diff --git a/_sources/configuration/packages/configuring-costmaps.rst.txt b/_sources/configuration/packages/configuring-costmaps.rst.txt index 8cc478ec4..d1068a24d 100644 --- a/_sources/configuration/packages/configuring-costmaps.rst.txt +++ b/_sources/configuration/packages/configuring-costmaps.rst.txt @@ -44,7 +44,7 @@ Costmap2D ROS Parameters ============== ======= Description - Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape. + Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape. If this parameter is set, ``isPathValid`` will do full collision checking. :global_frame: @@ -176,7 +176,7 @@ Costmap2D ROS Parameters ============== ======= Description - Robot radius to use, if footprint coordinates not provided. + Robot radius to use, if footprint coordinates not provided. If this parameter is set, ``isPathValid`` will do circular collision checking. :rolling_window: diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html index aa59d36fa..26831accf 100644 --- a/configuration/packages/configuring-costmaps.html +++ b/configuration/packages/configuring-costmaps.html @@ -1070,7 +1070,7 @@

Costmap2D ROS Parameters -
Description

Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters footprint: “[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]”. Note that this can also be adjusted over time using the costmap’s ~/footprint topic, which will update the polygon over time as needed due to changes in the robot’s state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot’s shape.

+
Description

Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters footprint: “[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]”. Note that this can also be adjusted over time using the costmap’s ~/footprint topic, which will update the polygon over time as needed due to changes in the robot’s state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot’s shape. If this parameter is set, isPathValid will do full collision checking.

@@ -1310,7 +1310,7 @@

Costmap2D ROS Parameters -
Description

Robot radius to use, if footprint coordinates not provided.

+
Description

Robot radius to use, if footprint coordinates not provided. If this parameter is set, isPathValid will do circular collision checking.

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cel:173,acceler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,159,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151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ar_after_read:191,clear_around_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishveloc: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,covari:[87,187],cover:[2,28,116,151,156,170,177,178,182,187,188,190],coverag:[3,4,6,12,18,28,29,35,42,153,159,166,168,169,178],coverage_path:42,coverage_serv:95,coveragenavig:[42,89,168],cpp:[19,28,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,86,148,157,177,178,184],crash:[28,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,42,43,44,78,81,86,94,95,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[28,127,129,144,151,157,168],criterion:92,critic:[1,7,9,28,120,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_weight:99,cross:[146,148,153,170,171],crowd:[22,24,25,170],crtl:[148,149],crux:19,ctrl:148,cube:[171,174],cubic:92,cuda:7,cull:[22,53,168],current:[3,9,11,12,14,19,20,25,27,28,46,53,58,62,79,82,84,85,86,95,99,101,102,103,109,110,111,114,116,117,135,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[95,108,163,177],curvatur:[92,95,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[92,99,102],cusp_zone_length:92,custom:[10,18,19,20,22,24,25,27,28,57,58,78,80,87,88,89,95,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:158,cut:[134,135],cxprime:174,cyan:[92,176],cycl:[23,85,86,102,134,135,157,161],cycle_frequ:[88,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,86],damag:109,danc:187,danger:[92,153,192],dark:188,darker:190,dash:152,data:[1,4,7,9,10,27,28,85,86,89,91,99,105,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,178,180,183,184,187,188,190,191,192],data_typ:[94,115,119,174,191],dataset:184,date:[85,86,87,111,114,117,151,154],datum:187,david:[14,96,168],dcmake_build_typ:183,dco:150,deactiv:[28,97,161,164,165,166,178],dead:28,deadband:[109,157],deadband_veloc:109,deadlin:[86,88,89,93,101,107,109,110,159],deal:[7,28,173,175,177],dealloc:28,dealt:19,debug:[28,92,99,119,120,123,134,148,158,182,183],debug_optim:92,debug_trajectory_detail:[96,120,164],debug_visu:[134,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[87,99,113,168,174],decay_acceler:191,decay_model:191,decel_lim_i:[96,122],decel_lim_theta:[96,122],decel_lim_x:[96,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[23,87,159,175,176,178],decis:[171,187],declar:[61,63,148,151,156,159,161,163,164,165,188,190],declare_autostart_cmd:[188,190],declare_mask_yaml_file_cmd:[188,190],declare_namespace_cmd:[188,190],declare_paramet:166,declare_parameter_if_not_declar:[164,165],declare_params_file_cmd:[188,190],declare_use_sim_time_cmd:[188,190],declarelaunchargu:[173,176,188,190],declareparamet:163,decod:190,decor:[19,21,23,157,162,168,185,193],decoratornod:162,decreas:[99,158,191,192],decrement:163,dedic:14,deduc:182,deeper:[99,134,174],deepli:193,def:[157,176,188,190],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,155,162,166,185],default_control:45,default_critic_namespac:120,default_custom_ord:95,default_goal_check:48,default_headland_typ:95,default_headland_width:95,default_model_path:176,default_nav_through_poses_bt_xml:[89,166],default_nav_to_pose_bt_xml:[89,159,166],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:51,default_route_typ:95,default_rviz_config_path:176,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:111,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,19,27,28,42,45,48,51,55,60,61,63,81,85,86,88,89,93,94,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[28,47,54,89,158,161,163,166,173,174,176,178],deg:[95,99],degrad:[134,187],degre:[11,26,85,86,134,156,159,187],delai:[85,86,187],delet:[157,173],deliv:27,deliveri:1,deloc:52,delsei:[14,168],delta:108,demand:[28,164,165,187],demo:[8,10,23,28,157,159,171,178,187,188,190],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,86,147,157,159,163,187,191,192],deni:166,denois:[94,168],denoise_lay:[112,181],denoiselay:[112,181],denot:[174,182],dens:27,dense_qr:92,densiti:[87,95,99],depend:[19,28,86,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[23,92],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,92,156,157],depth:[28,86,94,115,119,168,170,174,175,176,184,191],depth_camera:174,depth_camera_control:174,deriv:[86,149,161,163,173,176,187],descent:[104,157],describ:[19,20,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[27,134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,1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,174,176,182,188,190],ssh:[148,149,182],stabil:[154,155,156,157,158,159],stabl:[102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,79,82,84,93,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[28,94,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[86,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,87,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[96,120],star:[29,170,177],start:[4,5,12,17,20,21,22,24,25,27,28,43,44,58,85,86,92,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,28,97,146,148,152,155,178,180,188,190],state:[3,15,17,20,22,24,25,27,62,86,92,93,94,96,97,99,102,103,106,109,111,127,129,133,152,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[86,158],statement:151,static_lay:[94,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[94,174],station:[28,170],statist:[4,9,183],statu:[18,28,151,157,161,162,188],status1:176,status:[27,166],std:[60,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[92,133,157,174,177,184],step:[20,28,86,88,95,99,174,176,182,183,184],step_siz:27,stereo:[86,180,184],stereolab:184,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,99,153,168,182,184],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,189,191],steven:153,sticki:1,still:[19,20,27,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,21,28,76,86,91,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[86,192],stoppedgoalcheck:[93,168],storag:[148,166],store:[87,94,115,119,148,153,158,163,164,166,174,175,183,187],stori:10,strace:148,strafe_theta:143,strafe_x:143,straight:[134,135,165,176,177,179],straightforward:174,strategi:[151,187],stream:157,streamlin:[147,149],stretch:149,strictli:[6,135,158],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:28,structur:[6,8,19,28,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,19,22,24,25,28,30,31,46,56,69,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[94,191],style:[22,24,25,177,191],sub:[0,22,24,25,157,159],subcommand:148,subfield:184,subject:[28,99,173],submit:[13,151,168],suboptim:[99,177,184],subproject:13,subscrib:[28,45,48,51,55,66,67,80,86,87,93,116,118,156,159,173,174,185,187],subscribe_to_upd:[94,118],subscript:[80,85,86,156,166,168,173,178],subsect:[148,174],subsequ:[20,28,87,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[89,176,185,188,190],subtleti:166,subtli:157,subtre:[18,20,22,23,24,25,28,39,40,41,90,162,168],succe:[19,20,76,77,168],succeed:[27,83,157,161,165],success:[14,19,20,23,28,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,99,156,157,158,161,162,168,176,181,187,194],successfulli:[1,19,28,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,19,28,99,135,144,166,181,183,184],suffix:183,suggest:[20,92,99,170,175,176],suit:[0,148],suitabl:[92,103,157,168,170,175,194],sum:[87,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summari:17,summer:[5,11],superior:158,suppli:[11,28,79,82,84,89],support:[2,6,13,14,27,28,45,48,51,55,85,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,27,89,99,115,119,146,147,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[28,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:28,swap:[157,158],swath:[42,95],sweep:[176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[28,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,86,87,93,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],systemat:178,systemdefaultsqo:166,sysv:182,tab:[146,171,174],tabl:[157,163,164,166,172,177,178],tackl:[171,172],tag:[147,148,157,162,173,174,176],tailor:170,take:[1,9,12,17,18,22,23,27,28,42,43,44,47,49,50,63,81,85,86,87,88,89,93,95,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","ROS to ROS 2 Navigation","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic 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cel:173,acceler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,159,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151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clear_after_read:191,clear_around_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishvel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,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[27,134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,18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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","ROS to ROS 2 Navigation","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General Tutorials"],titleterms:{"2021":0,"case":157,"default":[88,93,94,101,110,156,158,159],"export":[161,162,163,164,165,166],"long":158,"new":[3,154,155,156,157,158,159,161,162,163,164,165,166,178],"static":[118,175],"while":189,Added:[156,157,158,159],Adding:[173,174,176,178,179,193],And:25,For:159,GPS:[159,187],Into:184,Near:23,ROS:[5,11,17,28,94,158,182,183,184],The:[159,176],Use:157,Uses:[158,159],Using:[16,148,184,187,191,192,194],With:[19,25],about:14,academ:28,access:[158,159],ackermann:99,action:[20,28,90,155,156,157,159],activ:159,add:[159,162],added:159,advanc:12,algorithm:170,align:99,allow:[158,159],amcl:[87,157],analog:2,angl:[99,159],api:[27,157,158,159],appli:158,approach:157,architectur:154,areerrorcodespres:60,assist:[1,2,157],assistedteleop:[30,88],attribut:156,augment:184,automat:182,avail:159,backtrac:182,backup:[31,88,156],base:159,baseobstaclecrit:136,becom:25,behavior:[18,19,28,88,89,90,155,156,157,158,159,161,162,168,177,185,193],being:157,benchmark:158,binari:[111,147],block:159,bond:28,both:158,brand:8,bringup:[159,182,183],btactionserv:159,btservicenod:157,build:[146,147,148,171,173,174,176],cach:177,calibr:[26,180],camera:[180,184],cancel:157,cancelassistedteleop:32,cancelbackup:33,cancelcontrol:34,cancelcoverag:35,canceldriveonhead:36,cancelspin:37,cancelwait:38,capabl:155,certif:151,chang:[154,156,157,158,159],check:158,checker:[27,156,157,158,168],citat:153,cleararea:157,clearcostmaparoundrobot:[39,156],clearcostmapexceptregion:[40,156],clearentirecostmap:41,click:185,clock:159,code:[158,159,178],collis:[27,85,86,91,158,159,192],command:[27,157,158,159],common:[146,174],composit:[157,178],computecoveragepath:42,computepaththroughpos:[43,156],computepathtopos:[44,156],concept:28,conclus:[170,171,173,174,175,176,178,187],condit:[20,90],config:162,configur:[2,13,29,156,170,171,173,174,188,190,192,194],consist:25,constant:157,constrain:[92,157],constraint:99,constructor:158,contact:14,contain:[147,148,149],control:[3,20,28,90,93,96,99,103,120,156,157,158,164,168,170,177,194],controllerselector:45,controllerserv:156,convert:13,corner:157,costmap2d:[94,156,163,191],costmap:[27,28,94,98,99,155,156,158,159,168,174,188,190,191],costmap_2d_nod:158,costmaplay:157,costmapupd:159,could:159,coverag:95,crash:182,creat:[2,3,148,161,162,164,165,166,185],critic:[96,99,159],current_:156,curv:158,custom:[162,193],dash:154,dco:151,debug:159,deceler:158,decor:[20,90],demo:[27,173,175,192,194],denois:[112,158,181],depend:146,depreci:159,descript:[106,174],detail:19,detect:157,detector:[85,159],determin:11,dev:[148,149],develop:[147,150,151],direction:159,disabl:159,distanc:[157,158],distancecontrol:79,distancetravel:61,distribut:147,docker:147,doxygen:147,driveonhead:[46,88],drop:157,durat:159,dwb:[96,120,158],dynam:[4,21,157,159,185],each:155,ecosystem:13,edit:193,eloqu:[154,155],enabl:[159,163,181,188,190],enumer:159,enviro:186,environ:176,environment:[5,28],error:[158,159,178],estim:[28,184],euclidean:157,exampl:[27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,152,153,170],except:157,execut:[192,194],executor:[157,168],expand:158,expos:159,extend:157,extern:191,fail:159,failur:[146,158],failure_toler:156,familiar:179,featur:[85,86,159],feedback:[156,158],field:177,file:[158,159,161,164,165,166,173,174,182,183],filter:[28,94,98,111,114,117,155,156,158,168,181,188,190],first:172,fix:157,follow:[21,28,99,110,159,185,187],followpath:[47,156],followpoint:155,footprint:[27,28,171,177],form:28,format:159,forward:[99,158],foxi:[155,156],frame:159,framework:12,from:[158,159,182,183],full:159,fuse:184,galact:[156,157],gazebo:[157,173,174,187],gener:[99,147,155,195],get:[149,151,152,182,189],give:158,global:[28,159,184,187],globallyupdatedgo:62,goal:[23,99,156,157,158,159,168,186],goal_checker_id:156,goalaligncrit:137,goalcheckerselector:48,goaldistcrit:138,goalreach:63,goalupd:64,goalupdat:80,golai:[104,158],gradientlay:163,grid:5,groot:[156,157,193],guid:[29,146,148,150,160,172,177],halttre:159,handl:159,handler:99,help:147,heurist:177,horizon:99,how:[149,181],humbl:[157,158,169],hybrid:[134,159],ignor:157,imag:[147,148,174],improv:[6,157],includ:[157,158],induc:181,inflat:[99,113,177],info:[98,188,190],inform:156,initi:186,initialposereceiv:65,input:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,72,73,74,75,77,79,80,81,82,84],inputatwaypoint:130,instal:[147,152,191],integr:[4,10,99,158],interact:[187,193],interfac:[156,189],interpret:183,introduc:159,introduct:[20,159,171,173,174,175],invalid:[25,157],invert:157,involv:151,iron:[158,159,169],isbatterycharg:66,isbatterychargingcondit:158,isbatterylow:67,ispathvalid:68,isstuck:69,issu:146,iter:121,jazzi:[159,169],keepout:[114,188],kinemat:[122,157],larg:182,laserscan:174,lattic:135,l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