using_shim_controller.html     |   1 +
 tutorials/index.html                          |   1 +
 207 files changed, 508 insertions(+), 238 deletions(-)
 create mode 100644 _images/selector_plugin_demo.gif

diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
index a8b5d6c11..aabe4076d 100644
--- a/2021summerOfCode/Summer_2021_Student_Program.html
+++ b/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>
diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
index 76a084984..1306eeee5 100644
--- a/2021summerOfCode/projects/assisted_teleop.html
+++ b/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>
diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
index ac761b419..fa01e779c 100644
--- a/2021summerOfCode/projects/create_configuration_assistant.html
+++ b/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>
diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
index de2c4f546..94a6d437d 100644
--- a/2021summerOfCode/projects/create_plugins.html
+++ b/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>
diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
index faebd52e5..c4e56b7b1 100644
--- a/2021summerOfCode/projects/dynamic.html
+++ b/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>
diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
index 4a251a09e..8f67b24b6 100644
--- a/2021summerOfCode/projects/grid_maps.html
+++ b/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>
diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
index 1b140e324..e5e5f3819 100644
--- a/2021summerOfCode/projects/localization.html
+++ b/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>
diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
index 235af4085..81235d448 100644
--- a/2021summerOfCode/projects/multithreading.html
+++ b/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>
diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
index a074e64c1..501dc21cc 100644
--- a/2021summerOfCode/projects/navigation_rebranding.html
+++ b/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>
diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
index 755ae9601..08add58a9 100644
--- a/2021summerOfCode/projects/safety_node.html
+++ b/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>
diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
index c8b020d4a..c602dbf94 100644
--- a/2021summerOfCode/projects/semantics.html
+++ b/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>
diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
index 09a5ec5ab..f9ef57ab2 100644
--- a/2021summerOfCode/projects/spinners.html
+++ b/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>
diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
index 6e938985e..12c8d2062 100644
--- a/2021summerOfCode/projects/testing.html
+++ b/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>
diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
index d9d443bc0..ade03c0d0 100644
--- a/2021summerOfCode/projects/twist_n_config.html
+++ b/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>
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diff --git a/_sources/behavior_trees/trees/follow_point.rst.txt b/_sources/behavior_trees/trees/follow_point.rst.txt
index 493b3f529..ea94292c8 100644
--- a/_sources/behavior_trees/trees/follow_point.rst.txt
+++ b/_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>
diff --git a/_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt b/_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt
index 40c3c87b8..aff6f3826 100644
--- a/_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt
+++ b/_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>
diff --git a/_sources/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst.txt b/_sources/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst.txt
index 91c8626fa..204d5e6e5 100644
--- a/_sources/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst.txt
+++ b/_sources/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst.txt
@@ -38,46 +38,48 @@ In conclusion, this particular BT would serve, both as an example and ready-to-u
 
 .. code-block:: xml
 
-    <root main_tree_to_execute="MainTree">
-      <BehaviorTree ID="MainTree">
-        <RecoveryNode number_of_retries="6" name="NavigateRecovery">
-          <PipelineSequence name="NavigateWithReplanning">
-            <RateController hz="1.0">
-              <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-                <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
-                <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
-              </RecoveryNode>
-            </RateController>
-            <ReactiveSequence name="MonitorAndFollowPath">
-              <PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
-                <RetryUntilSuccessful num_attempts="1">
-                  <SequenceStar name="CancelingControlAndWait">
-                    <CancelControl name="ControlCancel"/>
-                    <Wait wait_duration="5"/>
-                  </SequenceStar>
-                </RetryUntilSuccessful>
-              </PathLongerOnApproach>
-              <RecoveryNode number_of_retries="1" name="FollowPath">
-                <FollowPath path="{path}" controller_id="FollowPath"/>
-                <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
-              </RecoveryNode>
-            </ReactiveSequence>
-          </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="0.30" backup_speed="0.05"/>
-            </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="1.0">
+            <RecoveryNode number_of_retries="1" name="ComputePathToPose">
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
+            </RecoveryNode>
+          </RateController>
+          <ReactiveSequence name="MonitorAndFollowPath">
+            <PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
+              <RetryUntilSuccessful num_attempts="1">
+                <SequenceStar name="CancelingControlAndWait">
+                  <CancelControl name="ControlCancel"/>
+                  <Wait wait_duration="5.0"/>
+                </SequenceStar>
+              </RetryUntilSuccessful>
+            </PathLongerOnApproach>
+            <RecoveryNode number_of_retries="1" name="FollowPath">
+              <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+              <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
+            </RecoveryNode>
+          </ReactiveSequence>
+        </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="5.0"/>
+            <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          </RoundRobin>
+        </ReactiveFallback>
+      </RecoveryNode>
+    </BehaviorTree>
+  </root>
 
 A complete demo of this BT can be seen in the video below:
 
diff --git a/_sources/behavior_trees/trees/nav_to_pose_recovery.rst.txt b/_sources/behavior_trees/trees/nav_to_pose_recovery.rst.txt
index 95131b319..d1f825d36 100644
--- a/_sources/behavior_trees/trees/nav_to_pose_recovery.rst.txt
+++ b/_sources/behavior_trees/trees/nav_to_pose_recovery.rst.txt
@@ -34,39 +34,47 @@ 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="1.0">
-	          <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-	            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
-	            <ReactiveFallback name="ComputePathToPoseRecoveryFallback">
-	              <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="1.0">
+            <RecoveryNode number_of_retries="1" name="ComputePathToPose">
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <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_code_id}"/>
+            </RoundRobin>
+          </ReactiveFallback>
+        </Sequence>
+      </RecoveryNode>
+    </BehaviorTree>
+  </root>
diff --git a/_sources/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst.txt b/_sources/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst.txt
index 90d46db9b..fd9e7be62 100644
--- a/_sources/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst.txt
+++ b/_sources/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst.txt
@@ -30,46 +30,45 @@ 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="2.0">
-		  <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-		    <Fallback>
-		      <ReactiveSequence>
-		        <Inverter>
-		          <PathExpiringTimer seconds="10" path="{path}"/>
-		        </Inverter>
-		        <Inverter>
-		          <GlobalUpdatedGoal/>
-		        </Inverter>
-		        <IsPathValid path="{path}"/>
-		      </ReactiveSequence>
-		      <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
-		    </Fallback>
-		    <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
-		  </RecoveryNode>
-		</RateController>
-		<RecoveryNode number_of_retries="1" name="FollowPath">
-		  <FollowPath path="{path}" controller_id="FollowPath"/>
-		  <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
-		</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="0.30" backup_speed="0.05"/>
-		</RoundRobin>
-	      </ReactiveFallback>
-	    </RecoveryNode>
-	  </BehaviorTree>
-	</root>
+  <root main_tree_to_execute="MainTree">
+    <BehaviorTree ID="MainTree">
+      <RecoveryNode number_of_retries="6" name="NavigateRecovery">
+        <PipelineSequence>
+          <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" name="RateControllerComputePathToPose">
+            <RecoveryNode number_of_retries="1" name="RecoveryComputePathToPose">
+              <Fallback name="FallbackComputePathToPose">
+                <ReactiveSequence name="CheckIfNewPathNeeded">
+                  <Inverter>
+                    <GlobalUpdatedGoal/>
+                  </Inverter>
+                  <IsPathValid path="{path}"/>
+                </ReactiveSequence>
+                <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              </Fallback>
+              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
+            </RecoveryNode>
+          </RateController>
+          <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
+          </RecoveryNode>
+        </PipelineSequence>
+        <ReactiveFallback name="FallbackRecoveries">
+          <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 name="SpinRecovery" spin_dist="1.57"/>
+            <Wait name="WaitRecovery" wait_duration="5.0"/>
+            <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
+          </RoundRobin>
+        </ReactiveFallback>
+      </RecoveryNode>
+    </BehaviorTree>
+  </root>
 
 
diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt
index 30fde7214..02d92d48c 100644
--- a/_sources/migration/Iron.rst.txt
+++ b/_sources/migration/Iron.rst.txt
@@ -229,4 +229,23 @@ New Graceful Motion Controller
 
 `PR #4021 <https://github.com/ros-planning/navigation2/pull/4021>`_ introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and confortable trajectory.
 
-See :ref:`configuring_graceful_motion_controller` for more information.
\ No newline at end of file
+See :ref:`configuring_graceful_motion_controller` for more information.
+
+New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers
+***************************************************************************************************
+
+`In PR #4091 <https://github.com/ros-planning/navigation2/pull/4091>`_ a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly.
+
+The primary goal of this plugin is to facilitate the developers and easy integration testing of their configuration before deploying the robot in the intended application.
+
+In order to facilitate the dynamic selection of the specified components, the BT selector nodes for all these components were utilized and were updated to all the relevant BT nodes. 
+
+Here we can see the working demo of the plugin:
+
+.. image:: images/selector_plugin_demo.gif
+
+In the GIF, it can be seen that there are two controller_ids namely, `FollowPath` and `HighSpeedFollowPath`. By default, the one defined in the Behavior tree is utilized.
+
+In this case, the `FollowPath` is the default controller_id. The difference between the two controller_ids is that HighSpeedFollowPath has a higher max velocity compared to the FollowPath. This difference can be well noted in the GIF.
+
+.. attention:: If a server is unavailable, then the combo box or the drop down list of the particular component will be empty.
\ No newline at end of file
diff --git a/about/index.html b/about/index.html
index 1400a3024..abefc5208 100644
--- a/about/index.html
+++ b/about/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/about/related_projects.html b/about/related_projects.html
index bb5ecf9a1..762e45ca7 100644
--- a/about/related_projects.html
+++ b/about/related_projects.html
@@ -962,6 +962,7 @@
 <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>
diff --git a/about/robots.html b/about/robots.html
index 73f4850d6..f6f47d570 100644
--- a/about/robots.html
+++ b/about/robots.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/behavior_trees/index.html b/behavior_trees/index.html
index 1ae3213af..e2349b03e 100644
--- a/behavior_trees/index.html
+++ b/behavior_trees/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
index bdf9b40fa..b37249fc5 100644
--- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
+++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
index 2120179ac..9deb44b14 100644
--- a/behavior_trees/overview/nav2_specific_nodes.html
+++ b/behavior_trees/overview/nav2_specific_nodes.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
index 185278fef..67eef9dba 100644
--- a/behavior_trees/trees/follow_point.html
+++ b/behavior_trees/trees/follow_point.html
@@ -963,6 +963,7 @@
 <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>
@@ -1035,16 +1036,18 @@
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;root</span><span class="w"> </span><span class="na">main_tree_to_execute=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">  </span><span class="nt">&lt;BehaviorTree</span><span class="w"> </span><span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">    </span><span class="nt">&lt;PipelineSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateWithReplanning&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;ControllerSelector</span><span class="w"> </span><span class="na">selected_controller=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">default_controller=</span><span class="s">&quot;FollowPath&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;controller_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PlannerSelector</span><span class="w"> </span><span class="na">selected_planner=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">default_planner=</span><span class="s">&quot;GridBased&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;planner_selector&quot;</span><span class="nt">/&gt;</span>
 <span class="w">      </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;1.0&quot;</span><span class="nt">&gt;</span>
 <span class="w">        </span><span class="nt">&lt;Sequence&gt;</span>
 <span class="w">          </span><span class="nt">&lt;GoalUpdater</span><span class="w"> </span><span class="na">input_goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">output_goal=</span><span class="s">&quot;{updated_goal}&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{updated_goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;GridBased&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{updated_goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/GoalUpdater&gt;</span>
-<span class="w">         </span><span class="nt">&lt;TruncatePath</span><span class="w"> </span><span class="na">distance=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">input_path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">output_path=</span><span class="s">&quot;{truncated_path}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;TruncatePath</span><span class="w"> </span><span class="na">distance=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">input_path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">output_path=</span><span class="s">&quot;{truncated_path}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/RateController&gt;</span>
 <span class="w">      </span><span class="nt">&lt;KeepRunningUntilFailure&gt;</span>
-<span class="w">        </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{truncated_path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{truncated_path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/KeepRunningUntilFailure&gt;</span>
 <span class="w">    </span><span class="nt">&lt;/PipelineSequence&gt;</span>
 <span class="w">  </span><span class="nt">&lt;/BehaviorTree&gt;</span>
diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
index 897d4e55c..4ea2ab89a 100644
--- a/behavior_trees/trees/nav_through_poses_recovery.html
+++ b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -963,6 +963,7 @@
 <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>
@@ -1050,38 +1051,46 @@
 <span class="w">  </span><span class="nt">&lt;BehaviorTree</span><span class="w"> </span><span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">    </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;6&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateRecovery&quot;</span><span class="nt">&gt;</span>
 <span class="w">      </span><span class="nt">&lt;PipelineSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateWithReplanning&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerSelector</span><span class="w"> </span><span class="na">selected_controller=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">default_controller=</span><span class="s">&quot;FollowPath&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;controller_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;PlannerSelector</span><span class="w"> </span><span class="na">selected_planner=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">default_planner=</span><span class="s">&quot;GridBased&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;planner_selector&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;0.333&quot;</span><span class="nt">&gt;</span>
 <span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathThroughPoses&quot;</span><span class="nt">&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ReactiveSequence&gt;</span>
-<span class="w">              </span><span class="nt">&lt;RemovePassedGoals</span><span class="w"> </span><span class="na">input_goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">output_goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;0.5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">              </span><span class="nt">&lt;ComputePathThroughPoses</span><span class="w"> </span><span class="na">goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;GridBased&quot;</span><span class="nt">/&gt;</span>
+<span class="w">              </span><span class="nt">&lt;RemovePassedGoals</span><span class="w"> </span><span class="na">input_goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">output_goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;0.7&quot;</span><span class="nt">/&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ComputePathThroughPoses</span><span class="w"> </span><span class="na">goals=</span><span class="s">&quot;{goals}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;/ReactiveSequence&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathThroughPosesRecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">              </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">              </span><span class="nt">&lt;WouldAPlannerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RateController&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPathRecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">            </span><span class="nt">&lt;WouldAControllerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/PipelineSequence&gt;</span>
-<span class="w">      </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;GoalUpdated/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RoundRobin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryActions&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearingActions&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.15&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/RoundRobin&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Fallback&gt;</span>
+<span class="w">          </span><span class="nt">&lt;WouldAControllerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;WouldAPlannerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Fallback&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFallback&quot;</span><span class="nt">&gt;</span>
+<span class="w">          </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RoundRobin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryActions&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearingActions&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Sequence&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{spin_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.30&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.05&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{backup_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/RoundRobin&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">    </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">  </span><span class="nt">&lt;/BehaviorTree&gt;</span>
 <span class="nt">&lt;/root&gt;</span>
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 a08c38715..80e4227a4 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
@@ -963,6 +963,7 @@
 <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>
@@ -1052,9 +1053,11 @@ <h1>Navigate To Pose and Pause Near Goal-Obstacle<a class="headerlink" href="#na
 <span class="w">  </span><span class="nt">&lt;BehaviorTree</span><span class="w"> </span><span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">    </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;6&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateRecovery&quot;</span><span class="nt">&gt;</span>
 <span class="w">      </span><span class="nt">&lt;PipelineSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateWithReplanning&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerSelector</span><span class="w"> </span><span class="na">selected_controller=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">default_controller=</span><span class="s">&quot;FollowPath&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;controller_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;PlannerSelector</span><span class="w"> </span><span class="na">selected_planner=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">default_planner=</span><span class="s">&quot;GridBased&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;planner_selector&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;1.0&quot;</span><span class="nt">&gt;</span>
 <span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathToPose&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;GridBased&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RateController&gt;</span>
@@ -1063,12 +1066,12 @@ <h1>Navigate To Pose and Pause Near Goal-Obstacle<a class="headerlink" href="#na
 <span class="w">            </span><span class="nt">&lt;RetryUntilSuccessful</span><span class="w"> </span><span class="na">num_attempts=</span><span class="s">&quot;1&quot;</span><span class="nt">&gt;</span>
 <span class="w">              </span><span class="nt">&lt;SequenceStar</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CancelingControlAndWait&quot;</span><span class="nt">&gt;</span>
 <span class="w">                </span><span class="nt">&lt;CancelControl</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ControlCancel&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">                </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5.0&quot;</span><span class="nt">/&gt;</span>
 <span class="w">              </span><span class="nt">&lt;/SequenceStar&gt;</span>
 <span class="w">            </span><span class="nt">&lt;/RetryUntilSuccessful&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/PathLongerOnApproach&gt;</span>
 <span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/ReactiveSequence&gt;</span>
@@ -1081,7 +1084,7 @@ <h1>Navigate To Pose and Pause Near Goal-Obstacle<a class="headerlink" href="#na
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">          </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5.0&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.30&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.05&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RoundRobin&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
index 1ba7d4a6b..26e24cd0b 100644
--- a/behavior_trees/trees/nav_to_pose_recovery.html
+++ b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -963,6 +963,7 @@
 <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>
@@ -1047,35 +1048,43 @@
 <span class="w">  </span><span class="nt">&lt;BehaviorTree</span><span class="w"> </span><span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">    </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;6&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateRecovery&quot;</span><span class="nt">&gt;</span>
 <span class="w">      </span><span class="nt">&lt;PipelineSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateWithReplanning&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerSelector</span><span class="w"> </span><span class="na">selected_controller=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">default_controller=</span><span class="s">&quot;FollowPath&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;controller_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;PlannerSelector</span><span class="w"> </span><span class="na">selected_planner=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">default_planner=</span><span class="s">&quot;GridBased&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;planner_selector&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;1.0&quot;</span><span class="nt">&gt;</span>
 <span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathToPose&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;GridBased&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathToPoseRecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">              </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">              </span><span class="nt">&lt;WouldAPlannerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RateController&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPathRecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">            </span><span class="nt">&lt;WouldAControllerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/PipelineSequence&gt;</span>
-<span class="w">      </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFallback&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;GoalUpdated/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RoundRobin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryActions&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearingActions&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.15&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/RoundRobin&gt;</span>
-<span class="w">      </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">      </span><span class="nt">&lt;Sequence&gt;</span>
+<span class="w">        </span><span class="nt">&lt;Fallback&gt;</span>
+<span class="w">          </span><span class="nt">&lt;WouldAControllerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;WouldAPlannerRecoveryHelp</span><span class="w"> </span><span class="na">error_code=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/Fallback&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFallback&quot;</span><span class="nt">&gt;</span>
+<span class="w">          </span><span class="nt">&lt;GoalUpdated/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RoundRobin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryActions&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearingActions&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/Sequence&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{spin_error_code}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">            </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.30&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.05&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{backup_code_id}&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;/RoundRobin&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
+<span class="w">      </span><span class="nt">&lt;/Sequence&gt;</span>
 <span class="w">    </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">  </span><span class="nt">&lt;/BehaviorTree&gt;</span>
 <span class="nt">&lt;/root&gt;</span>
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 0235e9420..6f0cc83f5 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
@@ -963,6 +963,7 @@
 <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>
@@ -1043,39 +1044,38 @@
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;root</span><span class="w"> </span><span class="na">main_tree_to_execute=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">  </span><span class="nt">&lt;BehaviorTree</span><span class="w"> </span><span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
 <span class="w">    </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;6&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateRecovery&quot;</span><span class="nt">&gt;</span>
-<span class="w">      </span><span class="nt">&lt;PipelineSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;NavigateWithReplanning&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;2.0&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ComputePathToPose&quot;</span><span class="nt">&gt;</span>
-<span class="w">            </span><span class="nt">&lt;Fallback&gt;</span>
-<span class="w">              </span><span class="nt">&lt;ReactiveSequence&gt;</span>
-<span class="w">                </span><span class="nt">&lt;Inverter&gt;</span>
-<span class="w">                  </span><span class="nt">&lt;PathExpiringTimer</span><span class="w"> </span><span class="na">seconds=</span><span class="s">&quot;10&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="nt">/&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/Inverter&gt;</span>
+<span class="w">      </span><span class="nt">&lt;PipelineSequence&gt;</span>
+<span class="w">        </span><span class="nt">&lt;ControllerSelector</span><span class="w"> </span><span class="na">selected_controller=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">default_controller=</span><span class="s">&quot;FollowPath&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;controller_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;PlannerSelector</span><span class="w"> </span><span class="na">selected_planner=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">default_planner=</span><span class="s">&quot;GridBased&quot;</span><span class="w"> </span><span class="na">topic_name=</span><span class="s">&quot;planner_selector&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;RateController</span><span class="w"> </span><span class="na">hz=</span><span class="s">&quot;1.0&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RateControllerComputePathToPose&quot;</span><span class="nt">&gt;</span>
+<span class="w">          </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryComputePathToPose&quot;</span><span class="nt">&gt;</span>
+<span class="w">            </span><span class="nt">&lt;Fallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FallbackComputePathToPose&quot;</span><span class="nt">&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ReactiveSequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;CheckIfNewPathNeeded&quot;</span><span class="nt">&gt;</span>
 <span class="w">                </span><span class="nt">&lt;Inverter&gt;</span>
 <span class="w">                  </span><span class="nt">&lt;GlobalUpdatedGoal/&gt;</span>
 <span class="w">                </span><span class="nt">&lt;/Inverter&gt;</span>
 <span class="w">                </span><span class="nt">&lt;IsPathValid</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">              </span><span class="nt">&lt;/ReactiveSequence&gt;</span>
-<span class="w">              </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;GridBased&quot;</span><span class="nt">/&gt;</span>
+<span class="w">              </span><span class="nt">&lt;ComputePathToPose</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">planner_id=</span><span class="s">&quot;{selected_planner}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{compute_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;/Fallback&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RateController&gt;</span>
-<span class="w">        </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">&gt;</span>
-<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;FollowPath&quot;</span><span class="nt">/&gt;</span>
+<span class="w">        </span><span class="nt">&lt;RecoveryNode</span><span class="w"> </span><span class="na">number_of_retries=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFollowPath&quot;</span><span class="nt">&gt;</span>
+<span class="w">          </span><span class="nt">&lt;FollowPath</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">controller_id=</span><span class="s">&quot;{selected_controller}&quot;</span><span class="w"> </span><span class="na">error_code_id=</span><span class="s">&quot;{follow_path_error_code}&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Context&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RecoveryNode&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/PipelineSequence&gt;</span>
-<span class="w">      </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryFallback&quot;</span><span class="nt">&gt;</span>
+<span class="w">      </span><span class="nt">&lt;ReactiveFallback</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;FallbackRecoveries&quot;</span><span class="nt">&gt;</span>
 <span class="w">        </span><span class="nt">&lt;GoalUpdated/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;RoundRobin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;RecoveryActions&quot;</span><span class="nt">&gt;</span>
 <span class="w">          </span><span class="nt">&lt;Sequence</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearingActions&quot;</span><span class="nt">&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearLocalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;local_costmap/clear_entirely_local_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">            </span><span class="nt">&lt;ClearEntireCostmap</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;ClearGlobalCostmap-Subtree&quot;</span><span class="w"> </span><span class="na">service_name=</span><span class="s">&quot;global_costmap/clear_entirely_global_costmap&quot;</span><span class="nt">/&gt;</span>
 <span class="w">          </span><span class="nt">&lt;/Sequence&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5&quot;</span><span class="nt">/&gt;</span>
-<span class="w">          </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.30&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.05&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Spin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;SpinRecovery&quot;</span><span class="w"> </span><span class="na">spin_dist=</span><span class="s">&quot;1.57&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;Wait</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;WaitRecovery&quot;</span><span class="w"> </span><span class="na">wait_duration=</span><span class="s">&quot;5.0&quot;</span><span class="nt">/&gt;</span>
+<span class="w">          </span><span class="nt">&lt;BackUp</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;BackUpRecovery&quot;</span><span class="w"> </span><span class="na">backup_dist=</span><span class="s">&quot;0.30&quot;</span><span class="w"> </span><span class="na">backup_speed=</span><span class="s">&quot;0.05&quot;</span><span class="nt">/&gt;</span>
 <span class="w">        </span><span class="nt">&lt;/RoundRobin&gt;</span>
 <span class="w">      </span><span class="nt">&lt;/ReactiveFallback&gt;</span>
 <span class="w">    </span><span class="nt">&lt;/RecoveryNode&gt;</span>
diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html
index 0542637b6..4386e9a65 100644
--- a/behavior_trees/trees/odometry_calibration.html
+++ b/behavior_trees/trees/odometry_calibration.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/commander_api/index.html b/commander_api/index.html
index 2e6f5513f..febd81804 100644
--- a/commander_api/index.html
+++ b/commander_api/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/concepts/index.html b/concepts/index.html
index d4738f0ea..bf3ede4b7 100644
--- a/concepts/index.html
+++ b/concepts/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/index.html b/configuration/index.html
index 6e5de04f9..6eaa563a0 100644
--- a/configuration/index.html
+++ b/configuration/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index a3ba97073..b3bd6c6cc 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html
index d7dfe7cdf..f1c8bfc4a 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.html
+++ b/configuration/packages/bt-plugins/actions/BackUp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
index 408e35e78..98f9bbd12 100644
--- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html
index 719c21794..f654e13d0 100644
--- a/configuration/packages/bt-plugins/actions/CancelBackUp.html
+++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html
index 492e4ab9f..a2ef08a4f 100644
--- a/configuration/packages/bt-plugins/actions/CancelControl.html
+++ b/configuration/packages/bt-plugins/actions/CancelControl.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelCoverage.html b/configuration/packages/bt-plugins/actions/CancelCoverage.html
index 09566aa5a..3c1d8319b 100644
--- a/configuration/packages/bt-plugins/actions/CancelCoverage.html
+++ b/configuration/packages/bt-plugins/actions/CancelCoverage.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
index 231dc4267..ab3d6ede1 100644
--- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html
index 08c9c37ee..5f8710f4e 100644
--- a/configuration/packages/bt-plugins/actions/CancelSpin.html
+++ b/configuration/packages/bt-plugins/actions/CancelSpin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html
index 6b003a75c..6099bf775 100644
--- a/configuration/packages/bt-plugins/actions/CancelWait.html
+++ b/configuration/packages/bt-plugins/actions/CancelWait.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
index 5c2c12e97..5df2859e7 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
index e790917a8..da735ee37 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
index 1631edf18..add57521c 100644
--- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
+++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
index 44f3e7501..19ee1ef18 100644
--- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
+++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index 31bcac9a3..51be09090 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index 36f954ec1..f9dd2c9d9 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html
index 7e16c95e2..793acb827 100644
--- a/configuration/packages/bt-plugins/actions/ControllerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
index 06440eab1..dfaf4b4e8 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html
index d471cfd53..07fc8fd44 100644
--- a/configuration/packages/bt-plugins/actions/FollowPath.html
+++ b/configuration/packages/bt-plugins/actions/FollowPath.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
index f53ab6d28..dca0d10ec 100644
--- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index 114113489..3d82d52c0 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html
index 76f658424..87befa4f5 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.html
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html
index 015a34a2a..c2e8a4560 100644
--- a/configuration/packages/bt-plugins/actions/PlannerSelector.html
+++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
index e401196e3..290ec61c3 100644
--- a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
index cd2f786c6..b1eebc442 100644
--- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
+++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
index eb9ae25d8..deba75fb4 100644
--- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
+++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html
index 02fceb688..b4a65627b 100644
--- a/configuration/packages/bt-plugins/actions/Smooth.html
+++ b/configuration/packages/bt-plugins/actions/Smooth.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html
index 62cad46e4..2d21ea7aa 100644
--- a/configuration/packages/bt-plugins/actions/SmootherSelector.html
+++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html
index 7d868b9e8..da994bcd5 100644
--- a/configuration/packages/bt-plugins/actions/Spin.html
+++ b/configuration/packages/bt-plugins/actions/Spin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html
index a7e0e724a..e39d952e4 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePath.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePath.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
index b47d03b22..99305b6e8 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html
index cbc49c0c0..3a19a931d 100644
--- a/configuration/packages/bt-plugins/actions/Wait.html
+++ b/configuration/packages/bt-plugins/actions/Wait.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
index 1abeb08c9..053841571 100644
--- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
+++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
index 6d3c6e8fe..766a6fb10 100644
--- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
+++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
index 69c603ebc..f5f477bea 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html
index a64b5c690..1775db01a 100644
--- a/configuration/packages/bt-plugins/conditions/GoalReached.html
+++ b/configuration/packages/bt-plugins/conditions/GoalReached.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
index f6a4c03dd..937ee58dc 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
index 758d850c7..d495edf85 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
index d8730a4e1..e6caa3c30 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
index a06699c4e..7235b52ff 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html
index 7a85a3bc6..d2d8089d7 100644
--- a/configuration/packages/bt-plugins/conditions/IsPathValid.html
+++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html
index 934c8552b..5029707b3 100644
--- a/configuration/packages/bt-plugins/conditions/IsStuck.html
+++ b/configuration/packages/bt-plugins/conditions/IsStuck.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
index fcb7ce343..e198cf38b 100644
--- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
+++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html
index b65a35439..ae8703447 100644
--- a/configuration/packages/bt-plugins/conditions/TimeExpired.html
+++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
index 969721c48..90029826e 100644
--- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html
+++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
index 8ec80bf0a..03939ab1d 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
index 8d7dbe6a4..c412d0111 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
index 18091ad44..710599735 100644
--- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html
index ce667b81b..70153501e 100644
--- a/configuration/packages/bt-plugins/controls/PipelineSequence.html
+++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html
index 498a9c53b..73a2089c5 100644
--- a/configuration/packages/bt-plugins/controls/RecoveryNode.html
+++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html
index f219e79f2..8a91854f5 100644
--- a/configuration/packages/bt-plugins/controls/RoundRobin.html
+++ b/configuration/packages/bt-plugins/controls/RoundRobin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html
index 3d5cbc0bd..010c244ea 100644
--- a/configuration/packages/bt-plugins/decorators/DistanceController.html
+++ b/configuration/packages/bt-plugins/decorators/DistanceController.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
index 825b80d6c..1a2557046 100644
--- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html
+++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
index 4a4105fbe..ba981784f 100644
--- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
+++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html
index 549d5a132..dd189ce82 100644
--- a/configuration/packages/bt-plugins/decorators/RateController.html
+++ b/configuration/packages/bt-plugins/decorators/RateController.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
index 0ea97caf7..aee5a9a31 100644
--- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html
+++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
index 7a659b496..b1c96e126 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.html
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
index 1e738945d..1f7f28c00 100644
--- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
index 42b126d74..ceb1c136c 100644
--- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html
index dc9577cd9..a20ef3152 100644
--- a/configuration/packages/configuring-amcl.html
+++ b/configuration/packages/configuring-amcl.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index c992cfb68..5f485bcb6 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index ea31eeafd..9cd569c1e 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html
index 1a9c3fe12..e6c5ab27d 100644
--- a/configuration/packages/configuring-bt-xml.html
+++ b/configuration/packages/configuring-bt-xml.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html
index 8b15fc200..05c884f49 100644
--- a/configuration/packages/configuring-collision-monitor.html
+++ b/configuration/packages/configuring-collision-monitor.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html
index 20919406f..16f721927 100644
--- a/configuration/packages/configuring-constrained-smoother.html
+++ b/configuration/packages/configuring-constrained-smoother.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html
index a95cd997f..17ca73572 100644
--- a/configuration/packages/configuring-controller-server.html
+++ b/configuration/packages/configuring-controller-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html
index f20a22f7e..b8b830b70 100644
--- a/configuration/packages/configuring-costmaps.html
+++ b/configuration/packages/configuring-costmaps.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html
index a70d5dd7f..a8cb8a730 100644
--- a/configuration/packages/configuring-coverage-server.html
+++ b/configuration/packages/configuring-coverage-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html
index b0c68fd3b..8fd017da4 100644
--- a/configuration/packages/configuring-dwb-controller.html
+++ b/configuration/packages/configuring-dwb-controller.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html
index c4cb6d3c3..581d68879 100644
--- a/configuration/packages/configuring-graceful-motion-controller.html
+++ b/configuration/packages/configuring-graceful-motion-controller.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html
index 6c58fd4e0..ee9e2c964 100644
--- a/configuration/packages/configuring-lifecycle.html
+++ b/configuration/packages/configuring-lifecycle.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html
index 3dfd64506..78d804b20 100644
--- a/configuration/packages/configuring-map-server.html
+++ b/configuration/packages/configuring-map-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html
index 890fd2e08..85be4d276 100644
--- a/configuration/packages/configuring-mppic.html
+++ b/configuration/packages/configuring-mppic.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html
index b42d2e57a..fc3df7603 100644
--- a/configuration/packages/configuring-navfn.html
+++ b/configuration/packages/configuring-navfn.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html
index 26bb24e84..e14cae0cf 100644
--- a/configuration/packages/configuring-planner-server.html
+++ b/configuration/packages/configuring-planner-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html
index cc0379997..a16ceaf5b 100644
--- a/configuration/packages/configuring-regulated-pp.html
+++ b/configuration/packages/configuring-regulated-pp.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html
index 149ebb2b6..ebf081f71 100644
--- a/configuration/packages/configuring-rotation-shim-controller.html
+++ b/configuration/packages/configuring-rotation-shim-controller.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html
index 2e79dc498..faffceba7 100644
--- a/configuration/packages/configuring-savitzky-golay-smoother.html
+++ b/configuration/packages/configuring-savitzky-golay-smoother.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html
index 1a3780faf..a91f0cb65 100644
--- a/configuration/packages/configuring-simple-smoother.html
+++ b/configuration/packages/configuring-simple-smoother.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html
index 40f7f1bee..9edd1382d 100644
--- a/configuration/packages/configuring-smac-planner.html
+++ b/configuration/packages/configuring-smac-planner.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html
index 0c2a9de6f..96a17ea89 100644
--- a/configuration/packages/configuring-smoother-server.html
+++ b/configuration/packages/configuring-smoother-server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html
index ecc58cdae..749b5801e 100644
--- a/configuration/packages/configuring-thetastar.html
+++ b/configuration/packages/configuring-thetastar.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html
index e5093536d..73cf3d54a 100644
--- a/configuration/packages/configuring-velocity-smoother.html
+++ b/configuration/packages/configuring-velocity-smoother.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html
index 92e6ff49d..603d58556 100644
--- a/configuration/packages/configuring-waypoint-follower.html
+++ b/configuration/packages/configuring-waypoint-follower.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html
index bf94c76ac..200b92c3c 100644
--- a/configuration/packages/costmap-plugins/binary_filter.html
+++ b/configuration/packages/costmap-plugins/binary_filter.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html
index 32e8b34cb..d939ad43c 100644
--- a/configuration/packages/costmap-plugins/denoise.html
+++ b/configuration/packages/costmap-plugins/denoise.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html
index 0de136442..9a7cb923f 100644
--- a/configuration/packages/costmap-plugins/inflation.html
+++ b/configuration/packages/costmap-plugins/inflation.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html
index 2991d534a..30a2c52be 100644
--- a/configuration/packages/costmap-plugins/keepout_filter.html
+++ b/configuration/packages/costmap-plugins/keepout_filter.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html
index fd3998970..06a460292 100644
--- a/configuration/packages/costmap-plugins/obstacle.html
+++ b/configuration/packages/costmap-plugins/obstacle.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html
index 36f63fde1..82a6f3b40 100644
--- a/configuration/packages/costmap-plugins/range.html
+++ b/configuration/packages/costmap-plugins/range.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html
index 465f2abd6..87a2c7326 100644
--- a/configuration/packages/costmap-plugins/speed_filter.html
+++ b/configuration/packages/costmap-plugins/speed_filter.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html
index c7ec0680d..3b791ba35 100644
--- a/configuration/packages/costmap-plugins/static.html
+++ b/configuration/packages/costmap-plugins/static.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html
index c6cd8272b..52c546af7 100644
--- a/configuration/packages/costmap-plugins/voxel.html
+++ b/configuration/packages/costmap-plugins/voxel.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html
index 6a2d2160d..6c296de1b 100644
--- a/configuration/packages/dwb-params/controller.html
+++ b/configuration/packages/dwb-params/controller.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html
index 1a98fc4aa..95d5b321b 100644
--- a/configuration/packages/dwb-params/iterator.html
+++ b/configuration/packages/dwb-params/iterator.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html
index 910c16bfc..dccd27d90 100644
--- a/configuration/packages/dwb-params/kinematic.html
+++ b/configuration/packages/dwb-params/kinematic.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html
index 1631d667c..3bdd4ee24 100644
--- a/configuration/packages/dwb-params/visualization.html
+++ b/configuration/packages/dwb-params/visualization.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html
index 65205a547..208b7b61c 100644
--- a/configuration/packages/dwb-plugins/limited_accel_generator.html
+++ b/configuration/packages/dwb-plugins/limited_accel_generator.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html
index fbb273e48..7af20aa3c 100644
--- a/configuration/packages/dwb-plugins/standard_traj_generator.html
+++ b/configuration/packages/dwb-plugins/standard_traj_generator.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
index b9186128a..e5b3b01b1 100644
--- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
index a7c8ec7c5..cb92ab768 100644
--- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
index 6d1a91c1a..ac2cb32d9 100644
--- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
index 2f1181680..c6d0c5fe3 100644
--- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
@@ -963,6 +963,7 @@
 <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>
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 7e41f1fea..af0e951c4 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
@@ -963,6 +963,7 @@
 <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>
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 05096bc01..f0e2eda55 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
@@ -963,6 +963,7 @@
 <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>
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 075a1d170..d31910412 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html
index 3a036baee..453882ad3 100644
--- a/configuration/packages/smac/configuring-smac-2d.html
+++ b/configuration/packages/smac/configuring-smac-2d.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html
index 86aca3a6f..04c2348e3 100644
--- a/configuration/packages/smac/configuring-smac-hybrid.html
+++ b/configuration/packages/smac/configuring-smac-hybrid.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html
index a5a8fe8bc..1ffe9b575 100644
--- a/configuration/packages/smac/configuring-smac-lattice.html
+++ b/configuration/packages/smac/configuring-smac-lattice.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html
index c9913b1a6..6c694b031 100644
--- a/configuration/packages/trajectory_critics/base_obstacle.html
+++ b/configuration/packages/trajectory_critics/base_obstacle.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html
index 77ee1307b..60ace481b 100644
--- a/configuration/packages/trajectory_critics/goal_align.html
+++ b/configuration/packages/trajectory_critics/goal_align.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html
index c7e767679..01b1d9367 100644
--- a/configuration/packages/trajectory_critics/goal_dist.html
+++ b/configuration/packages/trajectory_critics/goal_dist.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html
index 737c135b8..0a179d2f8 100644
--- a/configuration/packages/trajectory_critics/obstacle_footprint.html
+++ b/configuration/packages/trajectory_critics/obstacle_footprint.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html
index 13513d690..1ad734762 100644
--- a/configuration/packages/trajectory_critics/oscillation.html
+++ b/configuration/packages/trajectory_critics/oscillation.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html
index b74e2b83e..08009de90 100644
--- a/configuration/packages/trajectory_critics/path_align.html
+++ b/configuration/packages/trajectory_critics/path_align.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/path_dist.html b/configuration/packages/trajectory_critics/path_dist.html
index e8d485a21..b362e9db6 100644
--- a/configuration/packages/trajectory_critics/path_dist.html
+++ b/configuration/packages/trajectory_critics/path_dist.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/prefer_forward.html b/configuration/packages/trajectory_critics/prefer_forward.html
index 01c716fe9..34023d794 100644
--- a/configuration/packages/trajectory_critics/prefer_forward.html
+++ b/configuration/packages/trajectory_critics/prefer_forward.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html
index 73f3da96e..9be10537d 100644
--- a/configuration/packages/trajectory_critics/rotate_to_goal.html
+++ b/configuration/packages/trajectory_critics/rotate_to_goal.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html
index e97aceb2d..1253b954d 100644
--- a/configuration/packages/trajectory_critics/twirling.html
+++ b/configuration/packages/trajectory_critics/twirling.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/build_docs/build_troubleshooting_guide.html b/development_guides/build_docs/build_troubleshooting_guide.html
index acf3378be..556f9120d 100644
--- a/development_guides/build_docs/build_troubleshooting_guide.html
+++ b/development_guides/build_docs/build_troubleshooting_guide.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/build_docs/index.html b/development_guides/build_docs/index.html
index c76a5b2a8..58912007e 100644
--- a/development_guides/build_docs/index.html
+++ b/development_guides/build_docs/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/devcontainer_docs/devcontainer_guide.html b/development_guides/devcontainer_docs/devcontainer_guide.html
index 7b88cd783..c746117d1 100644
--- a/development_guides/devcontainer_docs/devcontainer_guide.html
+++ b/development_guides/devcontainer_docs/devcontainer_guide.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/devcontainer_docs/index.html b/development_guides/devcontainer_docs/index.html
index a6b100888..e679ab13f 100644
--- a/development_guides/devcontainer_docs/index.html
+++ b/development_guides/devcontainer_docs/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/index.html b/development_guides/index.html
index 7396c06b3..15b5c3404 100644
--- a/development_guides/index.html
+++ b/development_guides/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html
index 3501c8fb4..28fb4875c 100644
--- a/development_guides/involvement_docs/index.html
+++ b/development_guides/involvement_docs/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/genindex.html b/genindex.html
index ff718d440..ff5d9b9c6 100644
--- a/genindex.html
+++ b/genindex.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>
diff --git a/getting_started/index.html b/getting_started/index.html
index fb5ebcab8..2e19ef955 100644
--- a/getting_started/index.html
+++ b/getting_started/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/index.html b/index.html
index 4ef36394e..2e641cb9b 100644
--- a/index.html
+++ b/index.html
@@ -962,6 +962,7 @@
 <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>
diff --git a/migration/Dashing.html b/migration/Dashing.html
index d17a7db7a..8126a55d1 100644
--- a/migration/Dashing.html
+++ b/migration/Dashing.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/migration/Eloquent.html b/migration/Eloquent.html
index 513ae9057..60fb59da3 100644
--- a/migration/Eloquent.html
+++ b/migration/Eloquent.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/migration/Foxy.html b/migration/Foxy.html
index edccc46ae..ade746fda 100644
--- a/migration/Foxy.html
+++ b/migration/Foxy.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/migration/Galactic.html b/migration/Galactic.html
index 8293eab6d..dd930a903 100644
--- a/migration/Galactic.html
+++ b/migration/Galactic.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/migration/Humble.html b/migration/Humble.html
index f9bafd41d..f231ffd3d 100644
--- a/migration/Humble.html
+++ b/migration/Humble.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/migration/Iron.html b/migration/Iron.html
index a1688d9ee..e19639d9d 100644
--- a/migration/Iron.html
+++ b/migration/Iron.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="#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="#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#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>
@@ -1197,6 +1198,20 @@ <h2>New Graceful Motion Controller<a class="headerlink" href="#new-graceful-moti
 <p><a class="reference external" href="https://github.com/ros-planning/navigation2/pull/4021">PR #4021</a> introduces a new type of controller for differential robots based on a pose-following kinematic control law that generates a smooth and confortable trajectory.</p>
 <p>See <a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#configuring-graceful-motion-controller"><span class="std std-ref">Graceful Controller</span></a> for more information.</p>
 </div>
+<div class="section" id="new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers">
+<h2>New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers<a class="headerlink" href="#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers" title="Permalink to this headline">¶</a></h2>
+<p><a class="reference external" href="https://github.com/ros-planning/navigation2/pull/4091">In PR #4091</a> a new RViz plugin was added to select the planner, controller, goal checker, progress checker, and smoother on the fly.</p>
+<p>The primary goal of this plugin is to facilitate the developers and easy integration testing of their configuration before deploying the robot in the intended application.</p>
+<p>In order to facilitate the dynamic selection of the specified components, the BT selector nodes for all these components were utilized and were updated to all the relevant BT nodes.</p>
+<p>Here we can see the working demo of the plugin:</p>
+<img alt="../_images/selector_plugin_demo.gif" src="../_images/selector_plugin_demo.gif" />
+<p>In the GIF, it can be seen that there are two controller_ids namely, <cite>FollowPath</cite> and <cite>HighSpeedFollowPath</cite>. By default, the one defined in the Behavior tree is utilized.</p>
+<p>In this case, the <cite>FollowPath</cite> is the default controller_id. The difference between the two controller_ids is that HighSpeedFollowPath has a higher max velocity compared to the FollowPath. This difference can be well noted in the GIF.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>If a server is unavailable, then the combo box or the drop down list of the particular component will be empty.</p>
+</div>
+</div>
 </div>
 
 
diff --git a/migration/index.html b/migration/index.html
index 560d6c517..ade5c788a 100644
--- a/migration/index.html
+++ b/migration/index.html
@@ -963,6 +963,7 @@
 <li class="toctree-l3"><a class="reference internal" href="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="Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="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>
diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html
index ae31f4afb..3fed48084 100644
--- a/plugin_tutorials/docs/writing_new_behavior_plugin.html
+++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html
index 6b2d0449d..71e562e1c 100644
--- a/plugin_tutorials/docs/writing_new_bt_plugin.html
+++ b/plugin_tutorials/docs/writing_new_bt_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
index 27be34941..2217320d2 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
+++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
index b8dd92092..0c8d5343b 100644
--- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
index 0f1de616d..d8e18db33 100644
--- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html
index a9762eb81..2ea3d712a 100644
--- a/plugin_tutorials/docs/writing_new_navigator_plugin.html
+++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html
index 529c23eee..939778f4d 100644
--- a/plugin_tutorials/index.html
+++ b/plugin_tutorials/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/plugins/index.html b/plugins/index.html
index 539b1cc71..383dc1333 100644
--- a/plugins/index.html
+++ b/plugins/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html
index 8487c76fc..7c3be3259 100644
--- a/roadmap/roadmap.html
+++ b/roadmap/roadmap.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/search.html b/search.html
index eda94a8cf..24d3f9423 100644
--- a/search.html
+++ b/search.html
@@ -964,6 +964,7 @@
 <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>
diff --git a/searchindex.js b/searchindex.js
index e440b7e5e..abd202b07 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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,167,174,175,176,177,178,182,183,184,185,187,188,191,194],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,100,109,117,136,148,155,157,162,165,166,167,171,174,175,176,177,178,179,182,183,184,188,189,190,191,192,194,195],abrupt:27,abs:165,absolut:[48,49,99,118,156,160,165,174,177,183,185,188,189,191],absurdli:100,academ:6,acc_lim_i:[96,123],acc_lim_theta:[96,123],acc_lim_x:[96,123],accel:174,acceler:[88,103,104,110,123,158,174,178,195],accelwithcovariancestamp:174,accept:[6,26,63,87,109,135,136,152,160,167,171,172,185,186],acceptpendinggo:167,access:[0,27,86,93,110,149,150,157,158,163,175,177,183,194],accommod:149,accompani:92,accomplish:[8,162,169,174,177,183],accord:[27,99,174,175,188,189,191],accordingli:[9,86,188,189,191],account:[27,85,86,157,158,162,171,178,182],account_sid:162,accross:160,accumul:100,accur:[6,27,85,86,157,174,178,185,188],accuraci:[25,86,155,185,188],achiev:[11,92,100,103,107,110,111,157,158,159,160,177,178,185,188],acircl:181,ackerman:171,ackermann:[107,154,157,169,171,178],ackermannconstraint:100,acknowledg:89,acquir:27,across:[17,27,100,106,114,135,136,149,159,167,170,175,176,178,188,194],act:[9,14,27,134,156,157,173,175,177,189,193,195],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,100,102,108,111,153,154,155,159,162,163,167,169,171,172,174,175,176,177,178,179,180,186,187,188,189,191,193,194],action_a:19,action_b:19,action_c:19,action_nam:163,action_server_result_timeout:[88,89,93,95,102,108,111,160],action_typ:[85,86,160,193],actionnod:19,actionnodebas:163,actiont:167,activ:[12,26,27,60,73,74,75,86,88,89,93,95,98,102,108,111,147,152,153,156,157,158,159,162,165,166,167,174,175,178,179,188],actual:[18,54,86,92,100,104,135,158,167,172,176,177,178,181,185,187,188,193,195],actuat:149,adapt:[6,27,87,103,157,169,175,176,177],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,100,110,115,116,120,135,149,152,156,157,158,159,162,167,172,174,175,176,177,178,179,180,183,184,185,188,190,192,193,194],add_act:[189,191],add_compile_opt:[183,184],added:[10,13,21,23,24,89,100,149,152,155,156,157,158,159,162,164,165,166,167,171,172,175,176,177,178,179,184,188,192,193,195],addin:188,adding:[1,9,41,87,135,136,149,158,159,174,175,177,179,182,185,188,189,191,193],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,135,148,149,157,158,159,163,167,171,174,175,177,178,183,184,185,188,193],addition:[0,11,27,86,149,150,155,156,157,160,167,188,193],address:[31,32,33,34,35,36,37,41,42,43,46,155,156,157,158,159,160,162],adequ:178,adher:176,adjac:[109,113,182],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,100,102,108,110,111,135,154,159,160,172,177,185,191,193],admiss:[135,136,158],admittedli:11,advanc:[0,27,135,170,178],advantag:[12,27,159,195],advic:[171,178],advis:[21,23,24,27,174],affect:[85,91,157,158,160,177],aforement:100,after:[2,10,20,21,23,24,26,27,86,87,89,100,104,105,110,119,121,128,130,133,134,135,136,152,153,157,158,160,164,165,166,167,172,174,175,177,178,179,181,182,183,184,186,188,189,191,192,193,194,195],afterward:174,again:[18,19,20,22,77,147,149,153,155,170,174,177],against:[60,73,74,75,136,159,160,178,193],agent:[86,178],aggreg:179,aggregation_typ:[138,139,142,143],aggress:[86,135],agre:152,agreement:152,ahead:[88,100,103,125,126,138,142],aid:[2,22],aim:[1,7,9,10,13,110,173,177,178,184],air:188,aisl:[27,134,158,171,178],aislewai:[135,158],aitor:169,alarm:[85,160],alberto:169,aleksei:169,alexei:[14,154,169],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,100,103,105,106,107,134,152,154,155,157,158,159,160,164,165,169,172,175,177,178,180,182,184,185],alias:27,align:[97,121,138,142,143,160,188],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,98,100,103,105,107,109,110,113,117,135,140,148,149,150,152,154,155,156,157,158,160,162,165,166,167,169,171,174,175,176,177,178,179,180,181,183,184,185,188,189,191,192,194,195],allevi:178,alloc:[27,179,183,192],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,97,100,101,103,109,118,134,135,136,137,140,145,149,150,152,154,156,157,158,162,164,165,166,171,174,175,176,177,178,179,181,182,183,185,186,188,189,191,193],allow_backward:97,allow_primitive_interpol:[135,160],allow_revers:103,allow_reverse_expans:136,allow_unknown:[101,109,134,135,136,157,166],almost:[156,158],alon:185,along:[14,26,27,58,68,84,97,100,103,104,112,115,118,135,136,140,156,157,158,159,169,171,175,177,179,180,183,185,188,189,191],alongsid:[160,167,178],alot:[100,185],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[177,189],alreadi:[4,7,100,156,157,158,162,172,174,177,178,183,185,188],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,98,99,100,102,103,105,107,108,110,111,114,135,136,148,149,150,152,153,154,155,156,157,158,159,160,162,163,164,165,166,167,171,172,174,175,176,177,178,179,180,181,182,183,184,185,188,189,190,191,192,193,195],alter:149,altern:[3,22,27,58,149,150,157,160,172,174,183],although:150,altitud:188,altogeth:1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,84,158,169,174,175,176,177,188],child_frame_id:174,children:[18,19,22,76,77,78,81,169,184],chip:178,choic:[10,26,27,178,179,185,190],choos:[109,149,150,153,167,172,176,178,182,183,188,191],chosen:[26,27,149,159,191],christoph:169,chronicl:149,chug:183,cilqr:3,circl:[19,27,85,86,178,181,193],circular:[27,94,100,107,114,154,160,171,172,177,178],cite:[103,154],citizen:192,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:152,class_list_macro:[162,164,165,166,167],classic:178,classification2d:175,classification3d:175,clavero:154,clean:[27,95,100,149,156,158,160,162,165,166,167,178],cleaner:177,cleaningup:179,cleanli:[27,98,167,178,184],cleanup:[162,165,166,167,179],clear:[18,19,21,22,23,24,26,27,38,39,40,94,116,117,120,152,157,158,159,166,169,175,178,181,185,192],clear_after_read:192,clear_around_:157,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,163],clear_entirely_local_costmap:[18,21,22,23,24,40,90,163],clear_except_:157,clear_except_local_costmap:39,clear_on_max_read:[117,175],clear_threshold:117,clearallcostmap:26,cleararoundrobot:158,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,157,163],clearer:175,clearexceptregion:158,clearglobalcostmap:[18,21,22,23,24,26,90,163],clearing_endpoint:157,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,163],clever:183,cli:[27,99,149,150,156,157,184,190],click:[16,150,153,164,165,166,167,172,175,181,187,188,194],clicked_point:186,clicked_point_to_pos:186,client:[19,27,95,155,157,158,162,163,167,180],client_nod:158,client_node_:158,clinet_node_:158,clip:[175,189],clock:[189,191],clock_:[165,167],clockwis:193,clone:[148,181,186,188,189,190,191,192],cloned_tb3_simulation_launch:160,close:[22,27,53,81,85,86,94,100,103,110,136,139,145,149,157,158,160,165,172,178,188,193],closed_loop:110,closer:[57,100,135,159,160],closest:[58,97,103,121],closur:185,cloud:[7,27,149,150,153,156],cluster:178,cmake:[162,164,165,166,167,181,184],cmake_build_typ:184,cmakelist:[162,164,165,166,167,174,175,177,183,184],cmd:[174,175],cmd_vel:[13,85,86,160,165,174,184,193],cmd_vel_in_top:[86,193],cmd_vel_nav:[184,193],cmd_vel_out_top:[86,193],cmd_vel_raw:86,cmd_vel_smooth:[86,193],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,134,149,150,152,155,156,158,162,163,164,165,166,167,169,172,174,175,177,180,182,183,188,192,195],codebas:[86,93,110,152,160],codecov:12,codespac:[149,150],codifi:149,coeffici:[118,181,189,191],coffe:[150,194],colcon:[148,149,164,172,174,175,177,183,184,189,191],collabor:[4,14,152],collect:[26,173,175,178,184,185],collid:[4,9,172],collis:[1,7,9,27,28,29,54,88,92,94,100,103,104,108,114,115,117,145,154,155,157,158,162,169,170,171,172,174,175,177,178,195,196],collision_cost:100,collision_detector:85,collision_detector_st:[85,160],collision_margin_dist:100,collision_monitor:[86,193],collision_monitor_nod:193,collision_monitor_param:193,collision_monitor_st:86,collisionmonitor:159,color:[8,92,132,175,177,178,182,189,191,192],color_dark:189,color_light:189,column:[120,175],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],combin:[27,94,135,138,139,142,143,157,190],combination_method:[94,116,120,160,192],come:[8,13,14,27,95,100,103,130,135,152,158,159,162,165,166,167,174,176,177],command:[1,9,22,29,44,47,50,51,55,80,86,103,104,110,148,149,150,154,156,162,164,165,166,167,169,171,174,175,176,177,183,185,186,187,189,190,191,195],commandlin:[99,183,184],comment:[149,152,158,164,166,183,192],commerci:[27,152,188],commit:[149,152,170,181],common:[18,26,27,86,100,149,150,154,157,158,167,174,185,188,193],commonli:[19,44,47,50,51,55,167,175,185,188],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,149,152,154,162,167,176,178,179,181],compani:[152,154,178],companion:194,compar:[27,60,73,74,75,86,89,92,107,159],comparison:154,compat:174,compens:188,compet:152,compil:[149,150,162,165,166,167,180,183,184],complement:[5,156,188],complementari:179,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,97,100,103,104,128,130,135,136,145,149,152,153,154,155,156,157,158,159,160,162,163,167,169,170,171,172,174,175,177,179,180,181,184,185,187,188,190,192,194,195],complex:[27,89,100,135,154,159,175,176,177,183,194],complexyolo:4,compli:[2,171,174,188],complianc:110,compliant:176,complic:154,complimentari:167,compon:[6,41,76,77,78,79,80,81,82,83,84,100,109,110,144,157,158,173,177,179,185,189,191],component_contain:179,component_container_isol:158,componentcontain:183,compos:[11,158,164,178,179,183,184],composable_node_descript:179,composablenod:[179,193],composablenodecontain:179,composit:[170,183,184,189,191],composition_demo:179,comprehens:149,compris:[13,154,177],comput:[7,17,18,19,20,21,27,41,42,43,95,100,102,103,107,109,134,135,136,138,142,154,158,159,162,163,165,166,169,171,172,174,175,176,178,180,184,185,187],computation:[27,120,158],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[42,43,89,180],compute_path_error_code_id:179,compute_path_through_pos:[159,179],compute_path_to_pos:[159,179],compute_path_to_pose_error_cod:74,computeandpublishveloc:157,computeandsmoothpath:180,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepaththroughposesrecoveryfallback:21,computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,163,167,180,186],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,23,90],computevelocitycommand:[93,165],concaten:157,concept:[7,18,19,154,157,171,175,176,179,189,191,194],conceptu:176,concern:[150,152,158],conclus:22,concret:176,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,106,149,158,159,163,169,174,177,185,188,194,195],conditionnod:163,conduct:154,conf:[86,93,110,160,163],confer:154,config:[149,150,172,174,175,177,183,188,190],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,98,99,100,107,112,115,118,148,149,150,154,155,156,158,159,160,162,163,165,166,167,169,173,177,178,179,180,182,183,185,186,187,188,190,192,194],configured_param:[179,189,191,193],confin:[100,135,149,160,172],confirm:[172,175,181,188],conflict:156,conform:154,confort:160,confus:19,conjunct:[26,100],connect:[14,19,27,95,98,101,109,113,134,149,150,156,157,158,169,171,174,175,176,177,182,188,194],connector:[41,185],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,100,130,135,136,145,152,156,157,159,160,162,163,165,166,167,169,171,178,179,185,188,189,193],consider:[4,100,178],consider_footprint:100,consist:[8,17,100,150,152,157,158,169,174,175,176,178,179,188,194],consol:193,constant:[19,95,97,103,165,177,178],constantli:[156,158],constrain:[28,106,157,169,178],constrainedsmooth:[92,158],constraint:[21,104,110,136,157,158,160,167,169,171,178,195],constraintcrit:100,construct:[27,152,158],constructor:[26,27,158,160,163],constsharedptr:167,consult:14,consum:[9,158],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,152,154,178,179],contain:[9,11,17,21,23,24,27,46,49,91,100,107,110,116,120,135,136,151,155,156,157,158,159,160,162,164,165,166,167,169,174,175,177,178,179,180,181,183,185,189,191,193,195],container:149,containeris:149,content:[150,172,173,175,177],context:[11,13,18,19,21,22,23,24,90,148,163,169,194],contextu:[17,18,21,23,24,154,159],continu:[1,12,18,19,20,21,22,23,24,27,95,100,111,133,135,136,150,152,153,154,155,156,157,158,159,167,174,177,178,185,188,190,193],contractor:14,contrast:[158,188],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,135,152,160,175,178,179],contributor:[14,152],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,103,107,110,118,120,122,123,124,125,126,127,128,129,130,136,137,138,139,140,141,142,143,144,145,146,154,155,156,162,163,164,167,168,170,172,173,174,177,179,180,183,184,185,186,187,190,191,192,193,194,196],controlcancel:22,controller_frequ:[93,96,97,100,103,104,195],controller_id:[18,20,21,22,23,24,26,44,46,90,157,163,186],controller_pati:157,controller_plugin:[93,96,97,103,104,156,165,171,195],controller_plugin_id:[121,122,123,124,125,126,137,138,139,140,141,144,145,146],controller_selector:44,controller_serv:[22,93,96,97,98,100,103,104,156,157,158,160,165,171,179,184,191,195],controllerselector:[21,23,24,90,157],controllerserv:158,controlnod:163,conveni:[150,160,185,191],convent:[21,23,24,27,175,176,179,188],converg:[87,92,97,100,188],convers:[26,99,152,189,191],convert:[0,27,95,100,111,118,135,136,154,155,157,166,176,188,189,191],convert_typ:[189,191],convex:100,cooper:2,coordin:[5,26,27,41,87,94,95,111,158,174,176,177,185,186,188],coordinates_in_cartesian_fram:95,cope:188,copi:[158,172,174,175,177,180,183,189,191,192],copyright:152,core:[7,17,27,159,179,180],corner:[103,153,157,181,189,194],corpor:14,correct:[27,85,86,147,149,152,158,174,175,177,187,189,191,193],correctli:[19,27,153,157,158,172,174,175,176,188,189,191,193],correl:149,correspond:[27,41,81,85,86,89,100,101,109,112,113,114,115,116,117,118,119,120,134,135,136,157,158,162,163,164,175,176,182,188,191],correspont:189,corridor:[100,171,178],cost:[9,18,26,27,85,86,88,92,94,103,107,109,114,115,124,134,135,136,149,154,157,158,164,169,175,178,182],cost_check_point:92,cost_cloud:157,cost_penalti:[135,136],cost_pow:100,cost_scaling_factor:[94,100,109,114,164,175],cost_travel_multipli:134,cost_weight:100,costamp2d:189,costcrit:[100,160],costli:27,costmap2d:[1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0,191],doe:[4,9,19,21,22,23,24,85,86,91,100,115,117,135,136,148,149,157,158,159,160,162,165,166,167,172,174,178,179,180,188,189,191,194],doesn:[76,134,157,158,162,178,185,189],dog:185,doing:[26,111,115,152,167,183,188],doisi:169,domin:[116,120,160],don:[135,136,140,153,157,176,178,180,183,185,186,187,188,189,190],done:[13,18,19,27,86,149,155,156,157,164,165,166,167,170,171,175,183,184,185,194],dont:177,door:17,dot:[160,188],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,106,108,109,110,111,112,114,115,116,117,118,119,120,121,123,124,125,126,127,128,129,130,131,134,135,136,137,138,139,140,141,142,143,144,145,146,157,160,165,166],doubt:100,down:[26,27,97,98,100,103,109,118,120,153,154,156,158,159,178,179,183,188,191,193],download:[5,149,181],downsampl:[92,100,134,135,136,158,160],downsample_costmap:[134,135],downsample_factor:[134,135],downsample_obstacle_heurist:[135,160],downsampling_factor:[134,135],downstream:157,doxygen:151,dozen:27,drag:[153,194],dramat:[135,136,156],draw:[188,189,191],drawn:189,drift:[27,174],drivabl:[104,171,178,195],drive:[1,25,26,35,45,92,100,103,107,135,136,154,157,165,169,171,172,174,175,177,178,188,189],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,178],driveonhead:[25,26,90,159],driver:[1,13,16,147,149,174,175,181,185],drivetrain:169,drivewhl_l:177,drivewhl_l_joint:174,drivewhl_r:177,drivewhl_r_joint:174,drop:[9,97,156,185,194],dropdown:2,dual:[150,188],dual_ekf_navsat:188,dub:158,dubin:[95,135,136,157,158,169,171],dubiou:158,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,100,110,113,135,136,152,156,157,158,159,167,172,174,175,178,182,185,194,195],dumb:27,dummi:164,dump:171,duplic:[27,167],durabl:177,durat:[54,71,84,88,89,93,98,100,141,152,158,163,165,179,186],dure:[6,22,85,86,92,98,100,135,136,149,156,157,158,159,160,163,164,172,177,178,184,187,190,194],dwa:[3,169,171],dwb:[1,3,9,21,23,24,27,28,122,123,124,125,126,137,138,139,140,141,142,143,144,145,146,155,156,169,171,178,195],dwb_core:[93,96,156,157,171,195],dwb_critic:[96,121],dwb_local_plann:156,dwb_plugin:[96,121],dwblocalplann:[93,96,156,171,195],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,96,100,135,136,154,155,156,157,162,163,164,165,166,167,170,171,175,177,178,191,192,193,194,196],dynamicfollowpath:156,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,100,102,108,110,133,150,152,154,155,157,158,159,160,162,163,164,165,166,171,174,175,176,177,178,179,180,182,183,188,189,191,193,194],earli:[5,11,16],earlier:[87,135,136,150,153,158,162,176],earth:188,earth_wgs84:188,easi:[10,11,14,18,27,41,149,150,152,154,173,175,185,190],easier:[152,171,175,176,177,178,183,195],easili:[13,18,27,89,149,156,157,158,160,178,184,193],east:188,echo:188,ecosystem:[0,27,107,158,178],edg:[4,95,100,160,176,189],edit:[8,157,169,174,175,180],editor:[189,191,194],educ:14,effect:[2,4,86,92,117,134,149,156,158,174,178,189],effici:[22,27,107,175,178,179],effort:[8,14,27,95,110,152,154,157,171,175,178,192],efk:174,eight:[182,188],eitan:169,either:[1,18,19,26,27,86,87,99,100,117,119,149,150,159,160,169,171,174,175,178,184,191,194],ekf:[174,185,188],ekf_filter_nod:174,ekf_filter_node_map:188,ekf_filter_node_odom:188,ekf_localization_nod:174,ekf_nod:174,elaps:157,elast:[3,155,171,195],electr:188,electromagnet:188,element:[8,155,162,174,177],elev:[17,27,86,93,110,150,152,160,188],elif:[26,158],elimin:177,ellipsoid:188,elong:92,eloqu:[27,161],els:[26,85,94,157,158,160,164,165,167,174,193],elsewher:184,email:[0,14,27,152],emb:176,embed:[6,27,158,178,179],emerg:[6,9,86,91],emit:175,emphas:188,emploi:86,empti:[42,43,100,116,119,120,131,156,157,158,165,167,182],emul:149,emulate_tti:[189,191],enabl:[10,13,22,53,85,86,87,94,97,100,103,111,112,113,114,115,116,117,118,119,120,131,132,133,135,136,149,150,157,158,159,162,165,166,167,169,174,175,177,178,179,185,190,192,193,194],enable_stamped_cmd_vel:[86,88,93,110,160,193],enabled_:164,enact:[9,81,154,195],encod:[27,112,118,174,176,185,188,189,191],encompass:178,encount:[16,171,175,183,184],encourag:[0,14,22,100,152,177,179,183],end:[6,11,20,27,85,86,100,101,105,134,136,158,160,162,164,165,166,167,169,177,178,179,182,183,188,193],endpoint:[135,136],energi:[100,175],enforc:[92,110,115,157,181],enforce_path_invers:[100,160],engag:152,engin:[6,148,150,155,184,185],enhanc:152,enough:[18,159,172,178,181,188],enrich:150,ensur:[4,9,11,13,20,21,23,24,27,86,93,98,100,103,110,149,150,152,155,157,158,159,160,171,172,176,177,178,179,184,192],enter:[21,23,24,27,100,162,165,166,167,189],entir:[12,18,19,21,23,24,86,148,149,152,169,171,178,185,193],entiti:174,entri:[14,174,180,183,184,193],entryfil:178,entrypoint:148,enu:188,enumer:[29,30,41,42,43,45,46,54,56,194],env:149,environ:[4,5,9,10,12,27,97,107,147,148,149,150,152,153,154,171,172,174,175,176,178,185,187,188,189,193],environemnt:175,environment:[94,120,154],envok:[29,30,45,56],envrion:192,ephemer:149,eppstein:169,eqal:92,equal:[27,85,86,97,112,164,181,182,189,191],equat:109,equip:[175,185,188,194],eros:182,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,97,100,113,147,148,156,157,158,169,172,175,180,182,185,187,188,192],error_cod:[60,73,74,75,179,180],error_code_id:[29,30,41,42,43,45,46,48,49,54,56,180],error_code_id_nam:[159,179],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,135,136,150,155,158,176,180,185,187,188,190,192,195],essenc:176,essenti:[6,135,136,158,175,178],establish:179,estim:[15,86,87,105,110,153,155,157,164,165,166,167,174,175,176,187,188],estimated_time_remain:[157,167],etc:[4,10,13,17,26,27,85,86,89,93,94,95,110,112,149,150,152,157,159,160,162,167,171,173,174,176,178,185,188,190,194],eth:5,euclidean:[157,178],europ:188,evalu:[121,124,136,171,185],evalul:7,even:[19,20,21,23,99,100,103,110,114,135,150,154,156,157,158,169,171,172,173,174,178,183,185,189],evenli:87,event:[1,13,152,158],eventu:[159,175,177],ever:[100,157],everi:[17,19,21,23,24,58,83,92,94,97,100,103,116,120,135,152,157,158,160,163,164],everyon:[150,152],everyth:[153,158,164,174,188],everywher:[100,155],exact:[100,105,134,135,136,149,159,171,172,178,186,189],exactli:[134,153,178,191],exampl:[1,7,15,16,17,18,19,22,27,107,148,149,150,156,157,158,160,162,163,164,165,166,167,172,173,174,175,176,177,178,179,180,181,182,183,184,185,189,191,192,193,194,195],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,102,108,111,118,157],exceed:[18,94,159],excel:[1,7,9,188,195],except:[26,27,39,85,93,135,136,152,157,159,166,169,174,183,185,191],exception:[167,174,184],excess:11,exchang:[100,135],exclud:159,exclus:22,exe:183,exec:149,exec_depend:[174,177,179],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,104,110,111,149,150,152,156,157,158,160,163,164,167,169,171,172,174,175,176,177,179,182,183,184,189,191,194],executeprocess:[174,175],executor:[11,26,27,111,157,159],exemplari:17,exhaust:170,exhibit:22,exist:[4,8,11,12,27,41,85,86,99,100,113,134,147,149,152,156,157,158,160,165,167,178,184,185,186,188,194],exit:[21,23,27,98,156,158,183,184],expand:[101,135,136,137,149,158,171,177],expans:[8,101,109,135,136,157,158,159,160,169],expect:[5,11,26,87,100,102,116,120,152,154,156,157,160,167,174,179,180,188],expected_planner_frequ:[102,109],expected_update_r:[116,120,192],expend:178,expens:[27,120,158,159,174],experi:[1,2,3,4,5,6,7,9,10,12,25,148,149,150,154,158,177,183,185,187],experienc:173,expert:[4,14],expir:[22,70,169,192],explain:[11,18,19,22,150,152,172,183,184,190,195],explan:[18,91,107],explicitli:[4,26,150,189],explor:[135,175,176],exponenti:[87,97,100,114,169,175,178],expos:[19,27,108,157,159,188],exposur:7,express:[27,118,160,165,188,189,191],extend:[164,174,188],extens:[22,27,100,149,150,159,160,185],extent:[97,103],extern:[4,21,23,24,26,85,93,98,131,148,149,155,156,159,160,179,185,196],extra:[92,135,136,158,189],extract:[158,167,169],extrem:[2,18,85,97,115,157,175],face:188,facilit:[150,158],factor:[81,92,97,100,114,134,135,145,175,178],factori:163,fail:[18,19,21,23,24,26,27,93,98,111,134,135,136,155,157,158,159,162,167,169,183],failed_to_make_progress:[73,159],failed_to_smooth_path:[75,159],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,100,154,155,157,158,163,169,179,183,186],failure_toler:93,fair:8,fairli:183,faith:152,fake:27,fall:86,fallback:[21,23,24,86,193],fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,97,98,100,101,103,109,110,111,112,114,116,117,118,119,120,121,124,126,134,135,136,137,140,153,157,158,159,160,162,164,166,167,174,175,178,182,183,185,187,188,189,192,193,194],familiar:[18,27,177],fanci:149,far:[85,86,95,100,135,136,153,158,160,175,178,186,195],farm:192,fashion:19,fast:[85,86,87,97,105,106,135,136,158,182,185],faster:[97,158,178],fault:[12,26,27],favor:158,favourit:[189,191],feasibl:[27,100,104,106,107,115,135,154,157,158,160,169,171,178,195],featur:[1,4,6,8,9,14,27,87,93,95,103,106,110,135,149,152,153,157,158,169,170,177,178,188,189],feaur:189,feed:179,feedback:[14,26,27,89,97,110,152,158,167],feedback_msg:167,feel:[6,147,150,177,178],ferguson:[14,154],fetch:[165,166],fetullah:169,few:[4,11,14,19,26,81,92,95,148,149,160,171,175,178,183],field:[4,26,41,63,85,86,87,93,95,118,134,156,157,158,159,160,162,164,166,167,174,175,177,179,181,183,185,188,189,191,192],field_filepath:41,fields2cov:[41,95,160],figur:[188,194],file:[1,2,17,27,41,86,88,89,98,99,109,132,136,147,149,150,152,153,154,156,157,158,163,164,169,172,176,177,178,179,180,181,185,186,187,188,189,190,191,192,193,194],file_field:41,file_field_id:41,filenam:[174,175,188],filepath:[41,136,167,178],filesystem:[150,183],fill:[4,152,156,163,181,189,191,194],filter:[6,13,29,87,93,105,174,178,185,188,192,193,196],filter_dur:84,filter_info_top:[99,112,115,118,189,191],filter_mask:99,filter_mask_data:191,filter_mask_serv:[189,191],filter_space_valu:99,final_bt_statu:167,final_rot:97,find:[14,27,58,88,89,93,95,97,100,102,103,108,110,111,135,136,149,150,152,153,156,157,159,160,165,167,171,177,178,180,182,183,184,186,187],find_if:165,find_packag:183,findchessboardcorn:181,finder:[157,175],findpackageshar:177,fine:[100,153,178,191],finish:[156,160,184,188],finit:[27,100,135,185,194],first:[19,27,41,76,77,85,86,100,114,119,148,149,152,154,158,159,160,165,169,170,172,174,175,176,177,178,179,180,182,183,185,186,187,188,189,190,191,192,193,194],first_map_onli:87,first_map_only_:87,firstli:22,fit:[100,178,188,193],fix:[103,117,152,156,159,160,170,172,174,175,176,177,181,185,188],flag:[9,149,174,177,181,183,184],flagship:14,flat:185,fleet:27,flexibl:[14,89,100,162],flip:[112,157,159,171,177],flip_threshold:112,flood:18,flow:[1,18,19,21,23,24,77,78,152,163,194],fluidli:100,fly:[157,183,194],fn_tol:92,focal:181,focallength:175,focu:[12,18,26,177,193,194],focus:[109,182,185],focuscamera:177,folder:[19,149,150,175,181,188],folk:[152,158,183],folllow:174,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,97,99,102,103,110,118,131,132,133,135,136,148,150,152,153,154,155,156,157,158,159,162,164,165,166,167,169,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,189,190,191,192,193,195,196],follow_gps_waypoint:[27,160,188],follow_path_error_cod:[46,73,89],follow_path_error_code_id:179,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,96,97,100,103,104,156,159,160,163,165,167,171,186,195],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,21,23,90],followwaypoint:[26,159],fonction:158,fondli:14,fool:178,footprint:[2,85,86,88,94,100,108,115,116,120,135,136,140,158,159,160,164,171,173,177,193],footprint_clearing_en:[94,116,120],footprint_pad:94,footprint_top:[86,105,106,108,162,180],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,100,160,185],forcefulli:149,forese:156,forget:187,forgot:152,fork:[27,96],forklift:22,form:[5,41,86,109,164,175,176],formal:[27,154,182],format:[10,41,85,86,92,100,132,136,149,157,174,175,177,188,189,191,194],former:[14,85,86],formerli:[93,159,169],formul:160,formula:191,fortun:174,forward:[0,9,18,27,58,92,99,103,104,121,126,136,141,144,145,149,153,160,163,176,178,188,193,195],forward_point_dist:[96,138,142],forward_prune_dist:[121,159],forward_sampling_dist:[104,195],found:[3,8,19,22,26,27,72,86,91,100,104,107,121,134,135,136,149,150,154,155,157,158,159,160,162,163,164,165,166,167,169,170,171,172,174,175,177,179,184,187,188,189,190,191,192],foundat:167,four:[18,27],foxi:[11,27,161,166],fraction:158,fragment:182,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,99,108,111,112,115,116,118,120,124,147,155,165,166,172,174,175,176,177,181,185,188,193],frame_id:[26,63,99,116,120,160,165,166,174,189,190,191],frame_nam:175,framework:[0,2,8,14,27,107,134,154,159,174,178,179],francisco:[154,169,185],free:[10,27,94,99,100,117,134,147,150,155,169,174,175,177,178,182,185,187,188,189],free_spac:182,free_thresh:[189,191],free_thresh_default:99,freeli:177,freespac:[21,23,24,178],frequenc:[18,19,85,88,93,94,100,102,110,135,136,174,185,188],frequent:[136,178,188],fresh:149,friction:2,friendli:[100,177],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,97,99,100,103,104,105,109,110,111,116,118,119,120,134,135,136,138,141,142,146,147,148,149,150,151,152,153,154,155,156,157,158,162,163,164,165,166,167,169,170,171,172,174,175,176,177,178,179,180,181,182,185,186,187,188,189,190,191,192,193,194,195],from_imag:148,from_msg:158,from_numb:162,from_second:165,front:[85,86,135,138,142,165,177,178,193],front_cast:177,frustrat:158,fsm:27,full:[5,7,12,19,27,87,94,100,115,121,135,147,152,156,157,158,170,171,172,173,174,176,177,178,182,185,186,188,189,191,193,194,195],fulli:[27,87,114,135,136,152,153,157,158,171,178,180,185,188,192],fun:[0,16],fundament:[167,183],further:[11,19,22,100,106,135,136,149,152,158,160,176,183,185],furthest:[100,135],fuse:[27,154,170,174,188],fusion:[15,27,174,176,185,188],futur:[1,4,8,11,21,27,85,86,87,112,115,118,156,158,160,186],gain:[8,100,103],galact:[87,89,93,161,162,164,166,175,192,194],game:[27,185],gamma:100,gap:177,gate:185,gather:[14,27],gaussian:[87,100,174,175,188],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,147,153,160,162,163,164,165,166,167,172,173,177,178,182,187,189,191,192],gazebo_gps_world:188,gazebo_model_path:153,gazebo_ro:[158,174],gazebo_ros_camera:175,gazebo_ros_pkg:174,gazebo_ros_ray_sensor:175,gazeborosimusensor:174,gdb:[149,183],gdb_test_nod:183,gdb_test_pkg:183,gdbtester:183,gear:157,gen:100,gener:[0,3,5,10,18,22,27,41,81,86,92,95,97,101,107,109,110,121,134,135,136,149,150,151,154,155,157,158,159,160,169,171,172,174,175,176,178,179,182,183,184,185,190,193],general_goal_check:157,generate_headland:41,generate_launch_descript:[174,175,177,189,191],generate_path:41,generate_rout:41,generos:178,gentl:178,genuin:167,geodesi:188,geograph:[174,188],geometr:[177,178],geometri:[4,5,9,174,175,177],geometry_msg:[41,42,43,48,53,58,80,86,88,93,110,156,165,166,167,174,190],get:[1,4,10,18,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,160],includ:[4,6,7,10,13,14,18,26,27,77,89,90,107,112,126,148,149,150,151,152,154,155,156,157,160,162,163,164,165,166,167,169,171,174,175,176,177,178,183,184,186,189,190,191,192,193,195],include_last_point:126,inclus:[149,160,175,178,183],incom:[86,91,112,115,118,156,189,191],incompat:149,incomplet:170,inconsist:157,incorpor:[87,149,157],incorrect:[157,169],incorrectli:157,increas:[12,27,92,97,100,109,114,135,158,159,176,178,179,181],increasingli:[27,185],incred:17,increment:[29,85,86,88,135,158],increment_recovery_count:163,inde:188,indefinit:[18,19,26,152,186],independ:[14,27,88,118,154,157,159,163,175,185,193],index:[26,132,148,162,164,165,166,167,169,194],indic:[54,85,86,87,112,115,118,131,152,154,156,157,163,164,175,191],individu:[11,27,85,86,91,107,152,155,158,159,178,190],indoor:[112,185],induc:[159,169,196],industri:[14,27,86,103,157,169,171,189],ineri:185,inerti:[175,177,185],inertia:[174,175,177],inf_is_valid:[94,116,120,192],infeas:[106,169],infer:177,infin:58,infinit:[20,93,116,120,135,136,185],inflat:[27,87,94,115,117,135,137,160,169,175,182,189,192],inflate_around_unknown:[94,114],inflate_con:117,inflate_unknown:[94,114],inflation_lay:[94,112,113,115,118,164,172,175,182,188,189,191],inflation_layer_nam:100,inflation_radiu:[94,100,114,175],inflationlay:[94,175,178],influenc:100,info:[10,14,92,96,112,115,118,150,154,157,164,174,181],inform:[1,2,4,10,19,20,27,85,86,91,94,97,99,100,103,104,107,110,112,115,116,118,120,121,134,135,136,148,152,155,156,158,159,160,162,163,164,165,166,167,169,174,175,176,177,178,179,180,182,183,184,185,187,188,189,190,191,192,193,194],infrar:175,infux:158,ing:19,ingest:188,inher:[149,150],inherit:[157,163,164,165,166,167],init:[26,158],init_pos:26,initalorientationasrefer:174,initi:[8,26,65,72,87,89,97,100,106,147,149,150,153,154,156,158,159,162,164,165,166,167,169,177,178,186,188,189,193],initial_cov_:87,initial_orientation_as_refer:174,initial_pos:[26,65,87,158],initial_pose_:87,initial_rot:97,initial_rotation_min_angl:97,initial_transform_timeout:[94,160],initializegoalpos:167,initialposereceiv:[19,90],inject:183,injuri:9,inlin:[164,166,192],inner:[11,193],inout_port:194,inproceed:154,input:[6,19,26,27,86,89,92,100,105,106,116,117,120,131,154,157,159,160,162,163,164,165,166,169,174,177,180,183,186,188,193,194],input_at_waypoint:131,input_go:[20,21,53,80,186],input_path:[20,57,58,186],input_port:194,input_sensor_typ:[117,175],input_top:131,inputatwaypoint:[111,157,169],inputport:163,inquiri:14,inscrib:[114,158,178],inscribed_inflated_obstacl:182,insert:[163,175,183],insid:[27,86,91,92,93,96,107,110,111,149,150,158,159,160,164,174,175,179,183,184,189,192,193],insight:[11,158,170,178],inspect:[26,149],instabl:158,instal:[147,149,150,151,162,164,165,166,167,172,174,175,176,177,180,181,182,183,184,185,187,188,189,190,191,193,195],instanc:[27,86,132,153,160,163,171,174,179,188,189,191],instantan:[93,159],instanti:[171,177,179],instead:[13,18,21,23,24,80,85,87,100,106,121,148,149,155,156,157,158,159,160,162,167,174,175,176,178,179,180,183,185,186,187,188,189,193],instruct:[27,111,153,162,164,165,166,167,174,175,183,184,190],instrument:100,int16:179,integ:189,integr:[0,1,7,12,17,28,58,86,95,97,103,150,157,158,160,173,174,175,176,179,183,185,194],intel:[4,14,100,158],intel_realsense_r200_depth:[85,86,94,192],intellig:[154,178],intellisens:149,intend:[89,153,156],intent:[22,100,178],intention:[14,92,189],interact:[27,89,90,100,154,157,158,177,179,180,183,196],interactive_waypoint_follow:188,intercorrel:182,interest:[7,10,11,14,17,26,27,149,152,167,176,178,180,183,184,186,187,190,194],interfac:[3,5,13,19,27,86,89,108,149,150,154,155,156,159,162,163,164,167,169,175,180,187,188,192],interfer:[94,189],interins:185,interior:181,intermediari:[21,136,154,157],intern:[18,21,23,24,104,154,159,164,167,174,179,185,188,195],interoper:175,interpol:[110,135,189],interpolation_resolut:166,interpolation_resolution_:166,interpret:[94,99,176,182],interprocess:149,intersect:[97,103],interti:177,interv:[85,86],interven:1,intervent:154,intial_pos:19,intoroduc:160,intrest:183,intrins:185,introduc:[27,85,103,150,152,155,157,158,173,175,177,179,182],introduct:[17,90,177],intuit:[178,195],inturn:22,invalid:[17,26,149,159,167],invers:[100,160,189],inversion_xy_toler:100,inversion_yaw_toler:100,invert:[24,100,157],investig:183,invilad_start:179,invok:[29,30,41,42,43,45,46,48,49,54,56,59,148,149,179,184],involv:[4,5,6,11,18,20,100,103,151,157,159,160,172,179,185],ipc:149,iro:154,iron:[89,99,161,167],irregular:[155,185],is_recoveri:[25,29,56],is_voltag:67,isbatterycharg:[90,159],isbatterylow:[18,19,90],isbatterylowcondit:156,ish:14,isn:[100,152,183,185],isol:[150,184],ispathvalid:[24,90,94],isstuck:90,issu:[0,2,3,5,6,8,14,21,23,24,26,27,88,89,93,100,102,108,111,152,156,157,158,170,171,176,178,182,183,185,188,189,191,192],istaskcomplet:[26,158],item:[2,11,18,26,27,170],iter:[21,23,24,26,27,41,53,86,89,92,96,100,106,110,134,135,136,159,164,185],iteration_count:100,its:[1,6,8,9,11,12,18,19,21,22,23,24,26,2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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","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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4,166,167,174,175,176,177,178,182,183,184,185,187,188,191,194],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,100,109,117,136,148,155,157,162,165,166,167,171,174,175,176,177,178,179,182,183,184,188,189,190,191,192,194,195],abrupt:27,abs:165,absolut:[48,49,99,118,156,160,165,174,177,183,185,188,189,191],absurdli:100,academ:6,acc_lim_i:[96,123],acc_lim_theta:[96,123],acc_lim_x:[96,123],accel:174,acceler:[88,103,104,110,123,158,174,178,195],accelwithcovariancestamp:174,accept:[6,26,63,87,109,135,136,152,160,167,171,172,185,186],acceptpendinggo:167,access:[0,27,86,93,110,149,150,157,158,163,175,177,183,194],accommod:149,accompani:92,accomplish:[8,162,169,174,177,183],accord:[27,99,174,175,188,189,191],accordingli:[9,86,188,189,191],account:[27,85,86,157,158,162,171,178,182],account_sid:162,accross:160,accumul:100,accur:[6,27,85,86,157,174,178,185,188],accuraci:[25,86,155,185,188],achiev:[11,92,100,103,107,110,111,157,158,159,160,177,178,185,188],acircl:181,ackerman:171,ackermann:[107,154,157,169,171,178],ackermannconstraint:100,acknowledg:89,acquir:27,across:[17,27,100,106,114,135,136,149,159,167,170,175,176,178,188,194],act:[9,14,27,134,156,157,173,175,177,189,193,195],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,100,102,108,111,153,154,155,159,162,163,167,169,171,172,174,175,176,177,178,179,180,186,187,188,189,191,193,194],action_a:19,action_b:19,action_c:19,action_nam:163,action_server_result_timeout:[88,89,93,95,102,108,111,160],action_typ:[85,86,160,193],actionnod:19,actionnodebas:163,actiont:167,activ:[12,26,27,60,73,74,75,86,88,89,93,95,98,102,108,111,147,152,153,156,157,158,159,162,165,166,167,174,175,178,179,188],actual:[18,54,86,92,100,104,135,158,167,172,176,177,178,181,185,187,188,193,195],actuat:149,adapt:[6,27,87,103,157,169,175,176,177],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,100,110,115,116,120,135,149,152,156,157,158,159,162,167,172,174,175,176,177,178,179,180,183,184,185,188,190,192,193,194],add_act:[189,191],add_compile_opt:[183,184],added:[10,13,21,23,24,89,100,149,152,155,156,157,158,159,162,164,165,166,167,171,172,175,176,177,178,179,184,188,192,193,195],addin:188,adding:[1,9,41,87,135,136,149,158,159,174,175,177,179,182,185,188,189,191,193],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,135,148,149,157,158,159,163,167,171,174,175,177,178,183,184,185,188,193],addition:[0,11,27,86,149,150,155,156,157,160,167,188,193],address:[31,32,33,34,35,36,37,41,42,43,46,155,156,157,158,159,160,162],adequ:178,adher:176,adjac:[109,113,182],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,100,102,108,110,111,135,154,159,160,172,177,185,191,193],admiss:[135,136,158],admittedli:11,advanc:[0,27,135,170,178],advantag:[12,27,159,195],advic:[171,178],advis:[21,23,24,27,174],affect:[85,91,157,158,160,177],aforement:100,after:[2,10,20,21,23,24,26,27,86,87,89,100,104,105,110,119,121,128,130,133,134,135,136,152,153,157,158,160,164,165,166,167,172,174,175,177,178,179,181,182,183,184,186,188,189,191,192,193,194,195],afterward:174,again:[18,19,20,22,77,147,149,153,155,170,174,177],against:[60,73,74,75,136,159,160,178,193],agent:[86,178],aggreg:179,aggregation_typ:[138,139,142,143],aggress:[86,135],agre:152,agreement:152,ahead:[88,100,103,125,126,138,142],aid:[2,22],aim:[1,7,9,10,13,110,173,177,178,184],air:188,aisl:[27,134,158,171,178],aislewai:[135,158],aitor:169,alarm:[85,160],alberto:169,aleksei:169,alexei:[14,154,169],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,100,103,105,106,107,134,152,154,155,157,158,159,160,164,165,169,172,175,177,178,180,182,184,185],alias:27,align:[97,121,138,142,143,160,188],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,98,100,103,105,107,109,110,113,117,135,140,148,149,150,152,154,155,156,157,158,160,162,165,166,167,169,171,174,175,176,177,178,179,180,181,183,184,185,188,189,191,192,194,195],allevi:178,alloc:[27,179,183,192],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,97,100,101,103,109,118,134,135,136,137,140,145,149,150,152,154,156,157,158,162,164,165,166,171,174,175,176,177,178,179,181,182,183,185,186,188,189,191,193],allow_backward:97,allow_primitive_interpol:[135,160],allow_revers:103,allow_reverse_expans:136,allow_unknown:[101,109,134,135,136,157,166],almost:[156,158],alon:185,along:[14,26,27,58,68,84,97,100,103,104,112,115,118,135,136,140,156,157,158,159,169,171,175,177,179,180,183,185,188,189,191],alongsid:[160,167,178],alot:[100,185],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[177,189],alreadi:[4,7,100,156,157,158,162,172,174,177,178,183,185,188],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,98,99,100,102,103,105,107,108,110,111,114,135,136,148,149,150,152,153,154,155,156,157,158,159,160,162,163,164,165,166,167,171,172,174,175,176,177,178,179,180,181,182,183,184,185,188,189,190,191,192,193,195],alter:149,altern:[3,22,27,58,149,150,157,160,172,174,183],although:150,altitud:188,altog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:173,checkout:[103,148,185],chessboard:181,child:[18,19,22,72,76,77,79,82,83,84,158,169,174,175,176,177,188],child_frame_id:174,children:[18,19,22,76,77,78,81,169,184],chip:178,choic:[10,26,27,178,179,185,190],choos:[109,149,150,153,167,172,176,178,182,183,188,191],chosen:[26,27,149,159,191],christoph:169,chronicl:149,chug:183,cilqr:3,circl:[19,27,85,86,178,181,193],circular:[27,94,100,107,114,154,160,171,172,177,178],cite:[103,154],citizen:192,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:152,class_list_macro:[162,164,165,166,167],classic:178,classification2d:175,classification3d:175,clavero:154,clean:[27,95,100,149,156,158,160,162,165,166,167,178],cleaner:177,cleaningup:179,cleanli:[27,98,167,178,184],cleanup:[162,165,166,167,179],clear:[18,19,21,22,23,24,26,27,38,39,40,94,116,117,120,152,157,158,159,166,169,175,178,181,185,192],clear_after_read:192,clear_around_:157,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,163],clear_entirely_local_costmap:[18,21,22,23,24,40,90,163],clear_except_:157,clear_except_local_costmap:39,clear_on_max_read:[117,175],clear_threshold:117,clearallcostmap:26,cleararoundrobot:158,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,157,163],clearer:175,clearexceptregion:158,clearglobalcostmap:[18,21,22,23,24,26,90,163],clearing_endpoint:157,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,163],clever:183,cli:[27,99,149,150,156,157,184,190],click:[16,150,153,164,165,166,167,172,175,181,187,188,194],clicked_point:186,clicked_point_to_pos:186,client:[19,27,95,155,157,158,162,163,167,180],client_nod:158,client_node_:158,clinet_node_:158,clip:[175,189],clock:[189,191],clock_:[165,167],clockwis:193,clone:[148,181,186,188,189,190,191,192],cloned_tb3_simulation_launch:160,close:[22,27,53,81,85,86,94,100,103,110,136,139,145,149,157,158,160,165,172,178,188,193],closed_loop:110,closer:[57,100,135,159,160],closest:[58,97,103,121],closur:185,cloud:[7,27,149,150,153,156],cluster:178,cmake:[162,164,165,166,167,181,184],cmake_build_typ:184,cmakelist:[162,164,165,166,167,174,175,177,183,184],cmd:[174,175],cmd_vel:[13,85,86,160,165,174,184,193],cmd_vel_in_top:[86,193],cmd_vel_nav:[184,193],cmd_vel_out_top:[86,193],cmd_vel_raw:86,cmd_vel_smooth:[86,193],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,134,149,150,152,155,156,158,162,163,164,165,166,167,169,172,174,175,177,180,182,183,188,192,195],codebas:[86,93,110,152,160],codecov:12,codespac:[149,150],codifi:149,coeffici:[118,181,189,191],coffe:[150,194],colcon:[148,149,164,172,174,175,177,183,184,189,191],collabor:[4,14,152],collect:[26,173,175,178,184,185],collid:[4,9,172],collis:[1,7,9,27,28,29,54,88,92,94,100,103,104,108,114,115,117,145,154,155,157,158,162,169,170,171,172,174,175,177,178,195,196],collision_cost:100,collision_detector:85,collision_detector_st:[85,160],collision_margin_dist:100,collision_monitor:[86,193],collision_monitor_nod:193,collision_monitor_param:193,collision_monitor_st:86,collisionmonitor:159,color:[8,92,132,175,177,178,182,189,191,192],color_dark:189,color_light:189,column:[120,175],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],combin:[27,94,135,138,139,142,143,157,190],combination_method:[94,116,120,160,192],combo:160,come:[8,13,14,27,95,100,103,130,135,152,158,159,162,165,166,167,174,176,177],command:[1,9,22,29,44,47,50,51,55,80,86,103,104,110,148,149,150,154,156,162,164,165,166,167,169,171,174,175,176,177,183,185,186,187,189,190,191,195],commandlin:[99,183,184],comment:[149,152,158,164,166,183,192],commerci:[27,152,188],commit:[149,152,170,181],common:[18,26,27,86,100,149,150,154,157,158,167,174,185,188,193],commonli:[19,44,47,50,51,55,167,175,185,188],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,149,152,154,162,167,176,178,179,181],compani:[152,154,178],companion:194,compar:[27,60,73,74,75,86,89,92,107,159,160],comparison:154,compat:174,compens:188,compet:152,compil:[149,150,162,165,166,167,180,183,184],complement:[5,156,188],complementari:179,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,97,100,103,104,128,130,135,136,145,149,152,153,154,155,156,157,158,159,160,162,163,167,169,170,171,172,174,175,177,179,180,181,184,185,187,188,190,192,194,195],complex:[27,89,100,135,154,159,175,176,177,183,194],complexyolo:4,compli:[2,171,174,188],complianc:110,compliant:176,complic:154,complimentari:167,compon:[6,41,76,77,78,79,80,81,82,83,84,100,109,110,144,157,158,160,173,177,179,185,189,191],component_contain:179,component_container_isol:158,componentcontain:183,compos:[11,158,164,178,179,183,184],composable_node_descript:179,composablenod:[179,193],composablenodecontain:179,composit:[170,183,184,189,191],composition_demo:179,comprehens:149,compris:[13,154,177],comput:[7,17,18,19,20,21,27,41,42,43,95,100,102,103,107,109,134,135,136,138,142,154,158,159,162,163,165,166,169,171,172,174,175,176,178,180,184,185,187],computation:[27,120,158],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,89,180],compute_path_error_code_id:179,compute_path_through_pos:[159,179],compute_path_to_pos:[159,179],compute_path_to_pose_error_cod:74,computeandpublishveloc:157,computeandsmoothpath:180,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,163,167,180,186],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,90],computevelocitycommand:[93,165],concaten:157,concept:[7,18,19,154,157,171,175,176,179,189,191,194],conceptu:176,concern:[150,152,158],conclus:22,concret:176,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,106,149,158,159,163,169,174,177,185,188,194,195],conditionnod:163,conduct:154,conf:[86,93,110,160,163],confer:154,config:[149,150,172,174,175,177,183,188,190],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,98,99,100,107,112,115,118,148,149,150,154,155,156,158,159,160,162,163,165,166,167,169,173,177,178,179,180,182,183,185,186,187,188,190,192,194],configured_param:[179,189,191,193],confin:[100,135,149,160,172],confirm:[172,175,181,188],conflict:156,conform:154,confort:160,confus:19,conjunct:[26,100],connect:[14,19,27,95,98,101,109,113,134,149,150,156,157,158,169,171,174,175,176,177,182,188,194],connector:[41,185],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,100,130,135,136,145,152,156,157,159,160,162,163,165,166,167,169,171,178,179,185,188,189,193],consider:[4,100,178],consider_footprint:100,consist:[8,17,100,150,152,157,158,169,174,175,176,178,179,188,194],consol:193,constant:[19,95,97,103,165,177,178],constantli:[156,158],constrain:[28,106,157,169,178],constrainedsmooth:[92,158],constraint:[21,104,110,136,157,158,160,167,169,171,178,195],constraintcrit:100,construct:[27,152,158],constructor:[26,27,158,160,163],constsharedptr:167,consult:14,consum:[9,158],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,152,154,178,179],contain:[9,11,17,21,23,24,27,46,49,91,100,107,110,116,120,135,136,151,155,156,157,158,159,160,162,164,165,166,167,169,174,175,177,178,179,180,181,183,185,189,191,193,195],container:149,containeris:149,content:[150,172,173,175,177],context:[11,13,18,19,21,22,23,24,90,148,163,169,194],contextu:[17,18,21,23,24,154,159],continu:[1,12,18,19,20,21,22,23,24,27,95,100,111,133,135,136,150,152,153,154,155,156,157,158,159,167,174,177,178,185,188,190,193],contractor:14,contrast:[158,188],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,135,152,160,175,178,179],contributor:[14,152],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,103,107,110,118,120,122,123,124,125,126,127,128,129,130,136,137,138,139,140,141,142,143,144,145,146,154,155,156,162,163,164,167,168,170,172,173,174,177,179,180,183,184,185,186,187,190,191,192,193,194,196],controlcancel:22,controller_frequ:[93,96,97,100,103,104,195],controller_id:[18,20,21,22,23,24,26,44,46,90,157,160,163,186],controller_pati:157,controller_plugin:[93,96,97,103,104,156,165,171,195],controller_plugin_id:[121,122,123,124,125,126,137,138,139,140,141,144,145,146],controller_selector:[20,21,22,23,24,44],controller_serv:[22,93,96,97,98,100,103,104,156,157,158,160,165,171,179,184,191,195],controllerselector:[20,21,22,23,24,90,157],controllerserv:158,controlnod:163,conveni:[150,160,185,191],convent:[21,23,24,27,175,176,179,188],converg:[87,92,97,100,188],convers:[26,99,152,189,191],convert:[0,27,95,100,111,118,135,136,154,155,157,166,176,188,189,191],convert_typ:[189,191],convex:100,cooper:2,coordin:[5,26,27,41,87,94,95,111,158,174,176,177,185,186,188],coordinates_in_cartesian_fram:95,cope:188,copi:[158,172,174,175,177,180,183,189,191,192],copyright:152,core:[7,17,27,159,179,180],corner:[103,153,157,181,189,194],corpor:14,correct:[27,85,86,147,149,152,158,174,175,177,187,189,191,193],correctli:[19,27,153,157,158,172,174,175,176,188,189,191,193],correl:149,correspond:[27,41,81,85,86,89,100,101,109,112,113,114,115,116,117,118,119,120,134,135,136,157,158,162,163,164,175,176,182,188,191],correspont:189,corridor:[100,171,178],cost:[9,18,26,27,85,86,88,92,94,103,107,109,114,115,124,134,135,136,149,154,157,158,164,169,175,178,182],cost_check_point:92,cost_cloud:157,cost_penalti:[135,136],cost_pow:100,cost_scaling_factor:[94,100,109,114,164,175],cost_t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7,88,171],docker:[149,150],dockerfil:[148,149],document:[8,10,15,18,22,27,148,149,152,153,156,174,175,176,177,182,183,184,185,189,190,191],doe:[4,9,19,21,22,23,24,85,86,91,100,115,117,135,136,148,149,157,158,159,160,162,165,166,167,172,174,178,179,180,188,189,191,194],doesn:[76,134,157,158,162,178,185,189],dog:185,doing:[26,111,115,152,167,183,188],doisi:169,domin:[116,120,160],don:[135,136,140,153,157,176,178,180,183,185,186,187,188,189,190],done:[13,18,19,27,86,149,155,156,157,164,165,166,167,170,171,175,183,184,185,194],dont:177,door:17,dot:[160,188],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,106,108,109,110,111,112,114,115,116,117,118,119,120,121,123,124,125,126,127,128,129,130,131,134,135,136,137,138,139,140,141,142,143,144,145,146,157,160,165,166],doubt:100,down:[26,27,97,98,100,103,109,118,120,153,154,156,158,159,160,178,179,183,188,191,193],download:[5,149,181],downsampl:[92,100,134,135,136,158,160],downsample_costmap:[134,135],downsample_factor:[134,135],downsample_obstacle_heurist:[135,160],downsampling_factor:[134,135],downstream:157,doxygen:151,dozen:27,drag:[153,194],dramat:[135,136,156],draw:[188,189,191],drawn:189,drift:[27,174],drivabl:[104,171,178,195],drive:[1,25,26,35,45,92,100,103,107,135,136,154,157,165,169,171,172,174,175,177,178,188,189],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,178],driveonhead:[25,26,90,159],driver:[1,13,16,147,149,174,175,181,185],drivetrain:169,drivewhl_l:177,drivewhl_l_joint:174,drivewhl_r:177,drivewhl_r_joint:174,drop:[9,97,156,160,185,194],dropdown:2,dual:[150,188],dual_ekf_navsat:188,dub:158,dubin:[95,135,136,157,158,169,171],dubiou:158,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,100,110,113,135,136,152,156,157,158,159,167,172,174,175,178,182,185,194,195],dumb:27,dummi:164,dump:171,duplic:[27,167],durabl:177,durat:[54,71,84,88,89,93,98,100,141,152,158,163,165,179,186],dure:[6,22,85,86,92,98,100,135,136,149,156,157,158,159,160,163,164,172,177,178,184,187,190,194],dwa:[3,169,171],dwb:[1,3,9,21,23,24,27,28,122,123,124,125,126,137,138,139,140,141,142,143,144,145,146,155,156,169,171,178,195],dwb_core:[93,96,156,157,171,195],dwb_critic:[96,121],dwb_local_plann:156,dwb_plugin:[96,121],dwblocalplann:[93,96,156,171,195],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,96,100,135,136,154,155,156,157,162,163,164,165,166,167,170,171,175,177,178,191,192,193,194,196],dynamicfollowpath:156,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,100,102,108,110,133,150,152,154,155,157,158,159,160,162,163,164,165,166,171,174,175,176,177,178,179,180,182,183,188,189,191,193,194],earli:[5,11,16],earlier:[87,135,136,150,153,158,162,176],earth:188,earth_wgs84:188,easi:[10,11,14,18,27,41,149,150,152,154,160,173,175,185,190],easier:[152,171,175,176,177,178,183,195],easili:[13,18,27,89,149,156,157,158,160,178,184,193],east:188,echo:188,ecosystem:[0,27,107,158,178],edg:[4,95,100,160,176,189],edit:[8,157,169,174,175,180],editor:[189,191,194],educ:14,effect:[2,4,86,92,117,134,149,156,158,174,178,189],effici:[22,27,107,175,178,179],effort:[8,14,27,95,110,152,154,157,171,175,178,192],efk:174,eight:[182,188],eitan:169,either:[1,18,19,26,27,86,87,99,100,117,119,149,150,159,160,169,171,174,175,178,184,191,194],ekf:[174,185,188],ekf_filter_nod:174,ekf_filter_node_map:188,ekf_filter_node_odom:188,ekf_localization_nod:174,ekf_nod:174,elaps:157,elast:[3,155,171,195],electr:188,electromagnet:188,element:[8,155,162,174,177],elev:[17,27,86,93,110,150,152,160,188],elif:[26,158],elimin:177,ellipsoid:188,elong:92,eloqu:[27,161],els:[26,85,94,157,158,160,164,165,167,174,193],elsewher:184,email:[0,14,27,152],emb:176,embed:[6,27,158,178,179],emerg:[6,9,86,91],emit:175,emphas:188,emploi:86,empti:[42,43,100,116,119,120,131,156,157,158,160,165,167,182],emul:149,emulate_tti:[189,191],enabl:[10,13,22,53,85,86,87,94,97,100,103,111,112,113,114,115,116,117,118,119,120,131,132,133,135,136,149,150,157,158,159,162,165,166,167,169,174,175,177,178,179,185,190,192,193,194],enable_stamped_cmd_vel:[86,88,93,110,160,193],enabled_:164,enact:[9,81,154,195],encod:[27,112,118,174,176,185,188,189,191],encompass:178,encount:[16,171,175,183,184],encourag:[0,14,22,100,152,177,179,183],end:[6,11,20,27,85,86,100,101,105,134,136,158,160,162,164,165,166,167,169,177,178,179,182,183,188,193],endpoint:[135,136],energi:[100,175],enforc:[92,110,115,157,181],enforce_path_invers:[100,160],engag:152,engin:[6,148,150,155,184,185],enhanc:152,enough:[18,159,172,178,181,188],enrich:150,ensur:[4,9,11,13,20,21,23,24,27,86,93,98,100,103,110,149,150,152,155,157,158,159,160,171,172,176,177,178,179,184,192],enter:[21,23,24,27,100,162,165,166,167,189],entir:[12,18,19,21,23,24,86,148,149,152,169,171,178,185,193],entiti:174,entri:[14,174,180,183,184,193],entryfil:178,entrypoint:148,enu:188,enumer:[29,30,41,42,43,45,46,54,56,194],env:149,environ:[4,5,9,10,12,27,97,107,147,148,149,150,152,153,154,171,172,174,175,176,178,185,187,188,189,193],environemnt:175,environment:[94,120,154],envok:[29,30,45,56],envrion:192,ephemer:149,eppstein:169,eqal:92,equal:[27,85,86,97,112,164,181,182,189,191],equat:109,equip:[175,185,188,194],eros:182,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,97,100,113,147,148,156,157,158,169,172,175,180,182,185,187,188,192],error_cod:[21,23,60,73,74,75,179,180],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,48,49,54,56,180],error_code_id_nam:[159,179],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,135,136,150,155,158,176,180,185,187,188,190,192,195],essenc:176,essenti:[6,135,136,158,175,178],establish:179,estim:[15,86,87,105,110,153,155,157,164,165,166,167,174,175,176,187,188],estimated_time_remain:[157,167],etc:[4,10,13,17,26,27,85,86,89,93,94,95,110,112,149,150,152,157,159,160,162,167,171,173,174,176,178,185,188,190,194],eth:5,euclidean:[157,178],europ:188,evalu:[121,124,136,171,185],evalul:7,even:[19,20,21,23,99,100,103,110,114,135,150,154,156,157,158,169,171,172,173,174,178,183,185,189],evenli:87,event:[1,13,152,158],eventu:[159,175,177],ever:[100,157],everi:[17,19,21,23,24,58,83,92,94,97,100,103,116,120,135,152,157,158,160,163,164],everyon:[150,152],everyth:[153,158,164,174,188],everywher:[100,155],exact:[100,105,134,135,136,149,159,171,172,178,186,189],exactli:[134,153,178,191],exampl:[1,7,15,16,17,18,19,22,27,107,148,149,150,156,157,158,160,162,163,164,165,166,167,172,173,174,175,176,177,178,179,180,181,182,183,184,185,189,191,192,193,194,195],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,102,108,111,118,157],exceed:[18,94,159],excel:[1,7,9,188,195],except:[26,27,39,85,93,135,136,152,157,159,166,169,174,183,185,191],exception:[167,174,184],excess:11,exchang:[100,135],exclud:159,exclus:22,exe:183,exec:149,exec_depend:[174,177,179],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,104,110,111,149,150,152,156,157,158,160,163,164,167,169,171,172,174,175,176,177,179,182,183,184,189,191,194],executeprocess:[174,175],executor:[11,26,27,111,157,159],exemplari:17,exhaust:170,exhibit:22,exist:[4,8,11,12,27,41,85,86,99,100,113,134,147,149,152,156,157,158,160,165,167,178,184,185,186,188,194],exit:[21,23,27,98,156,158,183,184],expand:[101,135,136,137,149,158,171,177],expans:[8,101,109,135,136,157,158,159,160,169],expect:[5,11,26,87,100,102,116,120,152,154,156,157,160,167,174,179,180,188],expected_planner_frequ:[102,109],expected_update_r:[116,120,192],expend:178,expens:[27,120,158,159,174],experi:[1,2,3,4,5,6,7,9,10,12,25,148,149,150,154,158,177,183,185,187],experienc:173,expert:[4,14],expir:[22,70,169,192],explain:[11,18,19,22,150,152,172,183,184,190,195],explan:[18,91,107],explicitli:[4,26,150,189],explor:[135,175,176],exponenti:[87,97,100,114,169,175,178],expos:[19,27,108,157,159,188],exposur:7,express:[27,118,160,165,188,189,191],extend:[164,174,188],extens:[22,27,100,149,150,159,160,185],extent:[97,103],extern:[4,21,23,24,26,85,93,98,131,148,149,155,156,159,160,179,185,196],extra:[92,135,136,158,189],extract:[158,167,169],extrem:[2,18,85,97,115,157,175],face:188,facilit:[150,158,160],factor:[81,92,97,100,114,134,135,145,175,178],factori:163,fail:[18,19,21,23,24,26,27,93,98,111,134,135,136,155,157,158,159,162,167,169,183],failed_to_make_progress:[73,159],failed_to_smooth_path:[75,159],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,100,154,155,157,158,163,169,179,183,186],failure_toler:93,fair:8,fairli:183,faith:152,fake:27,fall:86,fallback:[21,23,24,86,193],fallbackcomputepathtopos:24,fallbackrecoveri:24,fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,97,98,100,101,103,109,110,111,112,114,116,117,118,119,120,121,124,126,134,135,136,137,140,153,157,158,159,160,162,164,166,167,174,175,178,182,183,185,187,188,189,192,193,194],familiar:[18,27,177],fanci:149,far:[85,86,95,100,135,136,153,158,160,175,178,186,195],farm:192,fashion:19,fast:[85,86,87,97,105,106,135,136,158,182,185],faster:[97,158,178],fault:[12,26,27],favor:158,favourit:[189,191],feasibl:[27,100,104,106,107,115,135,154,157,158,160,169,171,178,195],featur:[1,4,6,8,9,14,27,87,93,95,103,106,110,135,149,152,153,157,158,169,170,177,178,188,189],feaur:189,feed:179,feedback:[14,26,27,89,97,110,152,158,167],feedback_msg:167,feel:[6,147,150,177,178],ferguson:[14,154],fetch:[165,166],fetullah:169,few:[4,11,14,19,26,81,92,95,148,149,160,171,175,178,183],field:[4,26,41,63,85,86,87,93,95,118,134,156,157,158,159,160,162,164,166,167,174,175,177,179,181,183,185,188,189,191,192],field_filepath:41,fields2cov:[41,95,160],figur:[188,194],file:[1,2,17,27,41,86,88,89,98,99,109,132,136,147,149,150,152,153,154,156,157,158,163,164,169,172,176,177,178,179,180,181,185,186,187,188,189,190,191,192,193,194],file_field:41,file_field_id:41,filenam:[174,175,188],filepath:[41,136,167,178],filesystem:[150,183],fill:[4,152,156,163,181,189,191,194],filter:[6,13,29,87,93,105,174,178,185,188,192,193,196],filter_dur:84,filter_info_top:[99,112,115,118,189,191],filter_mask:99,filter_mask_data:191,filter_mask_serv:[189,191],filter_space_valu:99,final_bt_statu:167,final_rot:97,find:[14,27,58,88,89,93,95,97,100,102,103,108,110,111,135,136,149,150,152,153,156,157,159,160,165,167,171,177,178,180,182,183,184,186,187],find_if:165,find_packag:183,findchessboardcorn:181,finder:[157,175],findpackageshar:177,fine:[100,153,178,191],finish:[156,160,184,188],finit:[27,100,135,185,194],first:[19,27,41,76,77,85,86,100,114,119,148,149,152,154,158,159,160,165,169,170,172,174,175,176,177,178,179,180,182,183,185,186,187,188,189,190,191,192,193,194],first_map_onli:87,first_map_only_:87,firstli:22,fit:[100,178,188,193],fix:[103,117,152,156,159,160,170,172,174,175,176,177,181,185,188],flag:[9,149,174,177,181,183,184],flagship:14,flat:185,fleet:27,flexibl:[14,89,100,162],flip:[112,157,159,171,177],flip_threshold:112,flood:18,flow:[1,18,19,21,23,24,77,78,152,163,194],fluidli:100,fly:[157,160,183,194],fn_tol:92,focal:181,focallength:175,focu:[12,18,26,177,193,194],focus:[109,182,185],focuscamera:177,folder:[19,149,150,175,181,188],folk:[152,158,183],folllow:174,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,97,99,102,103,110,118,131,132,133,135,136,148,150,152,153,154,155,156,157,158,159,162,164,165,166,167,169,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,189,190,191,192,193,195,196],follow_gps_waypoint:[27,160,188],follow_path_error_cod:[20,21,22,23,24,46,73,89],follow_path_error_code_id:179,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,96,97,100,103,104,156,159,160,163,165,167,171,186,195],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,90],followwaypoint:[26,159],fonction:158,fondli:14,fool:178,footprint:[2,85,86,88,94,100,108,115,116,120,135,136,140,158,159,160,164,171,173,177,193],footprint_clearing_en:[94,116,120],footprint_pad:94,footprint_top:[86,105,106,108,162,180],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,100,160,185],forcefulli:149,forese:156,forget:187,forgot:152,fork:[27,96],forklift:22,form:[5,41,86,109,164,175,176],formal:[27,154,182],format:[10,41,85,86,92,100,132,136,149,157,174,175,177,188,189,191,194],former:[14,85,86],formerli:[93,159,169],formul:160,formula:191,fortun:174,forward:[0,9,18,27,58,92,99,103,104,121,126,136,141,144,145,149,153,160,163,176,178,188,193,195],forward_point_dist:[96,138,142],forward_prune_dist:[121,159],forward_sampling_dist:[104,195],found:[3,8,19,22,26,27,72,86,91,100,104,107,121,134,135,136,149,150,154,155,157,158,159,160,162,163,164,165,166,167,169,170,171,172,174,175,177,179,184,187,188,189,190,191,192],foundat:167,four:[18,27],foxi:[11,27,161,166],fraction:158,fragment:182,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,99,108,111,112,115,116,118,120,124,147,155,165,166,172,174,175,176,177,181,185,188,193],frame_id:[26,63,99,116,120,160,165,166,174,189,190,191],frame_nam:175,framework:[0,2,8,14,27,107,134,154,159,174,178,179],francisco:[154,169,185],free:[10,27,94,99,100,117,134,147,150,155,169,174,175,177,178,182,185,187,188,189],free_spac:182,free_thresh:[189,191],free_thresh_default:99,freeli:177,freespac:[21,23,24,178],frequenc:[18,19,85,88,93,94,100,102,110,135,136,174,185,188],frequent:[136,178,188],fresh:149,friction:2,friendli:[100,177],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,97,99,100,103,104,105,109,110,111,116,118,119,120,134,135,136,138,141,142,146,147,148,149,150,151,152,153,154,155,156,157,158,162,163,164,165,166,167,169,170,171,172,174,175,176,177,178,179,180,181,182,185,186,187,188,189,190,191,192,193,194,195],from_imag:148,from_msg:158,from_numb:162,from_second:165,front:[85,86,135,138,142,165,177,178,193],front_cast:177,frustrat:158,fsm:27,full:[5,7,12,19,27,87,94,100,115,121,135,147,152,156,157,158,170,171,172,173,174,176,177,178,182,185,186,188,189,191,193,194,195],fulli:[27,87,114,135,136,152,153,157,158,171,178,180,185,188,192],fun:[0,16],fundament:[167,183],further:[11,19,22,100,106,135,136,149,152,158,160,176,183,185],furthest:[100,135],fuse:[27,154,170,174,188],fusion:[15,27,174,176,185,188],futur:[1,4,8,11,21,27,85,86,87,112,115,118,156,158,160,186],gain:[8,100,103],galact:[87,89,93,161,162,164,166,175,192,194],game:[27,185],gamma:100,gap:177,gate:185,gather:[14,27],gaussian:[87,100,174,175,188],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,147,153,160,162,163,164,165,166,167,172,173,177,178,182,187,189,191,192],gazebo_gps_world:188,gazebo_model_path:153,gazebo_ro:[158,174],gazebo_ros_camera:175,gazebo_ros_pkg:174,gazebo_ros_ray_sensor:175,gazeborosimusensor:174,gdb:[149,183],gdb_test_nod:183,gdb_test_pkg:183,gdbtester:183,gear:157,gen:100,gener:[0,3,5,10,18,22,27,41,81,86,92,95,97,101,107,109,110,121,134,135,136,149,150,151,154,155,157,158,159,160,169,171,172,174,175,176,178,179,182,183,184,185,190,193],general_goal_check:157,generate_headland:41,generate_launch_descript:[174,175,177,189,191]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rov:[1,7,9,11,12,25,27,92,105,107,135,136,149,153,155,156,157,159,160,170,184,185],imu0:[174,185,188],imu0_config:[174,188],imu:[27,174,175,176,185,188],imu_joint:174,imu_link:174,imu_plugin:174,imu_sensor:174,inact:[27,100,162,165,166,167,177,179],incentiv:[100,160],includ:[4,6,7,10,13,14,18,26,27,77,89,90,107,112,126,148,149,150,151,152,154,155,156,157,160,162,163,164,165,166,167,169,171,174,175,176,177,178,183,184,186,189,190,191,192,193,195],include_last_point:126,inclus:[149,160,175,178,183],incom:[86,91,112,115,118,156,189,191],incompat:149,incomplet:170,inconsist:157,incorpor:[87,149,157],incorrect:[157,169],incorrectli:157,increas:[12,27,92,97,100,109,114,135,158,159,176,178,179,181],increasingli:[27,185],incred:17,increment:[29,85,86,88,135,158],increment_recovery_count:163,inde:188,indefinit:[18,19,26,152,186],independ:[14,27,88,118,154,157,159,163,175,185,193],index:[26,132,148,162,164,165,166,167,169,194],indic:[54,85,86,87,112,115,118,131,152,154,156,157,163,164,175,191],individu:[11,27,85,86,91,107,152,155,158,159,178,190],indoor:[112,185],induc:[159,169,196],industri:[14,27,86,103,157,169,171,189],ineri:185,inerti:[175,177,185],inertia:[174,175,177],inf_is_valid:[94,116,120,192],infeas:[106,169],infer:177,infin:58,infinit:[20,93,116,120,135,136,185],inflat:[27,87,94,115,117,135,137,160,169,175,182,189,192],inflate_around_unknown:[94,114],inflate_con:117,inflate_unknown:[94,114],inflation_lay:[94,112,113,115,118,164,172,175,182,188,189,191],inflation_layer_nam:100,inflation_radiu:[94,100,114,175],inflationlay:[94,175,178],influenc:100,info:[10,14,92,96,112,115,118,150,154,157,164,174,181],inform:[1,2,4,10,19,20,27,85,86,91,94,97,99,100,103,104,107,110,112,115,116,118,120,121,134,135,136,148,152,155,156,158,159,160,162,163,164,165,166,167,169,174,175,176,177,178,179,180,182,183,184,185,187,188,189,190,191,192,193,194],infrar:175,infux:158,ing:19,ingest:188,inher:[149,150],inherit:[157,163,164,165,166,167],init:[26,158],init_pos:26,initalorientationasrefer:174,initi:[8,26,65,72,87,89,97,100,106,147,149,150,153,154,156,158,159,162,164,165,166,167,169,177,178,186,188,189,193],initial_cov_:87,initial_orientation_as_refer:174,initial_pos:[26,65,87,158],initial_pose_:87,initial_rot:97,initial_rotation_min_angl:97,initial_transform_timeout:[94,160],initializegoalpos:167,initialposereceiv:[19,90],inject:183,injuri:9,inlin:[164,166,192],inner:[11,193],inout_port:194,inproceed:154,input:[6,19,26,27,86,89,92,100,105,106,116,117,120,131,154,157,159,160,162,163,164,165,166,169,174,177,180,183,186,188,193,194],input_at_waypoint:131,input_go:[20,21,53,80,186],input_path:[20,57,58,186],input_port:194,input_sensor_typ:[117,175],input_top:131,inputatwaypoint:[111,157,169],inputport:163,inquiri:14,inscrib:[114,158,178],inscribed_inflated_obstacl:182,insert:[163,175,183],insid:[27,86,91,92,93,96,107,110,111,149,150,158,159,160,164,174,175,179,183,184,189,192,193],insight:[11,158,170,178],inspect:[26,149],instabl:158,instal:[147,149,150,151,162,164,165,166,167,172,174,175,176,177,180,181,182,183,184,185,187,188,189,190,191,193,195],instanc:[27,86,132,153,160,163,171,174,179,188,189,191],instantan:[93,159],instanti:[171,177,179],instead:[13,18,21,23,24,80,85,87,100,106,121,148,149,155,156,157,158,159,160,162,167,174,175,176,178,179,180,183,185,186,187,188,189,193],instruct:[27,111,153,162,164,165,166,167,174,175,183,184,190],instrument:100,int16:179,integ:189,integr:[0,1,7,12,17,28,58,86,95,97,103,150,157,158,160,173,174,175,176,179,183,185,194],intel:[4,14,100,158],intel_realsense_r200_depth:[85,86,94,192],intellig:[154,178],intellisens:149,intend:[89,153,156,160],intent:[22,100,178],intention:[14,92,189],interact:[27,89,90,100,154,157,158,177,179,180,183,196],interactive_waypoint_follow:188,intercorrel:182,interest:[7,10,11,14,17,26,27,149,152,167,176,178,180,183,184,186,187,190,194],interfac:[3,5,13,19,27,86,89,108,149,150,154,155,156,159,162,163,164,167,169,175,180,187,188,192],interfer:[94,189],interins:185,interior:181,intermediari:[21,136,154,157],intern:[18,21,23,24,104,154,159,164,167,174,179,185,188,195],interoper:175,interpol:[110,135,189],interpolation_resolut:166,interpolation_resolution_:166,interpret:[94,99,176,182],interprocess:149,intersect:[97,103],interti:177,interv:[85,86],interven:1,intervent:154,intial_pos:19,intoroduc:160,intrest:183,intrins:185,introduc:[27,85,103,150,152,155,157,158,173,175,177,179,182],introduct:[17,90,177],intuit:[178,195],inturn:22,invalid:[17,26,149,159,167],invers:[100,160,189],inversion_xy_toler:100,inversion_yaw_toler:100,invert:[24,100,157],investig:183,invilad_start:179,invok:[29,30,41,42,43,45,46,48,49,54,56,59,148,149,179,184],involv:[4,5,6,11,18,20,100,103,151,157,159,160,172,179,185],ipc:149,iro:154,iron:[89,99,161,167],irregular:[155,185],is_recoveri:[25,29,56],is_voltag:67,isbatterycharg:[90,159],isbatterylow:[18,19,90],isbatterylowcondit:156,ish:14,isn:[100,152,183,185],isol:[150,184],ispathvalid:[24,90,94],isstuck:90,issu:[0,2,3,5,6,8,14,21,23,24,26,27,88,89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149,176,177,188],remot:[149,150,162,163,183],remote_containers_ipc:149,remote_containers_socket:149,remov:[11,20,21,53,57,58,95,99,105,113,116,120,135,136,149,155,156,169,174,175,178,180,182,183,184,185,188,192,193,194,195],removepassedgo:[21,90,157,160],renam:[88,149,156,157,158],renavig:18,render:150,reopen:150,reorder:95,rep145:174,rep:[27,154,157,170,174,176,188],repeat:[25,100,148,164,176,177],repeatedli:[189,191],repetit:[159,177],replac:[4,5,10,11,89,92,155,158,159,160,162,164,166,167,178,180,182,185,188,190,192,193],replan:[17,19,20,21,23,53,79,84,90,121,135,136,156,157,178,186],replic:149,repo:[12,27,109,148,150,186,188,192],report:[12,87,100,152,157,159,163,175],repositori:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,103,148,149,150,154,162,164,165,166,170,172,174,175,177,178,189,191,192],repres:[10,12,18,27,100,103,135,154,157,165,170,174,175,177,183,185,188],represent:[10,94,135,171,175,176,188],reproduc:[148,149],repuls:100,repulsion_weight:100,reput:8,request:[11,14,18,20,26,27,88,89,93,95,99,100,101,102,104,108,134,135,136,149,150,152,156,157,158,159,160,162,163,167,169,178,179,180,183,190,191,194,195],requir:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,27,87,92,98,100,104,109,110,118,135,136,149,152,157,158,159,171,174,175,176,177,178,179,183,185,186,192,195],required_movement_angl:[127,159],required_movement_radiu:[93,96,97,103,104,127,129,195],rerun:149,resampl:[87,100],resample_interv:87,research:[9,14,27],resembl:19,reserv:[21,23,24,159,179,185],reset:[70,87,100,141,153,156,157,158,163,164,167,169],reset_dist:[38,39,157],reset_period:100,resiz:119,resolut:[26,94,100,120,134,135,136,157,164,169,171,172,175,187,189,191],resolv:[21,23,24,98,156,158,180,192],resour:166,resourc:[26,27,86,88,93,100,108,110,149,158,159,162,165,167,172,173,174,176,178,179,184,189,192],respawn:[98,178,193],respawn_delai:193,respect:[4,27,104,115,157,158,163,170,171,174,175,177,178,188,192,195],respond:[0,179],respons:[19,21,23,24,27,38,39,40,86,98,158,162,167,171,179],rest:[18,38,39,86,93,100,110,132,150,160,174,175,176,179,184,188],restart:149,restrict:[27,86,118,157,159,160,169,178,188,191],result:[9,19,26,27,57,58,80,86,88,89,92,93,95,100,102,103,105,106,108,109,111,152,154,156,157,162,163,164,167,169,178,179,181,182,185,193,194,195],resultstatu:162,resum:159,retain:[19,62,105,106,134,135,136],retick:19,retrain:4,retransit:158,retreiv:10,retri:[17,21,23,24,77,169],retriev:[165,166,167],retrofit:185,retrospect:158,retrospective_penalti:[135,136],retry_attempt_limit:100,retryuntilsuccesful:22,retryuntilsuccess:22,retryuntilsucessful:22,retun:[100,158,178],reus:[27,149,162,177,179],revers:[92,100,103,107,110,135,136,158,160,179,191],reverse_penalti:[135,136],reversing_en:92,revert:183,review:[0,13,89,149,150,152,167,178],revisit:[150,159],rework:154,rewrit:160,rewrittenyaml:[157,189,191],rfid:26,rgb:175,rgba:177,rgbd:9,rich:27,right:[27,100,109,110,135,136,152,153,158,174,176,181,182,184,188],right_joint:174,right_wheel_est_vel:174,righthand:132,rigid:[177,178],rise:92,roam:172,robbin:78,robin:[19,169],robocup:186,robot:[1,2,4,5,6,7,8,9,10,12,13,14,18,19,20,21,22,23,24,25,26,30,38,39,45,52,53,57,58,61,63,69,79,81,84,85,86,87,88,89,91,92,93,94,95,97,100,103,104,107,108,110,111,112,114,115,116,118,120,127,128,129,130,131,133,134,135,136,137,138,139,140,141,142,144,145,146,150,153,154,155,156,157,159,164,165,166,167,169,171,175,176,179,180,182,183,184,186,187,188,189,191,192,193,194,195,196],robot_base_fram:[53,61,63,79,88,89,94,105,106,108,162,163,164,167,174,175,180],robot_descript:[174,177],robot_fram:58,robot_loc:[15,27,111,174,176,185,188],robot_localization_nod:174,robot_model_typ:[87,158],robot_nam:178,robot_navig:26,robot_radiu:[27,94,164,172,175,178],robot_sdf:178,robot_state_publish:[175,176,177],robot_state_publisher_nod:[174,177],robot_width:95,robotech:92,roboticist:27,robotmodel1:177,robotmodel:177,robust:[4,6,27,194],rocker:150,role:[14,27,163,167,171,172,183],roll:[88,94,99,100,147,149,170,174,178,185,188,194],rolling_window:[94,175,188],room:[10,100,178,187,189,191],root:[17,18,19,20,21,22,23,24,25,90,148,149,150,158,162,163,165,166,167,174,175,177,186,194],root_kei:[189,191],ros1:[154,156,157,175],ros2:[147,153,158,162,164,165,166,167,172,174,175,176,177,181,182,183,184,185,186,187,188,189,190,191,192,193],ros2_control:174,ros:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],ros__paramet:[61,63,85,86,87,88,89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,seri:[172,174,183],serial:185,seriou:[178,183],serious:152,serv:[18,22,154,158,175],server:[10,11,13,17,18,19,22,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,54,55,56,59,73,74,75,81,86,87,89,94,96,98,100,105,106,110,111,112,115,118,121,122,123,124,125,126,127,128,129,130,137,138,139,140,141,144,145,146,147,153,154,155,157,162,163,164,165,166,167,169,170,174,178,180,183,184,188,192,193,194,195,196],server_nam:[29,30,31,32,33,34,35,36,37,41,42,43,45,46,48,49,56,59,157],server_timeout:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,52,56,59,68,89,157],servic:[19,27,31,32,33,34,35,36,37,38,39,40,52,87,89,99,103,149,150,156,157,159,162,169,171,174,181,188],service_nam:[18,21,22,23,24,31,32,33,34,35,36,37,38,39,40,52,90,163],servicet:158,session:[134,135,136,149,183],set:[1,2,3,9,10,13,17,21,23,24,26,27,29,30,41,42,43,45,46,54,56,58,60,67,85,86,87,92,93,94,95,97,98,99,100,101,103,107,109,110,111,112,116,118,119,120,121,134,135,136,147,148,149,150,152,153,154,156,157,158,159,160,162,163,164,165,166,167,169,173,178,179,180,181,183,184,186,187,188,189,190,191,192,193,195],set_angl:95,set_camera_info:181,set_initial_pos:87,set_pos:174,setcost:26,setcostmap:26,setinitialpos:[26,158],setplan:165,setspeedlimit:165,setup:[2,27,147,148,149,150,153,160,164,172,175,176,177,178,179,183,185,189,190,191,193],sever:[52,86,90,91,100,107,149,152,157,188],shadow:187,shape:[27,85,86,94,107,154,159,171,172,173,177,178,189,191,193],share:[11,27,86,88,89,108,134,149,153,158,162,164,165,166,167,174,175,177,178,187,195],shared_ptr:[158,162,165,167],sharedptr:[158,167],sharp:[97,100,160,178],sharper:[97,103],sheep:[135,136,158],shelf:26,shell:149,shelv:26,shepp:[92,135,157,169,171],shift:[149,150],shim:[28,169,170,178,196],ship:[16,26],shoot:27,shop:185,short_circuit_trajectory_evalu:[96,121],shortcut:[97,103,135,136,158,162,164,165,166,167],shorten:159,shorten_transformed_plan:[121,159],shorter:[22,57,58,135,136,169,177,186],shortest:[27,171],should:[1,2,3,6,9,11,17,18,22,27,41,73,74,75,77,84,85,86,88,89,92,93,94,97,99,100,102,103,108,110,111,113,116,118,120,135,136,150,152,153,155,156,157,158,159,160,162,163,164,165,166,167,172,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,193,194,195],shouldn:100,shovel:27,show:[2,26,118,136,150,153,158,162,163,164,165,166,167,171,172,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],showcas:188,shown:[13,18,26,100,152,153,157,163,167,171,172,174,175,179,180,186,188,191,193,194],shrijit:154,shut:[26,27,179],shutdown:[27,158,179],shutter:185,shuttingdown:179,sid:162,side:[25,38,39,94,100,132,149,175,177,179,182,184,194],sidebar:[152,181,184],siemen:194,sig:183,sight:[105,171,188],sigma_hit:87,sign:[0,110,152],signal:[9,105,169,184,188],signatur:[163,167],signific:[8,9,100,178,188],significantli:[7,9,17,22,23,24,81,100,104,135,158,160,169,178,188,195],silent:157,sim_tim:[96,125,126],simiar:176,similar:[7,9,10,19,21,23,26,27,85,97,99,100,107,148,150,157,158,163,171,174,175,177,178,180,183,185,188,192,194,195],similarli:[21,23,85,91,160,174],simpl:[3,27,28,105,113,135,136,150,152,155,162,163,164,166,169,171,172,176,177,178,180,183,186,188,190,194,195],simple_smooth:[54,106,108,180],simplegoalcheck:[46,93,96,97,103,104,121,157,169,195],simpleprogresscheck:[93,96,97,103,104,159,169,195],simpler:[135,176,177],simplesmooth:[55,106,108,180],simplest:163,simpli:[17,100,135,149,152,157,158,162,163,174,177,178,183,189,191,192,194],simplic:189,simplifi:[6,153,156,163,165,167,183],simul:[1,2,3,4,5,6,7,9,10,11,12,13,86,89,100,104,125,126,147,153,160,162,164,165,166,167,172,173,177,178,183,184,187,188,189,190,191,192],simulate_ahead_tim:[88,104,162,195],simulation_time_step:[86,88],simultan:[149,164,175,189,191],sinc:[6,27,41,92,95,100,103,104,106,115,135,136,157,158,160,164,167,171,172,173,174,175,176,177,178,179,180,183,185,188,189,191,193,194,195],singh:[103,154,169],singl:[11,19,21,23,24,26,27,93,99,100,111,135,136,152,155,156,157,158,163,164,166,169,174,175,176,177,178,179,180,183,184,185,188,192],singletrigg:[90,157],singular:178,sister:157,sit:9,situat:[1,10,18,21,23,24,27,86,103,153,154,157,158,169,172,175,178,180,183,184,185],size:[26,27,38,39,95,119,135,136,158,164,170,171,172,174,175,177,178,181,182,185,188,189,191,192],skew:181,skid:[157,171,185],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,183],skillset:7,skinni:178,skip:[87,95,100,162,174],skirt:158,slack:[0,14,27,152],slam:[6,15,94,119,154,155,156,175,176,178,183,185,187,196],slam_toolbox:[15,148,183,190],sleep:[86,133,163],slide:177,slider:[177,189],slight:105,slightli:[100,105,110,134,135],slop:181,slow:[86,87,97,100,103,118,145,157,159,160,178,183,191,193],slowdown:[86,193],slowdown_radiu:97,slowdown_ratio:[86,193],slower:[85,86,182],slowing_factor:[96,145],slowli:100,smac:[28,92,100,103,104,115,154,157,170,171,172,195],smac_plann:103,smacplann:169,smacplanner2d:[107,134,157,169],smacplannerhybrid:[107,135,158,169],smacplannerlattic:[107,136,169],small:[100,110,135,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9,10,11,12,13,14,15,100,154,169,183,185],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,190,192],steven:154,sticki:1,still:[18,19,26,98,103,110,115,147,149,150,157,158,159,160,174,175,177,178,183,185,188,189],stl:183,stl_vector:183,stochast:100,stop:[9,20,27,76,86,91,98,100,110,111,121,130,145,156,157,159,160,177,185,193],stop_on_failur:[111,155,157],stop_pub_timeout:[86,193],stoppedgoalcheck:[93,169],storag:[149,167],store:[87,94,116,120,149,154,159,164,165,167,175,176,184,188],stori:10,strace:149,strafe_theta:144,strafe_x:144,straight:[135,136,166,177,178,180],straightforward:175,strategi:[152,188],stream:158,streamlin:[148,150],stretch:150,strictli:[6,136,159],stride:8,string:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,98,99,100,102,104,108,110,111,112,115,116,117,118,119,120,121,131,132,135,136,138,139,142,143,156,159,160,162,163,164,165,166,167,174,179,192],strive:[14,152],stroke:[2,173],strongli:27,structur:[6,8,18,27,154,159,160,167,171,176,177,179,188,191,192,194],stuck:[1,18,21,23,24,27,29,30,45,56,69,158,169,178],student:[7,152],studio:150,stutter:178,stvl:196,stvl_layer:[94,192],style:[21,23,24,178,192],sub:[0,21,23,24,86,158,160,193],subcommand:149,subfield:185,subject:[27,100,174],submit:[13,152,169],suboptim:[100,178,185],subpoli:86,subproject:13,subscrib:[27,44,47,50,51,55,66,67,80,86,87,93,117,119,157,160,174,175,186,188],subscribe_to_upd:[94,119],subscript:[80,85,86,157,160,167,169,174,179],subsect:[149,175],subsequ:[19,27,87,149,169],subset:184,subsiqu:[135,136,185],substanti:[1,100,135,152,155,178],substitut:[89,177,186,189,191],subsystem:97,subtleti:167,subtli:158,subtre:[17,19,21,22,23,24,27,38,39,40,90,163,169],succe:[18,19,76,77,169],succeed:[26,83,158,162,166],success:[14,18,19,22,27,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,100,157,158,159,160,162,163,169,177,182,188,195],successfulli:[1,18,27,158,162,167,174,176,177,179,186],successor:[100,154,159],sucessfulli:176,sudo:[148,153,174,175,177,181,184,188,190,192],suffici:[4,18,27,100,136,145,167,182,184,185],suffix:184,suggest:[19,92,100,171,176,177],suit:[0,149],suitabl:[92,104,158,169,171,176,178,195],sum:[87,137,138,139,140,142,143,171,177],sum_scor:[137,140],summar:[171,176,178],summer:[5,11],superior:159,suppli:[11,27,79,82,84,89],support:[2,6,13,14,26,27,44,47,50,51,55,85,103,107,147,149,150,154,155,156,159,169,171,175,177,178,182,189,191,192,194],suppos:176,sure:[1,2,7,12,26,89,100,116,120,147,149,152,157,160,164,167,169,172,174,175,178,181,182,183,185,187,188,189,190,191,192,193],surfac:[27,154,188],surface_model:188,surpris:195,surround:171,survei:154,susbcrib:132,sustain:27,swap:[158,159],swath:[41,95],sweep:[97,177,178],symbol:183,symlink:[148,164,189,191],symmetr:160,symmetri:158,sync:194,sync_slam_toolbox_nod:183,synchron:[27,185],syntax:[149,160,177,183],sysdep:183,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,86,87,93,98,100,110,148,149,150,152,153,154,155,158,160,167,171,175,176,177,178,179,180,181,183,184,185,187,193],systemat:179,systemdefaultsqo:167,sysv:183,tab:[147,172,175],tabl:[158,164,165,167,173,178,179],tackl:[172,173],tag:[148,149,158,163,174,175,177],tailor:171,take:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,63,81,85,86,87,88,89,93,95,98,100,102,104,105,106,108,111,119,132,134,135,149,152,153,155,157,158,159,160,162,163,165,166,167,169,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,191,195],taken:[4,63,77,85,86,92,100,118,132,157,164,167,189,191],talk:[1,149,154,174,176,183,190,192],talker:147,tangent:[4,181,188],tangenti:181,tar:181,target:[6,100,103,118,149,150,156,157,160,171,177,183,186,187,191,194],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,53,80,86,89,91,95,100,104,111,152,154,155,157,159,162,163,167,171,172,173,175,178,180,185,186,188,194,195,196],taskexecutor:26,taskresult:[26,158],tb3:160,tb3_gp:188,tb3_simulation_launch:[153,162,164,165,166,167,178,182,183,186,189,190,191,193],tbb:7,tcp:150,team:[14,150,186],tear:110,teardown:[27,171],teb:[3,100,155,159,169,171,178,195],teb_local_plann:156,teblocalplann:156,technic:[8,21,23,24,152,162,164,165,166,167,189],techniqu:[3,4,6,27,86,105,106,107,157,175,178,185,188],technolog:[8,14,154,185,188],tediou:177,teleop:[0,26,29,88,169,188],teleop_twist_keyboard:188,teleoper:188,telepres:1,tell:[27,152,160,162,163,164,174,183,188],temperatur:100,templat:[107,148,152,157,163,167,173,177,183],tempor:[169,178,192],temporari:[21,22,23,24,88,89,93,102,108,111,185,189,191],tend:195,term:[95,100,152,160,167,175,176,185,189],termin:[92,106,134,135,136,147,153,156,162,172,174,175,181,183,184,186,187,188,190],terminatependinggo:167,test:[0,3,4,6,88,100,136,149,152,160,170,174,181,186,190,192,194],text:[162,164,192],tf1:177,tf2:[27,156,173,174,176,177,178],tf2_echo:[174,176],tf2_msg:174,tf2_ro:[165,172,174,176],tf2_tool:175,tf_:[165,166],tf_broadcast:87,tf_static:158,tfmessag:174,than:[19,21,23,24,27,57,58,63,67,81,86,87,88,89,93,94,95,97,98,100,102,103,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diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html
index 79a84e067..15c9eee83 100644
--- a/setup_guides/algorithm/select_algorithm.html
+++ b/setup_guides/algorithm/select_algorithm.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html
index 6e090ce4c..a66f4059a 100644
--- a/setup_guides/footprint/setup_footprint.html
+++ b/setup_guides/footprint/setup_footprint.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/index.html b/setup_guides/index.html
index f765facc0..89e798373 100644
--- a/setup_guides/index.html
+++ b/setup_guides/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html
index 000227c6a..85811504f 100644
--- a/setup_guides/odom/setup_odom.html
+++ b/setup_guides/odom/setup_odom.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html
index 292e79254..467e9db8f 100644
--- a/setup_guides/sensors/setup_sensors.html
+++ b/setup_guides/sensors/setup_sensors.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/transformation/setup_transforms.html b/setup_guides/transformation/setup_transforms.html
index 8c6baac90..db17672a0 100644
--- a/setup_guides/transformation/setup_transforms.html
+++ b/setup_guides/transformation/setup_transforms.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html
index 2cd205b02..d11e19c55 100644
--- a/setup_guides/urdf/setup_urdf.html
+++ b/setup_guides/urdf/setup_urdf.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tuning/index.html b/tuning/index.html
index 5d64276a3..71706da9c 100644
--- a/tuning/index.html
+++ b/tuning/index.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html
index 0b84f5dec..39b88918a 100644
--- a/tutorials/docs/adding_a_nav2_task_server.html
+++ b/tutorials/docs/adding_a_nav2_task_server.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/adding_smoother.html b/tutorials/docs/adding_smoother.html
index f8625a63b..10540383b 100644
--- a/tutorials/docs/adding_smoother.html
+++ b/tutorials/docs/adding_smoother.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/camera_calibration.html b/tutorials/docs/camera_calibration.html
index 43c239505..b8659a5d6 100644
--- a/tutorials/docs/camera_calibration.html
+++ b/tutorials/docs/camera_calibration.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/filtering_of_noise-induced_obstacles.html b/tutorials/docs/filtering_of_noise-induced_obstacles.html
index 2de7ec73b..61a956351 100644
--- a/tutorials/docs/filtering_of_noise-induced_obstacles.html
+++ b/tutorials/docs/filtering_of_noise-induced_obstacles.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/get_backtrace.html b/tutorials/docs/get_backtrace.html
index 2213047e8..1a3ee0f4b 100644
--- a/tutorials/docs/get_backtrace.html
+++ b/tutorials/docs/get_backtrace.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/get_profile.html b/tutorials/docs/get_profile.html
index a8b8d96af..06416a9a3 100644
--- a/tutorials/docs/get_profile.html
+++ b/tutorials/docs/get_profile.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/integrating_vio.html b/tutorials/docs/integrating_vio.html
index 7cda3e68d..795d0e2b7 100644
--- a/tutorials/docs/integrating_vio.html
+++ b/tutorials/docs/integrating_vio.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html
index 61b57a882..20a2512e1 100644
--- a/tutorials/docs/navigation2_dynamic_point_following.html
+++ b/tutorials/docs/navigation2_dynamic_point_following.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.html b/tutorials/docs/navigation2_on_real_turtlebot3.html
index 0ce5a67fb..dec064a20 100644
--- a/tutorials/docs/navigation2_on_real_turtlebot3.html
+++ b/tutorials/docs/navigation2_on_real_turtlebot3.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html
index eb5de4b64..2847281c9 100644
--- a/tutorials/docs/navigation2_with_gps.html
+++ b/tutorials/docs/navigation2_with_gps.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html
index 09ed05d13..8f31c3f3c 100644
--- a/tutorials/docs/navigation2_with_keepout_filter.html
+++ b/tutorials/docs/navigation2_with_keepout_filter.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_with_slam.html b/tutorials/docs/navigation2_with_slam.html
index 7b6297969..dc1b885b7 100644
--- a/tutorials/docs/navigation2_with_slam.html
+++ b/tutorials/docs/navigation2_with_slam.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html
index d6053c761..e3626fcc1 100644
--- a/tutorials/docs/navigation2_with_speed_filter.html
+++ b/tutorials/docs/navigation2_with_speed_filter.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/navigation2_with_stvl.html b/tutorials/docs/navigation2_with_stvl.html
index b77c62be0..076eecd5b 100644
--- a/tutorials/docs/navigation2_with_stvl.html
+++ b/tutorials/docs/navigation2_with_stvl.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/using_collision_monitor.html b/tutorials/docs/using_collision_monitor.html
index be2a0bb1d..c9de5e00e 100644
--- a/tutorials/docs/using_collision_monitor.html
+++ b/tutorials/docs/using_collision_monitor.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html
index bae2cf409..5018bbbf2 100644
--- a/tutorials/docs/using_groot.html
+++ b/tutorials/docs/using_groot.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/docs/using_shim_controller.html b/tutorials/docs/using_shim_controller.html
index 4543f8e3e..746555f0e 100644
--- a/tutorials/docs/using_shim_controller.html
+++ b/tutorials/docs/using_shim_controller.html
@@ -963,6 +963,7 @@
 <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>
diff --git a/tutorials/index.html b/tutorials/index.html
index 64e584844..2ab8ea6eb 100644
--- a/tutorials/index.html
+++ b/tutorials/index.html
@@ -963,6 +963,7 @@
 <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>