From 84e7e82f68824274e251e0f1fb16d5d44f89c0b5 Mon Sep 17 00:00:00 2001
From: navigation2-ci <navigation2-ci@circleci.com>
Date: Mon, 5 Feb 2024 21:40:47 +0000
Subject: [PATCH] [skip ci] publish latest

Signed-off-by: navigation2-ci <navigation2-ci@circleci.com>
---
 .../Summer_2021_Student_Program.html          |    6 +
 .../projects/assisted_teleop.html             |    6 +
 .../create_configuration_assistant.html       |    6 +
 2021summerOfCode/projects/create_plugins.html |    6 +
 2021summerOfCode/projects/dynamic.html        |    6 +
 2021summerOfCode/projects/grid_maps.html      |    6 +
 2021summerOfCode/projects/localization.html   |    6 +
 2021summerOfCode/projects/multithreading.html |    6 +
 .../projects/navigation_rebranding.html       |    6 +
 2021summerOfCode/projects/safety_node.html    |    6 +
 2021summerOfCode/projects/semantics.html      |    6 +
 2021summerOfCode/projects/spinners.html       |    6 +
 2021summerOfCode/projects/testing.html        |    6 +
 2021summerOfCode/projects/twist_n_config.html |    6 +
 _sources/configuration/index.rst.txt          |    1 +
 ...iguring-graceful-motion-controller.rst.txt |  232 +++
 _sources/migration/Iron.rst.txt               |    7 +
 _sources/plugins/index.rst.txt                |   51 +-
 about/index.html                              |    6 +
 about/related_projects.html                   |    6 +
 about/robots.html                             |    6 +
 behavior_trees/index.html                     |    6 +
 .../detailed_behavior_tree_walkthrough.html   |    6 +
 .../overview/nav2_specific_nodes.html         |    6 +
 behavior_trees/trees/follow_point.html        |    6 +
 .../trees/nav_through_poses_recovery.html     |    6 +
 ..._to_pose_and_pause_near_goal_obstacle.html |    6 +
 .../trees/nav_to_pose_recovery.html           |    6 +
 ...eplanning_and_if_path_becomes_invalid.html |    6 +
 .../trees/odometry_calibration.html           |    6 +
 commander_api/index.html                      |    6 +
 concepts/index.html                           |    6 +
 configuration/index.html                      |    7 +
 .../bt-plugins/actions/AssistedTeleop.html    |    6 +
 .../packages/bt-plugins/actions/BackUp.html   |    6 +
 .../actions/CancelAssistedTeleop.html         |    6 +
 .../bt-plugins/actions/CancelBackUp.html      |    6 +
 .../bt-plugins/actions/CancelControl.html     |    6 +
 .../bt-plugins/actions/CancelCoverage.html    |    6 +
 .../actions/CancelDriveOnHeading.html         |    6 +
 .../bt-plugins/actions/CancelSpin.html        |    6 +
 .../bt-plugins/actions/CancelWait.html        |    6 +
 .../actions/ClearCostmapAroundRobot.html      |    6 +
 .../actions/ClearCostmapExceptRegion.html     |    6 +
 .../actions/ClearEntireCostmap.html           |    6 +
 .../actions/ComputeCoveragePath.html          |    6 +
 .../actions/ComputePathThroughPoses.html      |    6 +
 .../bt-plugins/actions/ComputePathToPose.html |    6 +
 .../actions/ControllerSelector.html           |    6 +
 .../bt-plugins/actions/DriveOnHeading.html    |    6 +
 .../bt-plugins/actions/FollowPath.html        |    6 +
 .../actions/GoalCheckerSelector.html          |    6 +
 .../actions/NavigateThroughPoses.html         |    6 +
 .../bt-plugins/actions/NavigateToPose.html    |    6 +
 .../bt-plugins/actions/PlannerSelector.html   |    6 +
 .../ReinitializeGlobalLocalization.html       |    6 +
 .../bt-plugins/actions/RemovePassedGoals.html |    6 +
 .../packages/bt-plugins/actions/Smooth.html   |    6 +
 .../bt-plugins/actions/SmootherSelector.html  |    6 +
 .../packages/bt-plugins/actions/Spin.html     |    6 +
 .../bt-plugins/actions/TruncatePath.html      |    6 +
 .../bt-plugins/actions/TruncatePathLocal.html |    6 +
 .../packages/bt-plugins/actions/Wait.html     |    6 +
 .../conditions/AreErrorCodesPresent.html      |    6 +
 .../conditions/DistanceTraveled.html          |    6 +
 .../conditions/GloballyUpdatedGoal.html       |    6 +
 .../bt-plugins/conditions/GoalReached.html    |    6 +
 .../bt-plugins/conditions/GoalUpdated.html    |    6 +
 .../conditions/InitialPoseReceived.html       |    6 +
 .../conditions/IsBatteryCharging.html         |    6 +
 .../bt-plugins/conditions/IsBatteryLow.html   |    6 +
 .../bt-plugins/conditions/IsPathValid.html    |    6 +
 .../bt-plugins/conditions/IsStuck.html        |    6 +
 .../conditions/PathExpiringTimer.html         |    6 +
 .../bt-plugins/conditions/TimeExpired.html    |    6 +
 .../conditions/TransformAvailable.html        |    6 +
 .../WouldAControllerRecoveryHelp.html         |    6 +
 .../conditions/WouldAPlannerRecoveryHelp.html |    6 +
 .../WouldASmootherRecoveryHelp.html           |    6 +
 .../bt-plugins/controls/PipelineSequence.html |    6 +
 .../bt-plugins/controls/RecoveryNode.html     |    6 +
 .../bt-plugins/controls/RoundRobin.html       |    6 +
 .../decorators/DistanceController.html        |    6 +
 .../bt-plugins/decorators/GoalUpdater.html    |    6 +
 .../decorators/PathLongerOnApproach.html      |    6 +
 .../bt-plugins/decorators/RateController.html |    6 +
 .../bt-plugins/decorators/SingleTrigger.html  |    6 +
 .../decorators/SpeedController.html           |    6 +
 .../configuring-collision-detector-node.html  |    6 +
 .../configuring-collision-monitor-node.html   |    6 +
 configuration/packages/configuring-amcl.html  |    6 +
 .../packages/configuring-behavior-server.html |    6 +
 .../packages/configuring-bt-navigator.html    |    6 +
 .../packages/configuring-bt-xml.html          |    6 +
 .../configuring-collision-monitor.html        |    6 +
 .../configuring-constrained-smoother.html     |    6 +
 .../configuring-controller-server.html        |    6 +
 .../packages/configuring-costmaps.html        |    6 +
 .../packages/configuring-coverage-server.html |    6 +
 .../packages/configuring-dwb-controller.html  |    6 +
 ...onfiguring-graceful-motion-controller.html | 1437 +++++++++++++++++
 .../packages/configuring-lifecycle.html       |    6 +
 .../packages/configuring-map-server.html      |    8 +-
 configuration/packages/configuring-mppic.html |    6 +
 configuration/packages/configuring-navfn.html |    6 +
 .../packages/configuring-planner-server.html  |    6 +
 .../packages/configuring-regulated-pp.html    |    6 +
 .../configuring-rotation-shim-controller.html |    8 +-
 .../configuring-savitzky-golay-smoother.html  |    6 +
 .../packages/configuring-simple-smoother.html |    6 +
 .../packages/configuring-smac-planner.html    |    6 +
 .../packages/configuring-smoother-server.html |    6 +
 .../packages/configuring-thetastar.html       |    6 +
 .../configuring-velocity-smoother.html        |    6 +
 .../configuring-waypoint-follower.html        |    6 +
 .../costmap-plugins/binary_filter.html        |    6 +
 .../packages/costmap-plugins/denoise.html     |    6 +
 .../packages/costmap-plugins/inflation.html   |    6 +
 .../costmap-plugins/keepout_filter.html       |    6 +
 .../packages/costmap-plugins/obstacle.html    |    6 +
 .../packages/costmap-plugins/range.html       |    6 +
 .../costmap-plugins/speed_filter.html         |    6 +
 .../packages/costmap-plugins/static.html      |    6 +
 .../packages/costmap-plugins/voxel.html       |    6 +
 .../packages/dwb-params/controller.html       |    6 +
 .../packages/dwb-params/iterator.html         |    6 +
 .../packages/dwb-params/kinematic.html        |    6 +
 .../packages/dwb-params/visualization.html    |    6 +
 .../dwb-plugins/limited_accel_generator.html  |    6 +
 .../dwb-plugins/standard_traj_generator.html  |    6 +
 .../pose_progress_checker.html                |    6 +
 .../simple_goal_checker.html                  |    6 +
 .../simple_progress_checker.html              |    6 +
 .../stopped_goal_checker.html                 |    6 +
 .../input_at_waypoint.html                    |    6 +
 .../photo_at_waypoint.html                    |    6 +
 .../wait_at_waypoint.html                     |    6 +
 .../packages/smac/configuring-smac-2d.html    |    6 +
 .../smac/configuring-smac-hybrid.html         |    6 +
 .../smac/configuring-smac-lattice.html        |    6 +
 .../trajectory_critics/base_obstacle.html     |    6 +
 .../trajectory_critics/goal_align.html        |    6 +
 .../trajectory_critics/goal_dist.html         |    6 +
 .../obstacle_footprint.html                   |    6 +
 .../trajectory_critics/oscillation.html       |    6 +
 .../trajectory_critics/path_align.html        |    6 +
 .../trajectory_critics/path_dist.html         |    6 +
 .../trajectory_critics/prefer_forward.html    |    6 +
 .../trajectory_critics/rotate_to_goal.html    |    6 +
 .../packages/trajectory_critics/twirling.html |    6 +
 .../build_troubleshooting_guide.html          |    6 +
 development_guides/build_docs/index.html      |    6 +
 .../devcontainer_docs/devcontainer_guide.html |    6 +
 .../devcontainer_docs/index.html              |    6 +
 development_guides/index.html                 |    6 +
 .../involvement_docs/index.html               |    6 +
 genindex.html                                 |    6 +
 getting_started/index.html                    |    6 +
 index.html                                    |    6 +
 migration/Dashing.html                        |    6 +
 migration/Eloquent.html                       |    6 +
 migration/Foxy.html                           |    6 +
 migration/Galactic.html                       |    6 +
 migration/Humble.html                         |    6 +
 migration/Iron.html                           |   11 +
 migration/index.html                          |    6 +
 objects.inv                                   |  Bin 8347 -> 8395 bytes
 .../docs/writing_new_behavior_plugin.html     |    6 +
 .../docs/writing_new_bt_plugin.html           |    6 +
 .../docs/writing_new_costmap2d_plugin.html    |    6 +
 .../writing_new_nav2controller_plugin.html    |    6 +
 .../docs/writing_new_nav2planner_plugin.html  |    6 +
 .../docs/writing_new_navigator_plugin.html    |    6 +
 plugin_tutorials/index.html                   |    6 +
 plugins/index.html                            |   21 +-
 roadmap/roadmap.html                          |    6 +
 search.html                                   |    6 +
 searchindex.js                                |    2 +-
 setup_guides/algorithm/select_algorithm.html  |    6 +
 setup_guides/footprint/setup_footprint.html   |    6 +
 setup_guides/index.html                       |    6 +
 setup_guides/odom/setup_odom.html             |    6 +
 setup_guides/sensors/setup_sensors.html       |    6 +
 .../transformation/setup_transforms.html      |    6 +
 setup_guides/urdf/setup_urdf.html             |    6 +
 tuning/index.html                             |    6 +
 tutorials/docs/adding_a_nav2_task_server.html |    6 +
 tutorials/docs/adding_smoother.html           |    6 +
 tutorials/docs/camera_calibration.html        |    6 +
 .../filtering_of_noise-induced_obstacles.html |    6 +
 tutorials/docs/get_backtrace.html             |    6 +
 tutorials/docs/get_profile.html               |    6 +
 tutorials/docs/integrating_vio.html           |    6 +
 .../navigation2_dynamic_point_following.html  |    6 +
 .../docs/navigation2_on_real_turtlebot3.html  |    6 +
 tutorials/docs/navigation2_with_gps.html      |    6 +
 .../docs/navigation2_with_keepout_filter.html |    6 +
 tutorials/docs/navigation2_with_slam.html     |    6 +
 .../docs/navigation2_with_speed_filter.html   |    6 +
 tutorials/docs/navigation2_with_stvl.html     |    6 +
 tutorials/docs/using_collision_monitor.html   |    6 +
 tutorials/docs/using_groot.html               |    6 +
 tutorials/docs/using_shim_controller.html     |    6 +
 tutorials/index.html                          |    6 +
 204 files changed, 2907 insertions(+), 30 deletions(-)
 create mode 100644 _sources/configuration/packages/configuring-graceful-motion-controller.rst.txt
 create mode 100644 configuration/packages/configuring-graceful-motion-controller.html

diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
index 7a4b44638..7bc65d830 100644
--- a/2021summerOfCode/Summer_2021_Student_Program.html
+++ b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
index 352749bf7..139b56463 100644
--- a/2021summerOfCode/projects/assisted_teleop.html
+++ b/2021summerOfCode/projects/assisted_teleop.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
index 9efb470c5..26304dc85 100644
--- a/2021summerOfCode/projects/create_configuration_assistant.html
+++ b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
index 6b9b5e545..eb0559df9 100644
--- a/2021summerOfCode/projects/create_plugins.html
+++ b/2021summerOfCode/projects/create_plugins.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
index 282343d07..1b0c1b9d3 100644
--- a/2021summerOfCode/projects/dynamic.html
+++ b/2021summerOfCode/projects/dynamic.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
index c8d7b0871..8f4dc883c 100644
--- a/2021summerOfCode/projects/grid_maps.html
+++ b/2021summerOfCode/projects/grid_maps.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
index 8e8f7af84..86a5f9ed3 100644
--- a/2021summerOfCode/projects/localization.html
+++ b/2021summerOfCode/projects/localization.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
index 84504492c..096217536 100644
--- a/2021summerOfCode/projects/multithreading.html
+++ b/2021summerOfCode/projects/multithreading.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
index f48a27269..44ebaf552 100644
--- a/2021summerOfCode/projects/navigation_rebranding.html
+++ b/2021summerOfCode/projects/navigation_rebranding.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
index cb3701aba..37ba5fe06 100644
--- a/2021summerOfCode/projects/safety_node.html
+++ b/2021summerOfCode/projects/safety_node.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
index 8b3c9e837..84910b388 100644
--- a/2021summerOfCode/projects/semantics.html
+++ b/2021summerOfCode/projects/semantics.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
index 0533447da..6a4400712 100644
--- a/2021summerOfCode/projects/spinners.html
+++ b/2021summerOfCode/projects/spinners.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
index 299f0450e..f3f89e498 100644
--- a/2021summerOfCode/projects/testing.html
+++ b/2021summerOfCode/projects/testing.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
index 2db7f9969..4dafcb262 100644
--- a/2021summerOfCode/projects/twist_n_config.html
+++ b/2021summerOfCode/projects/twist_n_config.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/_sources/configuration/index.rst.txt b/_sources/configuration/index.rst.txt
index b085b32ea..50f00ed7a 100644
--- a/_sources/configuration/index.rst.txt
+++ b/_sources/configuration/index.rst.txt
@@ -23,6 +23,7 @@ the best navigation performance.
    packages/configuring-regulated-pp.rst
    packages/configuring-mppic.rst
    packages/configuring-rotation-shim-controller.rst
+   packages/configuring-graceful-motion-controller.rst
    packages/configuring-map-server.rst
    packages/configuring-amcl.rst
    packages/configuring-behavior-server.rst
diff --git a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt
new file mode 100644
index 000000000..6987b490b
--- /dev/null
+++ b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt
@@ -0,0 +1,232 @@
+.. _configuring_graceful_motion_controller:
+
+Graceful Motion Controller
+##########################
+
+Source code on Github_.
+
+.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller
+
+The graceful motion controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment" (ICRA 2011). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.
+
+See the package's ``README`` for more complete information.
+
+Graceful Motion Controller Parameters
+*************************************
+
+:transform_tolerance:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         0.1 
+  ============== ===========================
+
+  Description
+    The TF transform tolerance (s).
+
+:motion_target_dist:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.6
+  ============== =============================
+
+  Description
+    The lookahead distance (m) to use to find the motion_target point.
+
+:max_robot_pose_search_dist:
+
+  ============== =================================================
+  Type           Default
+  -------------- -------------------------------------------------
+  double         Local costmap max extent (max(width, height) / 2)
+  ============== =================================================
+
+  Description
+    Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. If set to ``-1``, it will use the maximum distance possible to search every point on the path for the nearest path point.
+
+:k_phi:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         3.0 
+  ============== =============================
+
+  Description
+    Ratio of the rate of change in phi to the rate of change in r. Controls the convergence of the slow subsystem. If this value is equal to zero, the controller will behave as a pure waypoint follower. A high value offers extreme scenario of pose-following where theta is reduced much faster than r.
+
+:k_delta:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         2.0 
+  ============== =============================
+
+  Description
+    Constant factor applied to the heading error feedback. Controls the convergence of the fast subsystem. The bigger the value, the robot converge faster to the reference heading.
+
+:beta:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.2 
+  ============== =============================
+
+  Description
+    Constant factor applied to the path curvature. This value must be positive. Determines how fast the velocity drops when the curvature increases.
+
+:lambda:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         2.0 
+  ============== =============================
+
+  Description
+   Constant factor applied to the path curvature. This value must be greater or equal to 1. Determines the sharpness of the curve: higher lambda implies sharper curves.
+
+:v_linear_min:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.1      
+  ============== =============================
+
+  Description
+    Minimum linear velocity (m/s).
+
+:v_linear_max:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.5 
+  ============== =============================
+
+  Description
+    Maximum linear velocity (m/s).
+
+:v_angular_max:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         1.0 
+  ============== =============================
+
+  Description
+    Maximum angular velocity (rad/s) produced by the control law.
+
+:slowdown_radius:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         1.5 
+  ============== =============================
+
+  Description
+    Radius (m) around the goal pose in which the robot will start to slow down.
+
+:initial_rotation:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  bool           true 
+  ============== =============================
+
+  Description
+    Enable a rotation in place to the goal before starting the path. The control law may generate large sweeping arcs to the goal pose, depending on the initial robot orientation and ``k_phi``, ``k_delta``.
+
+:initial_rotation_min_angle:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.75 
+  ============== =============================
+
+  Description
+    The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if ``initial_rotation`` is enabled.
+
+:final_rotation:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  bool           true 
+  ============== =============================
+
+  Description
+    Similar to ``initial_rotation``, the control law can generate large arcs when the goal orientation is not aligned with the path. If this is enabled, the final pose will be ignored and the robot will follow the orientation of he path and will make a final rotation in place to the goal orientation.
+
+:rotation_scaling_factor:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  double         0.5 
+  ============== =============================
+
+  Description
+    The scaling factor applied to the rotation in place velocity.
+
+:allow_backward:
+
+  ============== =============================
+  Type           Default                      
+  -------------- -----------------------------
+  bool           false 
+  ============== =============================
+
+  Description
+    Whether to allow the robot to move backward.
+
+Example
+*******
+.. code-block:: yaml
+
+  controller_server:
+    ros__parameters:
+      use_sim_time: True
+      controller_frequency: 20.0
+      min_x_velocity_threshold: 0.001
+      min_y_velocity_threshold: 0.5
+      min_theta_velocity_threshold: 0.001
+      progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
+      goal_checker_plugins: ["goal_checker"]
+      controller_plugins: ["FollowPath"]
+
+      progress_checker:
+        plugin: "nav2_controller::SimpleProgressChecker"
+        required_movement_radius: 0.5
+        movement_time_allowance: 10.0
+      goal_checker:
+        plugin: "nav2_controller::SimpleGoalChecker"
+        xy_goal_tolerance: 0.25
+        yaw_goal_tolerance: 0.25
+        stateful: True
+      FollowPath:
+        plugin: nav2_graceful_motion_controller::GracefulMotionController
+        transform_tolerance: 0.1
+        motion_target_dist: 0.6
+        initial_rotation: true
+        initial_rotation_min_angle: 0.75
+        final_rotation: true
+        allow_backward: false
+        k_phi: 3.0
+        k_delta: 2.0
+        beta: 0.4
+        lambda: 2.0
+        v_linear_min: 0.1
+        v_linear_max: 1.0
+        v_angular_max: 5.0
+        slowdown_radius: 1.5
diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt
index 41fdbc7e6..30fde7214 100644
--- a/_sources/migration/Iron.rst.txt
+++ b/_sources/migration/Iron.rst.txt
@@ -223,3 +223,10 @@ Full Stack Uses Node Clocks
 ***************************
 
 The stack no longer contains wall timers or wall rates. It will now use the node clocks. This will be ROS Time for simulation when ``use_sim_time`` is true. Else, it uses a steady clock.
+
+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
diff --git a/_sources/plugins/index.rst.txt b/_sources/plugins/index.rst.txt
index 69e062f7a..d1281e020 100644
--- a/_sources/plugins/index.rst.txt
+++ b/_sources/plugins/index.rst.txt
@@ -103,35 +103,40 @@ Costmap Filters
 Controllers
 ===========
 
-+----------------------------+--------------------+----------------------------------+-----------------------+
-|      Plugin Name           |       Creator      |       Description                | Drivetrain support    |
-+============================+====================+==================================+=======================+
-|  `DWB Controller`_         | David Lu!!         | A highly configurable  DWA       | Differential,         |
-|                            |                    | implementation with plugin       | Omnidirectional,      |
-|                            |                    | interfaces                       | Legged                |
-+----------------------------+--------------------+----------------------------------+-----------------------+
-|  `TEB Controller`_         | Christoph Rösmann  | A MPC-like controller suitable   | **Ackermann**, Legged,|
-|                            |                    | for ackermann, differential, and | Omnidirectional,      |
-|                            |                    | holonomic robots.                | Differential          |
-+----------------------------+--------------------+----------------------------------+-----------------------+
-| `Regulated Pure Pursuit`_  | Steve Macenski     | A service / industrial robot     | **Ackermann**, Legged,|
-|                            |                    | variation on the pure pursuit    | Differential          |
-|                            |                    | algorithm with adaptive features.|                       |
-+----------------------------+--------------------+----------------------------------+-----------------------+
-| `MPPI Controller`_         | Steve Macenski     | A predictive MPC controller with | Differential, Omni,   |
-|                            | Aleksei Budyakov   | modular & custom cost functions  | **Ackermann**         |
-|                            |                    | that can accomplish many tasks.  |                       |
-+----------------------------+--------------------+----------------------------------+-----------------------+
-| `Rotation Shim Controller`_| Steve Macenski     | A "shim" controller to rotate    | Differential, Omni,   |
-|                            |                    | to path heading before passing   | model rotate in place |
-|                            |                    | to main controller for  tracking.|                       |
-+----------------------------+--------------------+----------------------------------+-----------------------+
++--------------------------------+--------------------+----------------------------------+-----------------------+
+|      Plugin Name               |       Creator      |       Description                | Drivetrain support    |
++================================+====================+==================================+=======================+
+|  `DWB Controller`_             | David Lu!!         | A highly configurable  DWA       | Differential,         |
+|                                |                    | implementation with plugin       | Omnidirectional,      |
+|                                |                    | interfaces                       | Legged                |
++--------------------------------+--------------------+----------------------------------+-----------------------+
+|  `TEB Controller`_             | Christoph Rösmann  | A MPC-like controller suitable   | **Ackermann**, Legged,|
+|                                |                    | for ackermann, differential, and | Omnidirectional,      |
+|                                |                    | holonomic robots.                | Differential          |
++--------------------------------+--------------------+----------------------------------+-----------------------+
+| `Regulated Pure Pursuit`_      | Steve Macenski     | A service / industrial robot     | **Ackermann**, Legged,|
+|                                |                    | variation on the pure pursuit    | Differential          |
+|                                |                    | algorithm with adaptive features.|                       |
++--------------------------------+--------------------+----------------------------------+-----------------------+
+| `MPPI Controller`_             | Steve Macenski     | A predictive MPC controller with | Differential, Omni,   |
+|                                | Aleksei Budyakov   | modular & custom cost functions  | **Ackermann**         |
+|                                |                    | that can accomplish many tasks.  |                       |
++--------------------------------+--------------------+----------------------------------+-----------------------+
+| `Rotation Shim Controller`_    | Steve Macenski     | A "shim" controller to rotate    | Differential, Omni,   |
+|                                |                    | to path heading before passing   | model rotate in place |
+|                                |                    | to main controller for  tracking.|                       |
++--------------------------------+--------------------+----------------------------------+-----------------------+
+| `Graceful Motion Controller`_  | Alberto Tudela     | A controller based on a          | Differential          |
+|                                |                    | pose-following control law to    |                       |
+|                                |                    | generate smooth trajectories.    |                       |
++--------------------------------+--------------------+----------------------------------+-----------------------+
 
 .. _DWB Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_dwb_controller
 .. _TEB Controller: https://github.com/rst-tu-dortmund/teb_local_planner
 .. _Regulated Pure Pursuit: https://github.com/ros-planning/navigation2/tree/main/nav2_regulated_pure_pursuit_controller
 .. _Rotation Shim Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_rotation_shim_controller
 .. _MPPI Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_mppi_controller
+.. _Graceful Motion Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller
 
 Planners
 ========
diff --git a/about/index.html b/about/index.html
index 0b07fc306..10cf8e678 100644
--- a/about/index.html
+++ b/about/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/about/related_projects.html b/about/related_projects.html
index 123ac8e45..20e6d83d5 100644
--- a/about/related_projects.html
+++ b/about/related_projects.html
@@ -679,6 +679,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -955,6 +960,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/about/robots.html b/about/robots.html
index b5f33aeb0..f1e687eb3 100644
--- a/about/robots.html
+++ b/about/robots.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/index.html b/behavior_trees/index.html
index 81c9ca33f..d871a31b7 100644
--- a/behavior_trees/index.html
+++ b/behavior_trees/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
index 24e48d21c..507f0e71d 100644
--- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
+++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
index e8cea797c..22b91fdce 100644
--- a/behavior_trees/overview/nav2_specific_nodes.html
+++ b/behavior_trees/overview/nav2_specific_nodes.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
index 96c2e68c8..016e101c2 100644
--- a/behavior_trees/trees/follow_point.html
+++ b/behavior_trees/trees/follow_point.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
index 739682673..121c8c09a 100644
--- a/behavior_trees/trees/nav_through_poses_recovery.html
+++ b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
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 38acbb317..f43f22d44 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
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
index eaa7bbc80..9e3be30a5 100644
--- a/behavior_trees/trees/nav_to_pose_recovery.html
+++ b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
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 1aa31e3ac..fcdcd8c43 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
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html
index a7e704443..9609d50f2 100644
--- a/behavior_trees/trees/odometry_calibration.html
+++ b/behavior_trees/trees/odometry_calibration.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/commander_api/index.html b/commander_api/index.html
index 2513fe825..571f1c6e2 100644
--- a/commander_api/index.html
+++ b/commander_api/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/concepts/index.html b/concepts/index.html
index d2636b584..d46668662 100644
--- a/concepts/index.html
+++ b/concepts/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/index.html b/configuration/index.html
index cab0db422..2650b4371 100644
--- a/configuration/index.html
+++ b/configuration/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
@@ -1031,6 +1037,7 @@
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-regulated-pp.html">Regulated Pure Pursuit</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-mppic.html">Model Predictive Path Integral Controller</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-rotation-shim-controller.html">Rotation Shim Controller</a></li>
+<li class="toctree-l1"><a class="reference internal" href="packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-map-server.html">Map Server / Saver</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-amcl.html">AMCL</a></li>
 <li class="toctree-l1"><a class="reference internal" href="packages/configuring-behavior-server.html">Behavior Server</a></li>
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index 309b5c63c..b09c8bc9f 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html
index 0b414b84c..e28246bb4 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.html
+++ b/configuration/packages/bt-plugins/actions/BackUp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
index 28f8a448a..9eccf16f3 100644
--- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html
index 6adab4401..393f4db38 100644
--- a/configuration/packages/bt-plugins/actions/CancelBackUp.html
+++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html
index 38ef787cb..4a684b0ab 100644
--- a/configuration/packages/bt-plugins/actions/CancelControl.html
+++ b/configuration/packages/bt-plugins/actions/CancelControl.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelCoverage.html b/configuration/packages/bt-plugins/actions/CancelCoverage.html
index 6b201807e..9a9c8bb95 100644
--- a/configuration/packages/bt-plugins/actions/CancelCoverage.html
+++ b/configuration/packages/bt-plugins/actions/CancelCoverage.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
index a0e1f85fc..7dfba9562 100644
--- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html
index 408cb5029..894cdb376 100644
--- a/configuration/packages/bt-plugins/actions/CancelSpin.html
+++ b/configuration/packages/bt-plugins/actions/CancelSpin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html
index bbb8f2361..0c17d99e0 100644
--- a/configuration/packages/bt-plugins/actions/CancelWait.html
+++ b/configuration/packages/bt-plugins/actions/CancelWait.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
index 5b6bc4e27..ecd04fd50 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
index abad7fa15..3cef6e79d 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
index 96086756d..ec0f21d15 100644
--- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
+++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
index 454fb4dba..80f750d82 100644
--- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
+++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index 8d965c9fc..e6ccc5bb9 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index 44b468592..1cb8d692f 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html
index dae491eaf..cd573d057 100644
--- a/configuration/packages/bt-plugins/actions/ControllerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
index 2c83196a4..3dd44ef0f 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html
index f8df06113..4c97fcec9 100644
--- a/configuration/packages/bt-plugins/actions/FollowPath.html
+++ b/configuration/packages/bt-plugins/actions/FollowPath.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
index d44888698..d457798f7 100644
--- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index 6e2342881..4199ff2fa 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html
index 612c6dc20..a42fb3aa0 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.html
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html
index a3910d686..599c156fe 100644
--- a/configuration/packages/bt-plugins/actions/PlannerSelector.html
+++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
index 4e396ea6d..6b02ce63c 100644
--- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
+++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
index 5b90c45f4..f463fbdfe 100644
--- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
+++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html
index 78ce33504..9e938f647 100644
--- a/configuration/packages/bt-plugins/actions/Smooth.html
+++ b/configuration/packages/bt-plugins/actions/Smooth.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html
index 3ba5b16e2..80f00765e 100644
--- a/configuration/packages/bt-plugins/actions/SmootherSelector.html
+++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html
index b790c5926..7b1b92394 100644
--- a/configuration/packages/bt-plugins/actions/Spin.html
+++ b/configuration/packages/bt-plugins/actions/Spin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html
index 100ae429b..964324c7a 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePath.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePath.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
index 039264a9d..03f57106c 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html
index 1d600b974..e2559bc5d 100644
--- a/configuration/packages/bt-plugins/actions/Wait.html
+++ b/configuration/packages/bt-plugins/actions/Wait.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
index 65de30408..32c7cc563 100644
--- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
+++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
index a9e1fc841..ed939a9ae 100644
--- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
+++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
index c6b9aae01..a61b11038 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html
index 3eddd2e85..27ec4063f 100644
--- a/configuration/packages/bt-plugins/conditions/GoalReached.html
+++ b/configuration/packages/bt-plugins/conditions/GoalReached.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
index ec3b59fb6..53822e606 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
index e3bc7977f..579eb6648 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
index 746e445e5..e86d30fbf 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
index a486a172f..e0e6beaae 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html
index d917b496a..16628d41d 100644
--- a/configuration/packages/bt-plugins/conditions/IsPathValid.html
+++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html
index 0cb6a7d7b..0c42c939d 100644
--- a/configuration/packages/bt-plugins/conditions/IsStuck.html
+++ b/configuration/packages/bt-plugins/conditions/IsStuck.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
index 2d79d0e61..efca6c5fa 100644
--- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
+++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html
index e6a721ac2..facf02d35 100644
--- a/configuration/packages/bt-plugins/conditions/TimeExpired.html
+++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
index 1c14f7418..51779a946 100644
--- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html
+++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
index 90bb6e2bd..66df7e485 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
index a365cc795..4427e29e6 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
index 9762ca16b..43e735ec3 100644
--- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html
index dd241f534..44e85ff72 100644
--- a/configuration/packages/bt-plugins/controls/PipelineSequence.html
+++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html
index 9d5c6fd2d..590c376a3 100644
--- a/configuration/packages/bt-plugins/controls/RecoveryNode.html
+++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html
index dc019df94..bf7572a3a 100644
--- a/configuration/packages/bt-plugins/controls/RoundRobin.html
+++ b/configuration/packages/bt-plugins/controls/RoundRobin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html
index 4a412a81f..08383c9de 100644
--- a/configuration/packages/bt-plugins/decorators/DistanceController.html
+++ b/configuration/packages/bt-plugins/decorators/DistanceController.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
index 4df5ee2ab..37114e1d2 100644
--- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html
+++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
index 49a48fca5..fd063e288 100644
--- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
+++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html
index 5b1a99841..ac3c6acc9 100644
--- a/configuration/packages/bt-plugins/decorators/RateController.html
+++ b/configuration/packages/bt-plugins/decorators/RateController.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
index c56093758..8d8475136 100644
--- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html
+++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
index 22e3f99a6..8a6629281 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.html
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 393a6ec41..2e4a398b2 100644
--- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 d9a8fbfe1..a769086b2 100644
--- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
+++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html
index 021e243c3..3f739c0a5 100644
--- a/configuration/packages/configuring-amcl.html
+++ b/configuration/packages/configuring-amcl.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index a3b77580a..776d7623d 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index 02076884e..c1799d76d 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html
index 3cf391250..b543d8aad 100644
--- a/configuration/packages/configuring-bt-xml.html
+++ b/configuration/packages/configuring-bt-xml.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html
index 2f4ec1f08..d28d83560 100644
--- a/configuration/packages/configuring-collision-monitor.html
+++ b/configuration/packages/configuring-collision-monitor.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html
index af5db8013..a4b0d0847 100644
--- a/configuration/packages/configuring-constrained-smoother.html
+++ b/configuration/packages/configuring-constrained-smoother.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html
index c2369c38c..0e72d2903 100644
--- a/configuration/packages/configuring-controller-server.html
+++ b/configuration/packages/configuring-controller-server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html
index 50beb62c5..ebd20f187 100644
--- a/configuration/packages/configuring-costmaps.html
+++ b/configuration/packages/configuring-costmaps.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html
index 19289ee6c..e34b727dd 100644
--- a/configuration/packages/configuring-coverage-server.html
+++ b/configuration/packages/configuring-coverage-server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html
index 1d1b5442f..b68116f99 100644
--- a/configuration/packages/configuring-dwb-controller.html
+++ b/configuration/packages/configuring-dwb-controller.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html
new file mode 100644
index 000000000..db5ca51b5
--- /dev/null
+++ b/configuration/packages/configuring-graceful-motion-controller.html
@@ -0,0 +1,1437 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en">
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Graceful Motion Controller &mdash; Nav2 1.0.0 documentation</title><link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
+    <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
+      <link rel="stylesheet" type="text/css" href="../../_static/graphviz.css" />
+
+  
+    <link rel="shortcut icon" href="../../_static/nav2_48x48.png"/>
+  <!--[if lt IE 9]>
+    <script src="../../_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  <script id="documentation_options" data-url_root="../../" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
+        <script src="../../_static/underscore.js"></script>
+        <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
+    <script src="../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../genindex.html" />
+    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="next" title="Map Server / Saver" href="configuring-map-server.html" />
+    <link rel="prev" title="Rotation Shim Controller" href="configuring-rotation-shim-controller.html" />
+
+<link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
+
+
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+
+          
+          
+          <a href="../../index.html" class="icon icon-home">
+            Nav2
+              <img src="../../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
+          </a>
+              <div class="version">
+                latest
+              </div>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../../getting_started/index.html">Getting Started</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#installation">Installation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#running-the-example">Running the Example</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../getting_started/index.html#navigating">Navigating</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#docker-container-images">Docker Container Images</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#generate-doxygen">Generate Doxygen</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#help">Help</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/build_troubleshooting_guide.html">Build Troubleshooting Guide</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html">Dev Containers</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/devcontainer_docs/devcontainer_guide.html">Dev Container Guide</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/devcontainer_docs/devcontainer_guide.html#creating-dev-containers">Creating Dev Containers</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/devcontainer_docs/devcontainer_guide.html#using-dev-containers">Using Dev Containers</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#what-why-how">What, Why, How?</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#what-is-a-dev-container">What is a Dev Container?</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#why-use-a-dev-container">Why use a Dev Container?</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#how-do-dev-containers-work">How do Dev Containers work?</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#prerequisites">Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#getting-started">Getting started</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/devcontainer_docs/index.html#security">Security</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../development_guides/involvement_docs/index.html">Getting Involved</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/involvement_docs/index.html#id1">Getting Involved</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/involvement_docs/index.html#process">Process</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/involvement_docs/index.html#licensing">Licensing</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/involvement_docs/index.html#developer-certification-of-origin-dco">Developer Certification of Origin (DCO)</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../concepts/index.html">Navigation Concepts</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#ros-2">ROS 2</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#action-server">Action Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#lifecycle-nodes-and-bond">Lifecycle Nodes and Bond</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#behavior-trees">Behavior Trees</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#navigation-servers">Navigation Servers</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#planner-controller-smoother-and-recovery-servers">Planner, Controller, Smoother and Recovery Servers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#planners">Planners</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#controllers">Controllers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#behaviors">Behaviors</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#smoothers">Smoothers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#robot-footprints">Robot Footprints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#waypoint-following">Waypoint Following</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#state-estimation">State Estimation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#standards">Standards</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#global-positioning-localization-and-slam">Global Positioning: Localization and SLAM</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#odometry">Odometry</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#environmental-representation">Environmental Representation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#costmaps-and-layers">Costmaps and Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#costmap-filters">Costmap Filters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../concepts/index.html#other-forms">Other Forms</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../concepts/index.html#nav2-academic-overview">Nav2 Academic Overview</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../setup_guides/index.html">First-Time Robot Setup Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/transformation/setup_transforms.html">Setting Up Transformations</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/transformation/setup_transforms.html#transforms-introduction">Transforms Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/transformation/setup_transforms.html#static-transform-publisher-demo">Static Transform Publisher Demo</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/transformation/setup_transforms.html#transforms-in-navigation2">Transforms in Navigation2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/transformation/setup_transforms.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html">Setting Up The URDF</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#urdf-and-the-robot-state-publisher">URDF and the Robot State Publisher</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#setting-up-the-environment">Setting Up the Environment</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#writing-the-urdf">Writing the URDF</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#build-and-launch">Build and Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#visualization-using-rviz">Visualization using RVIZ</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#adding-physical-properties">Adding Physical Properties</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/urdf/setup_urdf.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html">Setting Up Odometry</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#odometry-introduction">Odometry Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#setting-up-odometry-on-your-robot">Setting Up Odometry on your Robot</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#simulating-an-odometry-system-using-gazebo">Simulating an Odometry System using Gazebo</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#setup-and-prerequisites">Setup and Prerequisites</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#adding-gazebo-plugins-to-a-urdf">Adding Gazebo Plugins to a URDF</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#launch-and-build-files">Launch and Build Files</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#build-run-and-verification">Build, Run and Verification</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#robot-localization-demo">Robot Localization Demo</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#configuring-robot-localization">Configuring Robot Localization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#id3">Launch and Build Files</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#id4">Build, Run and Verification</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/odom/setup_odom.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html">Setting Up Sensors</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#sensor-introduction">Sensor Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#common-sensor-messages">Common Sensor Messages</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#simulating-sensors-using-gazebo">Simulating Sensors using Gazebo</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#adding-gazebo-plugins-to-a-urdf">Adding Gazebo Plugins to a URDF</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#launch-and-build-files">Launch and Build Files</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#build-run-and-verification">Build, Run and Verification</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#mapping-and-localization">Mapping and Localization</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#costmap-2d">Costmap 2D</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#configuring-nav2-costmap-2d">Configuring nav2_costmap_2d</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#id2">Build, Run and Verification</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/sensors/setup_sensors.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html">Setting Up the Robot’s Footprint</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html#footprint-introduction">Footprint Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html#configuring-the-robot-s-footprint">Configuring the Robot’s Footprint</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html#build-run-and-verification">Build, Run and Verification</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html#visualizing-footprint-in-rviz">Visualizing Footprint in RViz</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/footprint/setup_footprint.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html">Setting Up Navigation Plugins</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html#planner-and-controller-servers">Planner and Controller Servers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html#selecting-the-algorithm-plugins">Selecting the Algorithm Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html#planner-server">Planner Server</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html#controller-server">Controller Server</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../setup_guides/algorithm/select_algorithm.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../about/robots.html">Robots Using</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../tutorials/index.html">General Tutorials</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html">Navigating with a Physical Turtlebot 3</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#setup-your-enviroment-variables">0- Setup Your Enviroment Variables</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-turtlebot-3">1- Launch Turtlebot 3</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-nav2">2- Launch Nav2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-rviz">3-  Launch RVIZ</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#initialize-the-location-of-turtlebot-3">4- Initialize the Location of Turtlebot 3</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_on_real_turtlebot3.html#send-a-goal-pose">5-  Send a Goal Pose</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html">(SLAM) Navigating While Mapping</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#launch-robot-interfaces">0- Launch Robot Interfaces</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#launch-navigation2">1- Launch Navigation2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#launch-slam">2- Launch SLAM</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#working-with-slam">3- Working with SLAM</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_slam.html#getting-started-simplification">4- Getting Started Simplification</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html">(STVL) Using an External Costmap Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#costmap2d-and-stvl">Costmap2D and STVL</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#setup">0- Setup</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#install-stvl">1- Install STVL</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#modify-navigation2-parameter">1- Modify Navigation2 Parameter</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#launch-navigation2">2- Launch Navigation2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_stvl.html#rviz">3-  RVIZ</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html">Navigating Using GPS Localization</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#gps-localization-overview">GPS Localization Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#setup-gazebo-world">0- Setup Gazebo World</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#setup-gps-localization-system">1- Setup GPS Localization system</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#setup-navigation-system">2- Setup Navigation system</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#interactive-gps-waypoint-follower">3-  Interactive GPS Waypoint Follower</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#logged-gps-waypoint-follower-waypoint-logging">4-  Logged GPS Waypoint Follower &amp; Waypoint Logging</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_gps.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_groot.html">Groot - Interacting with Behavior Trees</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_groot.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_groot.html#visualize-behavior-trees">Visualize Behavior Trees</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_groot.html#edit-behavior-trees">Edit Behavior Trees</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_groot.html#adding-a-custom-node">Adding A Custom Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/camera_calibration.html">Camera Calibration</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/camera_calibration.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/camera_calibration.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/camera_calibration.html#tutorial-steps">Tutorial Steps</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html">Get Backtrace in ROS 2 / Nav2</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#preliminaries">Preliminaries</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#from-a-node">From a Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#from-a-launch-file">From a Launch File</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#from-large-project">From Large Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#from-nav2-bringup">From Nav2 Bringup</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_backtrace.html#automatic-backtrace-on-crash">Automatic backtrace on crash</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/get_profile.html">Profiling in ROS 2 / Nav2</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#preliminaries">Preliminaries</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#profile-from-a-node">Profile from a Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#profile-from-a-launch-file">Profile from a Launch File</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#from-nav2-bringup">From Nav2 Bringup</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/get_profile.html#interpreting-results">Interpreting Results</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html">Using VIO to Augment Robot Odometry</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#setting-up-the-zed-x-camera">Setting Up the ZED X Camera</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#setting-up-zed-ros">Setting Up ZED ROS</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#fusing-vio-into-local-state-estimate">Fusing VIO Into Local State Estimate</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#fusing-vslam-into-global-state-estimate">Fusing VSLAM Into Global State Estimate</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/integrating_vio.html#testing-it-out">Testing it Out!</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html">Dynamic Object Following</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#create-the-behavior-tree">0- Create the Behavior Tree</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#setup-rviz-clicked-point">1- Setup Rviz clicked point</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_dynamic_point_following.html#run-dynamic-object-following-in-nav2-simulation">2- Run Dynamic Object Following in Nav2 Simulation</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html">Navigating with Keepout Zones</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#prepare-filter-mask">1. Prepare filter mask</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#configure-costmap-filter-info-publisher-server">2. Configure Costmap Filter Info Publisher Server</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#enable-keepout-filter">3. Enable Keepout Filter</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_keepout_filter.html#run-nav2-stack">4. Run Nav2 stack</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html">Navigating with Speed Limits</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#prepare-filter-mask">1. Prepare filter mask</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#configure-costmap-filter-info-publisher-server">2. Configure Costmap Filter Info Publisher Server</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#enable-speed-filter">3. Enable Speed Filter</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/navigation2_with_speed_filter.html#run-nav2-stack">4. Run Nav2 stack</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html">Using Rotation Shim Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#what-is-the-rotation-shim-controller">What is the Rotation Shim Controller?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#configuring-rotation-shim-controller">Configuring Rotation Shim Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#configuring-primary-controller">Configuring Primary Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_shim_controller.html#demo-execution">Demo Execution</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html">Adding a Smoother to a BT</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#familiarization-with-the-smoother-bt-node">0- Familiarization with the Smoother BT Node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#specifying-a-smoother-plugin">1- Specifying a Smoother Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/adding_smoother.html#modifying-your-bt-xml">2- Modifying your BT XML</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html">Using Collision Monitor</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor">Configuring Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#configuring-collision-monitor-with-velocitypolygon">Configuring Collision Monitor with VelocityPolygon</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#preparing-nav2-stack">Preparing Nav2 stack</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/using_collision_monitor.html#demo-execution">Demo Execution</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/adding_a_nav2_task_server.html">Adding a New Nav2 Task Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_a_nav2_task_server.html#lifecycle-nodes">Lifecycle Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_a_nav2_task_server.html#composition">Composition</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_a_nav2_task_server.html#error-codes">Error codes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/adding_a_nav2_task_server.html#conclusion">Conclusion</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html">Filtering of Noise-Induced Obstacles</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#enable-denoise-layer">1. Enable Denoise Layer</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#run-nav2-stack">2. Run Nav2 stack</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../../tutorials/docs/filtering_of_noise-induced_obstacles.html#how-it-works">How it works</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../plugin_tutorials/index.html">Plugin Tutorials</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html">Writing a New Costmap2D Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#write-a-new-costmap2d-plugin">1- Write a new Costmap2D plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#export-and-make-gradientlayer-plugin">2- Export and make GradientLayer plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#enable-the-plugin-in-costmap2d">3- Enable the plugin in Costmap2D</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_costmap2d_plugin.html#run-gradientlayer-plugin">4- Run GradientLayer plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html">Writing a New Planner Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#creating-a-new-planner-plugin">1- Creating a new Planner Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#exporting-the-planner-plugin">2- Exporting the planner plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#pass-the-plugin-name-through-params-file">3- Pass the plugin name through params file</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2planner_plugin.html#run-straightline-plugin">4- Run StraightLine plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html">Writing a New Controller Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#create-a-new-controller-plugin">1- Create a new Controller Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#exporting-the-controller-plugin">2- Exporting the controller plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#pass-the-plugin-name-through-the-params-file">3- Pass the plugin name through the params file</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_nav2controller_plugin.html#run-pure-pursuit-controller-plugin">4- Run Pure Pursuit Controller plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html">Writing a New Behavior Tree Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#creating-a-new-bt-plugin">1- Creating a new BT Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#exporting-the-planner-plugin">2- Exporting the planner plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#add-plugin-library-name-to-config">3- Add plugin library name to config</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_bt_plugin.html#run-your-custom-plugin">4- Run Your Custom plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html">Writing a New Behavior Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#creating-a-new-behavior-plugin">1- Creating a new Behavior Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#exporting-the-behavior-plugin">2- Exporting the Behavior Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#pass-the-plugin-name-through-params-file">3- Pass the plugin name through params file</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_behavior_plugin.html#run-behavior-plugin">4- Run Behavior Plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html">Writing a New Navigator Plugin</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#requirements">Requirements</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#tutorial-steps">Tutorial Steps</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#create-a-new-navigator-plugin">1- Create a new Navigator Plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#exporting-the-navigator-plugin">2- Exporting the navigator plugin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#pass-the-plugin-name-through-the-params-file">3- Pass the plugin name through the params file</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../plugin_tutorials/docs/writing_new_navigator_plugin.html#run-plugin">4- Run plugin</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Configuration Guide</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="configuring-bt-navigator.html">Behavior-Tree Navigator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-navigator.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-navigator.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-bt-xml.html">Behavior Tree XML Nodes</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-xml.html#action-plugins">Action Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/Wait.html">Wait</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/Spin.html">Spin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/BackUp.html">BackUp</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/DriveOnHeading.html">DriveOnHeading</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/AssistedTeleop.html">AssistedTeleop</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ComputePathToPose.html">ComputePathToPose</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/FollowPath.html">FollowPath</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/NavigateToPose.html">NavigateToPose</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ClearEntireCostmap.html">ClearEntireCostmap</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ClearCostmapExceptRegion.html">ClearCostmapExceptRegion</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ClearCostmapAroundRobot.html">ClearCostmapAroundRobot</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ReinitializeGlobalLocalization.html">ReinitializeGlobalLocalization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/TruncatePath.html">TruncatePath</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/TruncatePathLocal.html">TruncatePathLocal</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/PlannerSelector.html">PlannerSelector</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ControllerSelector.html">ControllerSelector</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/SmootherSelector.html">SmootherSelector</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/GoalCheckerSelector.html">GoalCheckerSelector</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/NavigateThroughPoses.html">NavigateThroughPoses</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ComputePathThroughPoses.html">ComputePathThroughPoses</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/ComputeCoveragePath.html">ComputeCoveragePath</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelCoverage.html">CancelCoverage</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/RemovePassedGoals.html">RemovePassedGoals</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelControl.html">CancelControl</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelBackUp.html">CancelBackUp</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelSpin.html">CancelSpin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelWait.html">CancelWait</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelDriveOnHeading.html">CancelDriveOnHeading</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/CancelAssistedTeleop.html">CancelAssistedTeleop</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/actions/Smooth.html">SmoothPath</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-xml.html#condition-plugins">Condition Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/GoalReached.html">GoalReached</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/TransformAvailable.html">TransformAvailable</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/DistanceTraveled.html">DistanceTraveled</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/GoalUpdated.html">GoalUpdated</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/GloballyUpdatedGoal.html">GloballyUpdatedGoal</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/InitialPoseReceived.html">InitialPoseReceived</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/IsStuck.html">IsStuck</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/TimeExpired.html">TimeExpired</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/IsBatteryLow.html">IsBatteryLow</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/IsPathValid.html">IsPathValid</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/PathExpiringTimer.html">PathExpiringTimer</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/AreErrorCodesPresent.html">AreErrorCodesPresent</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/WouldAControllerRecoveryHelp.html">WouldAControllerRecoveryHelp</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/WouldAPlannerRecoveryHelp.html">WouldAPlannerRecoveryHelp</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/WouldASmootherRecoveryHelp.html">WouldASmootherRecoveryHelp</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/conditions/IsBatteryCharging.html">IsBatteryCharging</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-xml.html#control-plugins">Control Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/controls/PipelineSequence.html">PipelineSequence</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/controls/RoundRobin.html">RoundRobin</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/controls/RecoveryNode.html">RecoveryNode</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-xml.html#decorator-plugins">Decorator Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/RateController.html">RateController</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/DistanceController.html">DistanceController</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/SpeedController.html">SpeedController</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/GoalUpdater.html">GoalUpdater</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/PathLongerOnApproach.html">PathLongerOnApproach</a></li>
+<li class="toctree-l4"><a class="reference internal" href="bt-plugins/decorators/SingleTrigger.html">SingleTrigger</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-bt-xml.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-costmaps.html">Costmap 2D</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-costmaps.html#costmap2d-ros-parameters">Costmap2D ROS Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-costmaps.html#default-plugins">Default Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-costmaps.html#plugin-parameters">Plugin Parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/static.html">Static Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/inflation.html">Inflation Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/obstacle.html">Obstacle Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/voxel.html">Voxel Layer Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/range.html">Range Sensor Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/denoise.html">Denoise Layer Parameters</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-costmaps.html#costmap-filters-parameters">Costmap Filters Parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/keepout_filter.html">Keepout Filter Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/speed_filter.html">Speed Filter Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="costmap-plugins/binary_filter.html">Binary Filter Parameters</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-costmaps.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-lifecycle.html">Lifecycle Manager</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-lifecycle.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-lifecycle.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-planner-server.html">Planner Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-planner-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-planner-server.html#default-plugins">Default Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-planner-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-coverage-server.html">Coverage Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-coverage-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-coverage-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-navfn.html">NavFn Planner</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-navfn.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-navfn.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-smac-planner.html">Smac Planner</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-smac-planner.html#provided-plugins">Provided Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="smac/configuring-smac-2d.html">Smac 2D Planner</a></li>
+<li class="toctree-l4"><a class="reference internal" href="smac/configuring-smac-hybrid.html">Smac Hybrid-A* Planner</a></li>
+<li class="toctree-l4"><a class="reference internal" href="smac/configuring-smac-lattice.html">Smac State Lattice Planner</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-smac-planner.html#description">Description</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-thetastar.html">Theta Star Planner</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-thetastar.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-thetastar.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-controller-server.html">Controller Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-controller-server.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-controller-server.html#provided-plugins">Provided Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="nav2_controller-plugins/simple_progress_checker.html">SimpleProgressChecker</a></li>
+<li class="toctree-l4"><a class="reference internal" href="nav2_controller-plugins/pose_progress_checker.html">PoseProgressChecker</a></li>
+<li class="toctree-l4"><a class="reference internal" href="nav2_controller-plugins/simple_goal_checker.html">SimpleGoalChecker</a></li>
+<li class="toctree-l4"><a class="reference internal" href="nav2_controller-plugins/stopped_goal_checker.html">StoppedGoalChecker</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-controller-server.html#default-plugins">Default Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-controller-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-dwb-controller.html">DWB Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-dwb-controller.html#controller">Controller</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="dwb-params/controller.html">DWB Controller</a></li>
+<li class="toctree-l4"><a class="reference internal" href="dwb-params/iterator.html">XYTheta Iterator</a></li>
+<li class="toctree-l4"><a class="reference internal" href="dwb-params/kinematic.html">Kinematic Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="dwb-params/visualization.html">Publisher</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-dwb-controller.html#plugins">Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="dwb-plugins/limited_accel_generator.html">LimitedAccelGenerator</a></li>
+<li class="toctree-l4"><a class="reference internal" href="dwb-plugins/standard_traj_generator.html">StandardTrajectoryGenerator</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-dwb-controller.html#trajectory-critics">Trajectory Critics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/base_obstacle.html">BaseObstacleCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/goal_align.html">GoalAlignCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/goal_dist.html">GoalDistCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/obstacle_footprint.html">ObstacleFootprintCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/oscillation.html">OscillationCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/path_align.html">PathAlignCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/path_dist.html">PathDistCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/prefer_forward.html">PreferForwardCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/rotate_to_goal.html">RotateToGoalCritic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="trajectory_critics/twirling.html">TwirlingCritic</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-dwb-controller.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-regulated-pp.html">Regulated Pure Pursuit</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-regulated-pp.html#regulated-pure-pursuit-parameters">Regulated Pure Pursuit Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-regulated-pp.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-mppic.html">Model Predictive Path Integral Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-mppic.html#mppi-parameters">MPPI Parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#trajectory-visualization">Trajectory Visualization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#path-handler">Path Handler</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#ackermann-motion-model">Ackermann Motion Model</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#constraint-critic">Constraint Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#goal-critic">Goal Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#cost-critic">Cost Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#prefer-forward-critic">Prefer Forward Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#twirling-critic">Twirling Critic</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-mppic.html#example">Example</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-mppic.html#notes-to-users">Notes to Users</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#general-words-of-wisdom">General Words of Wisdom</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#prediction-horizon-costmap-sizing-and-offsets">Prediction Horizon, Costmap Sizing, and Offsets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuring-mppic.html#obstacle-inflation-layer-and-path-following">Obstacle, Inflation Layer, and Path Following</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-rotation-shim-controller.html">Rotation Shim Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#rotation-shim-controller-parameters">Rotation Shim Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#costmap-filter-info-server-parameters">Costmap Filter Info Server Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-amcl.html">AMCL</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-amcl.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-amcl.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-behavior-server.html">Behavior Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#behavior-server-parameters">Behavior Server Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#default-plugins">Default Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#spin-behavior-parameters">Spin Behavior Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#backup-behavior-parameters">BackUp Behavior Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#driveonheading-behavior-parameters">DriveOnHeading Behavior Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#assistedteleop-behavior-parameters">AssistedTeleop Behavior Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-behavior-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-smoother-server.html">Smoother Server</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-smoother-server.html#smoother-server-parameters">Smoother Server Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-smoother-server.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-simple-smoother.html">Simple Smoother</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-simple-smoother.html#simple-smoother-parameters">Simple Smoother Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-simple-smoother.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-savitzky-golay-smoother.html">Savitzky-Golay Smoother</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-savitzky-golay-smoother.html#savitzky-golay-smoother-parameters">Savitzky-Golay Smoother Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-savitzky-golay-smoother.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-constrained-smoother.html">Constrained smoother</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-constrained-smoother.html#smoother-server-parameters">Smoother Server Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-constrained-smoother.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-velocity-smoother.html">Velocity Smoother</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-velocity-smoother.html#velocity-smoother-parameters">Velocity Smoother Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-velocity-smoother.html#example">Example</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-collision-monitor.html">Collision Monitor</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-collision-monitor.html#provided-nodes">Provided Nodes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="collision_monitor/configuring-collision-monitor-node.html">Collision Monitor Node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="collision_monitor/configuring-collision-detector-node.html">Collision Detector Node</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-waypoint-follower.html">Waypoint Follower</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#provided-plugins">Provided Plugins</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="nav2_waypoint_follower-plugins/wait_at_waypoint.html">WaitAtWaypoint</a></li>
+<li class="toctree-l4"><a class="reference internal" href="nav2_waypoint_follower-plugins/photo_at_waypoint.html">PhotoAtWaypoint</a></li>
+<li class="toctree-l4"><a class="reference internal" href="nav2_waypoint_follower-plugins/input_at_waypoint.html">InputAtWaypoint</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#default-plugin">Default Plugin</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-waypoint-follower.html#example">Example</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../tuning/index.html">Tuning Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#inflation-potential-fields">Inflation Potential Fields</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#robot-footprint-vs-radius">Robot Footprint vs Radius</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#rotate-in-place-behavior">Rotate in Place Behavior</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#planner-plugin-selection">Planner Plugin Selection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#controller-plugin-selection">Controller Plugin Selection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#caching-obstacle-heuristic-in-smac-planners">Caching Obstacle Heuristic in Smac Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#costmap2d-plugins">Costmap2D Plugins</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#nav2-launch-options">Nav2 Launch Options</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tuning/index.html#other-pages-we-d-love-to-offer">Other Pages We’d Love To Offer</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../behavior_trees/index.html">Nav2 Behavior Trees</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html">Introduction To Nav2 Specific Nodes</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#action-nodes">Action Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#condition-nodes">Condition Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#decorator-nodes">Decorator Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#control-pipelinesequence">Control: PipelineSequence</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#control-recovery">Control: Recovery</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/nav2_specific_nodes.html#control-roundrobin">Control: RoundRobin</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html">Detailed Behavior Tree Walkthrough</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html#prerequisites">Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html#navigate-to-pose-with-replanning-and-recovery">Navigate To Pose With Replanning and Recovery</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html#navigation-subtree">Navigation Subtree</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../behavior_trees/overview/detailed_behavior_tree_walkthrough.html#recovery-subtree">Recovery Subtree</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/nav_to_pose_recovery.html">Navigate To Pose</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/nav_through_poses_recovery.html">Navigate Through Poses</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html">Navigate To Pose and Pause Near Goal-Obstacle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html">Navigate To Pose With Consistent Replanning And If Path Becomes Invalid</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/follow_point.html">Follow Dynamic Point</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../behavior_trees/trees/odometry_calibration.html">Odometry Calibration</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../plugins/index.html">Navigation Plugins</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#behavior-tree-navigators">Behavior-Tree Navigators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#costmap-layers">Costmap Layers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#costmap-filters">Costmap Filters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#controllers">Controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#planners">Planners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#smoothers">Smoothers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#behaviors">Behaviors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#waypoint-task-executors">Waypoint Task Executors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#goal-checkers">Goal Checkers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#progress-checkers">Progress Checkers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../plugins/index.html#behavior-tree-nodes">Behavior Tree Nodes</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/index.html">Migration Guides</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Dashing.html">Dashing to Eloquent</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Dashing.html#new-packages">New Packages</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Dashing.html#new-plugins">New Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Dashing.html#navigation2-architectural-changes">Navigation2 Architectural Changes</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Eloquent.html">Eloquent to Foxy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#general">General</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#server-updates">Server Updates</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#new-plugins">New Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#map-server-re-work">Map Server Re-Work</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#new-particle-filter-messages">New Particle Filter Messages</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#selection-of-behavior-tree-in-each-navigation-action">Selection of Behavior Tree in each navigation action</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#followpoint-capability">FollowPoint Capability</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Eloquent.html#new-costmap-layer">New Costmap Layer</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Foxy.html">Foxy to Galactic</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#navigatetopose-action-feedback-updates">NavigateToPose Action Feedback updates</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#navigatetopose-bt-node-interface-changes">NavigateToPose BT-node Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#navigatethroughposes-and-computepaththroughposes-actions-added">NavigateThroughPoses and ComputePathThroughPoses Actions Added</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#computepathtopose-bt-node-interface-changes">ComputePathToPose BT-node Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#computepathtopose-action-interface-changes">ComputePathToPose Action Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#backup-bt-node-interface-changes">BackUp BT-node Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#backup-recovery-interface-changes">BackUp Recovery Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#nav2-controllers-and-goal-checker-plugin-interface-changes">Nav2 Controllers and Goal Checker Plugin Interface Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#followpath-goal-checker-id-attribute">FollowPath goal_checker_id attribute</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#groot-support">Groot Support</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#new-plugins">New Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#costmap-filters">Costmap Filters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#smacplanner">SmacPlanner</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#thetastarplanner">ThetaStarPlanner</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#regulatedpurepursuitcontroller">RegulatedPurePursuitController</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#costmap2d-current-usage">Costmap2D <code class="docutils literal notranslate"><span class="pre">current_</span></code> Usage</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#standard-time-units-in-parameters">Standard time units in parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#ray-tracing-parameters">Ray Tracing Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#obstacle-marking-parameters">Obstacle Marking Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#recovery-action-changes">Recovery Action Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#default-behavior-tree-changes">Default Behavior Tree Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#navfn-planner-parameters">NavFn Planner Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes">New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#new-behavior-tree-nodes">New Behavior Tree Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change">sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#controllerserver-new-parameter-failure-tolerance">ControllerServer New Parameter failure_tolerance</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#removed-bt-xml-launch-configurations">Removed BT XML Launch Configurations</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Foxy.html#nav2-rviz-panel-action-feedback-information">Nav2 RViz Panel Action Feedback Information</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Galactic.html">Galactic to Humble</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#major-improvements-to-smac-planners">Major improvements to Smac Planners</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#simple-python-commander">Simple (Python) Commander</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#reduce-nodes-and-executors">Reduce Nodes and Executors</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#api-change-for-nav2-core">API Change for nav2_core</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#extending-the-btservicenode-to-process-service-results">Extending the BtServiceNode to process Service-Results</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#including-new-rotation-shim-controller-plugin">Including new Rotation Shim Controller Plugin</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#spawning-the-robot-in-gazebo">Spawning the robot in Gazebo</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#recovery-behavior-timeout">Recovery Behavior Timeout</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#new-parameter-use-final-approach-orientation-for-the-3-2d-planners">New parameter <code class="docutils literal notranslate"><span class="pre">use_final_approach_orientation</span></code> for the 3 2D planners</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#smacplanner2d-and-theta-fix-goal-orientation-being-ignored">SmacPlanner2D and Theta*: fix goal orientation being ignored</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#smacplanner2d-navfn-and-theta-fix-small-path-corner-cases">SmacPlanner2D, NavFn and Theta*: fix small path corner cases</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#change-and-fix-behavior-of-dynamic-parameter-change-detection">Change and fix behavior of dynamic parameter change detection</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#dynamic-parameters">Dynamic Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#bt-action-nodes-exception-changes">BT Action Nodes Exception Changes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#bt-navigator-groot-multiple-navigators">BT Navigator Groot Multiple Navigators</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#removed-kinematic-limiting-in-rpp">Removed Kinematic Limiting in RPP</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#added-smoother-task-server">Added Smoother Task Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#removed-use-approach-velocity-scaling-param-in-rpp">Removed Use Approach Velocity Scaling Param in RPP</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#refactored-amcl-motion-models-as-plugins">Refactored AMCL motion models as plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#dropping-support-for-live-groot-monitoring-of-nav2">Dropping Support for Live Groot Monitoring of Nav2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#replanning-only-if-path-is-invalid">Replanning Only if Path is Invalid</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#fix-costmaplayer-cleararea-invert-param-logic">Fix CostmapLayer clearArea invert param logic</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#dynamic-composition">Dynamic Composition</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#bt-cancel-node">BT Cancel Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#bt-pathlongeronapproach-node">BT PathLongerOnApproach Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#bt-truncatepathlocal-node">BT TruncatePathLocal Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#constrained-smoother">Constrained Smoother</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#replanning-at-a-constant-rate-and-if-the-path-is-invalid">Replanning at a Constant Rate and if the Path is Invalid</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#euclidean-distance-2d">Euclidean Distance 2D</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#recovery-to-behavior">Recovery To Behavior</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#respawn-support-in-launch-and-lifecycle-manager">Respawn Support in Launch and Lifecycle Manager</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#new-nav2-velocity-smoother">New Nav2 Velocity Smoother</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#goal-checker-api-changed">Goal Checker API Changed</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Galactic.html#added-assisted-teleop">Added Assisted Teleop</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Humble.html">Humble to Iron</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#new-behavior-tree-navigator-plugins">New Behavior-Tree Navigator Plugins</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#added-collision-monitor">Added Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#removed-use-sim-time-from-yaml">Removed use_sim_time from yaml</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#run-time-speed-up-of-smac-planner">Run-time Speed up of Smac Planner</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#recursive-refinement-of-smac-and-simple-smoothers">Recursive Refinement of Smac and Simple Smoothers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#simple-commander-python-api">Simple Commander Python API</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#smac-planner-start-pose-included-in-path">Smac Planner Start Pose Included in Path</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#parameterizable-collision-checking-in-rpp">Parameterizable Collision Checking in RPP</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#expanded-planner-benchmark-tests">Expanded Planner Benchmark Tests</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#smac-planner-path-tolerances">Smac Planner Path Tolerances</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#costmap-2d-node-default-constructor">costmap_2d_node default constructor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#feedback-for-navigation-failures">Feedback for Navigation Failures</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#costmap-filters">Costmap Filters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#savitzky-golay-smoother">Savitzky-Golay Smoother</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#changes-to-map-yaml-file-path-for-map-server-node-in-launch">Changes to Map yaml file path for map_server node in Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#smootherselector-bt-node">SmootherSelector BT Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#publish-costmap-layers">Publish Costmap Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#give-behavior-server-access-to-both-costmaps">Give Behavior Server Access to Both Costmaps</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#new-model-predictive-path-integral-controller">New Model Predictive Path Integral Controller</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#behavior-tree-uses-error-codes">Behavior Tree Uses Error Codes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz">Load, Save and Loop Waypoints from the Nav2 Panel in RViz</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#dwb-forward-vs-reverse-pruning">DWB Forward vs Reverse Pruning</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#more-stable-regulation-on-curves-for-long-lookahead-distances">More stable regulation on curves for long lookahead distances</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#publish-collision-monitor-state">Publish Collision Monitor State</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#renamed-ros-parameter-in-collision-monitor">Renamed ROS-parameter in Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#new-safety-behavior-model-limit-in-collision-monitor">New safety behavior model “limit” in Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#velocity-smoother-applies-deceleration-when-timeout">Velocity smoother applies deceleration when timeout</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#poseprogresschecker-plugin">PoseProgressChecker plugin</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type">Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#isbatterychargingcondition-bt-node">IsBatteryChargingCondition BT Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#behavior-server-error-codes">Behavior Server Error Codes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#new-denoise-costmap-layer-plugin">New Denoise Costmap Layer Plugin</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Humble.html#smacplannerhybrid-viz-expansions-parameter">SmacPlannerHybrid viz_expansions parameter</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#added-twiststamped-option-for-commands">Added TwistStamped Option for Commands</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#add-velocitypolygon-in-collision-monitor">Add VelocityPolygon in Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-on-approach-to-goal-shortcutting-solutions">Smac Planner On Approach to Goal Shortcutting Solutions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#added-gps-waypoint-follower-server">Added GPS Waypoint Follower Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-hybrid-a-new-features">Smac Planner Hybrid-A* New Features</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-node-in-nav2-collision-monitor-collision-detector">New node in nav2_collision_monitor: Collision Detector</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector">Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#expose-action-server-s-result-timeout">Expose action server’s result timeout</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rewrittenyaml-could-add-new-parameters-to-yamls">RewrittenYaml could add new parameters to YAMLs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#simple-commander-api-allows-multi-robot-namespacing">Simple Commander API Allows Multi-Robot Namespacing</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#btactionserver-use-native-library-halttree">BtActionServer: use native library haltTree()</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
+<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>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../commander_api/index.html">Simple Commander API</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../commander_api/index.html#overview">Overview</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../commander_api/index.html#id1">Commander API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../commander_api/index.html#costmap-api">Costmap API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../commander_api/index.html#footprint-collision-checker-api">Footprint Collision Checker API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../commander_api/index.html#examples-and-demos">Examples and Demos</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../roadmap/roadmap.html">Roadmaps</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../roadmap/roadmap.html#jazzy-roadmap">Jazzy Roadmap</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../roadmap/roadmap.html#iron-roadmap">Iron Roadmap</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../roadmap/roadmap.html#humble-roadmap">Humble Roadmap</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../about/index.html">About and Contact</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../about/related_projects.html">Related Projects</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../about/index.html#id1">About</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../about/index.html#contact">Contact</a></li>
+</ul>
+</li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../index.html">Nav2</a>
+      </nav>
+
+      <div class="wy-nav-content">
+
+<span style="float: right;" >
+    <a class="github-button" href="https://github.com/ros-planning/navigation.ros.org" data-color-scheme="no-preference: light; light: light; dark: dark;" data-size="large" aria-label="Edit ros-planning/navigation.ros.org on GitHub" ">Edit</a>
+</span>
+
+
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Configuration Guide</a></li>
+      <li class="breadcrumb-item active">Graceful Motion Controller</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="section" id="graceful-motion-controller">
+<span id="configuring-graceful-motion-controller"></span><h1>Graceful Motion Controller<a class="headerlink" href="#graceful-motion-controller" title="Permalink to this headline">¶</a></h1>
+<p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller">Github</a>.</p>
+<p>The graceful motion controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in “A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment” (ICRA 2011). In this implementation, a <cite>motion_target</cite> is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.</p>
+<p>See the package’s <code class="docutils literal notranslate"><span class="pre">README</span></code> for more complete information.</p>
+<div class="section" id="graceful-motion-controller-parameters">
+<h2>Graceful Motion Controller Parameters<a class="headerlink" href="#graceful-motion-controller-parameters" title="Permalink to this headline">¶</a></h2>
+<dl class="field-list">
+<dt class="field-odd">transform_tolerance</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 34%" />
+<col style="width: 66%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.1</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The TF transform tolerance (s).</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">motion_target_dist</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.6</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The lookahead distance (m) to use to find the motion_target point.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">max_robot_pose_search_dist</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 22%" />
+<col style="width: 78%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>Local costmap max extent (max(width, height) / 2)</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. If set to <code class="docutils literal notranslate"><span class="pre">-1</span></code>, it will use the maximum distance possible to search every point on the path for the nearest path point.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">k_phi</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>3.0</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Ratio of the rate of change in phi to the rate of change in r. Controls the convergence of the slow subsystem. If this value is equal to zero, the controller will behave as a pure waypoint follower. A high value offers extreme scenario of pose-following where theta is reduced much faster than r.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">k_delta</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>2.0</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Constant factor applied to the heading error feedback. Controls the convergence of the fast subsystem. The bigger the value, the robot converge faster to the reference heading.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">beta</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.2</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Constant factor applied to the path curvature. This value must be positive. Determines how fast the velocity drops when the curvature increases.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">lambda</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>2.0</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Constant factor applied to the path curvature. This value must be greater or equal to 1. Determines the sharpness of the curve: higher lambda implies sharper curves.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">v_linear_min</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.1</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Minimum linear velocity (m/s).</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">v_linear_max</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.5</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Maximum linear velocity (m/s).</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">v_angular_max</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>1.0</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Maximum angular velocity (rad/s) produced by the control law.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">slowdown_radius</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>1.5</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Radius (m) around the goal pose in which the robot will start to slow down.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">initial_rotation</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>true</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Enable a rotation in place to the goal before starting the path. The control law may generate large sweeping arcs to the goal pose, depending on the initial robot orientation and <code class="docutils literal notranslate"><span class="pre">k_phi</span></code>, <code class="docutils literal notranslate"><span class="pre">k_delta</span></code>.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">initial_rotation_min_angle</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.75</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if <code class="docutils literal notranslate"><span class="pre">initial_rotation</span></code> is enabled.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">final_rotation</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>true</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Similar to <code class="docutils literal notranslate"><span class="pre">initial_rotation</span></code>, the control law can generate large arcs when the goal orientation is not aligned with the path. If this is enabled, the final pose will be ignored and the robot will follow the orientation of he path and will make a final rotation in place to the goal orientation.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">rotation_scaling_factor</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>double</p></td>
+<td><p>0.5</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The scaling factor applied to the rotation in place velocity.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">allow_backward</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Whether to allow the robot to move backward.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</div>
+<div class="section" id="example">
+<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">controller_server</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">ros__parameters</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">use_sim_time</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">controller_frequency</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">20.0</span>
+<span class="w">    </span><span class="nt">min_x_velocity_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">min_y_velocity_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.5</span>
+<span class="w">    </span><span class="nt">min_theta_velocity_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">progress_checker_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;progress_checker&quot;</span><span class="p p-Indicator">]</span><span class="w"> </span><span class="c1"># progress_checker_plugin: &quot;progress_checker&quot; For Humble and older</span>
+<span class="w">    </span><span class="nt">goal_checker_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;goal_checker&quot;</span><span class="p p-Indicator">]</span>
+<span class="w">    </span><span class="nt">controller_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;FollowPath&quot;</span><span class="p p-Indicator">]</span>
+
+<span class="w">    </span><span class="nt">progress_checker</span><span class="p">:</span>
+<span class="w">      </span><span class="nt">plugin</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;nav2_controller::SimpleProgressChecker&quot;</span>
+<span class="w">      </span><span class="nt">required_movement_radius</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.5</span>
+<span class="w">      </span><span class="nt">movement_time_allowance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">10.0</span>
+<span class="w">    </span><span class="nt">goal_checker</span><span class="p">:</span>
+<span class="w">      </span><span class="nt">plugin</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;nav2_controller::SimpleGoalChecker&quot;</span>
+<span class="w">      </span><span class="nt">xy_goal_tolerance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.25</span>
+<span class="w">      </span><span class="nt">yaw_goal_tolerance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.25</span>
+<span class="w">      </span><span class="nt">stateful</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">FollowPath</span><span class="p">:</span>
+<span class="w">      </span><span class="nt">plugin</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">nav2_graceful_motion_controller::GracefulMotionController</span>
+<span class="w">      </span><span class="nt">transform_tolerance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.1</span>
+<span class="w">      </span><span class="nt">motion_target_dist</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.6</span>
+<span class="w">      </span><span class="nt">initial_rotation</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
+<span class="w">      </span><span class="nt">initial_rotation_min_angle</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.75</span>
+<span class="w">      </span><span class="nt">final_rotation</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
+<span class="w">      </span><span class="nt">allow_backward</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">false</span>
+<span class="w">      </span><span class="nt">k_phi</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">3.0</span>
+<span class="w">      </span><span class="nt">k_delta</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
+<span class="w">      </span><span class="nt">beta</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.4</span>
+<span class="w">      </span><span class="nt">lambda</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
+<span class="w">      </span><span class="nt">v_linear_min</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.1</span>
+<span class="w">      </span><span class="nt">v_linear_max</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">      </span><span class="nt">v_angular_max</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">      </span><span class="nt">slowdown_radius</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.5</span>
+</pre></div>
+</div>
+</div>
+</div>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2023.</p>
+  </div>
+
+   
+
+</footer>
+        </div>
+
+
+      </div>
+    </section>
+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script>
+    <!-- Theme Analytics -->
+    <script async src="https://www.googletagmanager.com/gtag/js?id=G-EVD5Z6G6NH"></script>
+    <script>
+      window.dataLayer = window.dataLayer || [];
+      function gtag(){dataLayer.push(arguments);}
+      gtag('js', new Date());
+
+      gtag('config', 'G-EVD5Z6G6NH', {
+          'anonymize_ip': false,
+      });
+    </script>
+
+<script type="text/javascript" src="../../_static/tcs_theme.js"></script>
+<script async defer src="https://buttons.github.io/buttons.js"></script>
+
+
+
+</body>
+</html>
\ No newline at end of file
diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html
index 412cc0491..b06191b38 100644
--- a/configuration/packages/configuring-lifecycle.html
+++ b/configuration/packages/configuring-lifecycle.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html
index 60599fac5..734b0e277 100644
--- a/configuration/packages/configuring-map-server.html
+++ b/configuration/packages/configuring-map-server.html
@@ -23,7 +23,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="AMCL" href="configuring-amcl.html" />
-    <link rel="prev" title="Rotation Shim Controller" href="configuring-rotation-shim-controller.html" />
+    <link rel="prev" title="Graceful Motion Controller" href="configuring-graceful-motion-controller.html" />
 
 <link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
 
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2 current"><a class="current reference internal" href="#">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html
index a1047043e..56f1f2b2d 100644
--- a/configuration/packages/configuring-mppic.html
+++ b/configuration/packages/configuring-mppic.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html
index 51d03ae72..9babfc1f3 100644
--- a/configuration/packages/configuring-navfn.html
+++ b/configuration/packages/configuring-navfn.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html
index 575ce5ff3..635fe9ce6 100644
--- a/configuration/packages/configuring-planner-server.html
+++ b/configuration/packages/configuring-planner-server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html
index cf83c4be6..56369e826 100644
--- a/configuration/packages/configuring-regulated-pp.html
+++ b/configuration/packages/configuring-regulated-pp.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html
index b03422846..163ec0bfc 100644
--- a/configuration/packages/configuring-rotation-shim-controller.html
+++ b/configuration/packages/configuring-rotation-shim-controller.html
@@ -22,7 +22,7 @@
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="Map Server / Saver" href="configuring-map-server.html" />
+    <link rel="next" title="Graceful Motion Controller" href="configuring-graceful-motion-controller.html" />
     <link rel="prev" title="Model Predictive Path Integral Controller" href="configuring-mppic.html" />
 
 <link rel="stylesheet" href="../../_static/tcs_theme.css" type="text/css" />
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html
index dec1248e7..4b8377f37 100644
--- a/configuration/packages/configuring-savitzky-golay-smoother.html
+++ b/configuration/packages/configuring-savitzky-golay-smoother.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html
index 9f5bdce17..b8ef917ce 100644
--- a/configuration/packages/configuring-simple-smoother.html
+++ b/configuration/packages/configuring-simple-smoother.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html
index f00be7aa3..f60b47f33 100644
--- a/configuration/packages/configuring-smac-planner.html
+++ b/configuration/packages/configuring-smac-planner.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html
index aaced2427..bb4b6664c 100644
--- a/configuration/packages/configuring-smoother-server.html
+++ b/configuration/packages/configuring-smoother-server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html
index 479581c90..4fefe7b80 100644
--- a/configuration/packages/configuring-thetastar.html
+++ b/configuration/packages/configuring-thetastar.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html
index 4dfeb7dc9..931d4c4c3 100644
--- a/configuration/packages/configuring-velocity-smoother.html
+++ b/configuration/packages/configuring-velocity-smoother.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html
index 4c52a53a5..80d0d93d8 100644
--- a/configuration/packages/configuring-waypoint-follower.html
+++ b/configuration/packages/configuring-waypoint-follower.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html
index 32e412522..b04d4d446 100644
--- a/configuration/packages/costmap-plugins/binary_filter.html
+++ b/configuration/packages/costmap-plugins/binary_filter.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html
index a08105302..a54a92e0e 100644
--- a/configuration/packages/costmap-plugins/denoise.html
+++ b/configuration/packages/costmap-plugins/denoise.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html
index 5ebe3d080..c413f5fd8 100644
--- a/configuration/packages/costmap-plugins/inflation.html
+++ b/configuration/packages/costmap-plugins/inflation.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html
index a5af194cc..f4ec54f96 100644
--- a/configuration/packages/costmap-plugins/keepout_filter.html
+++ b/configuration/packages/costmap-plugins/keepout_filter.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html
index 01c9ab199..4432cd36b 100644
--- a/configuration/packages/costmap-plugins/obstacle.html
+++ b/configuration/packages/costmap-plugins/obstacle.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html
index dbac47ef6..b5af6ef72 100644
--- a/configuration/packages/costmap-plugins/range.html
+++ b/configuration/packages/costmap-plugins/range.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html
index c2e3f3ffb..24f7196de 100644
--- a/configuration/packages/costmap-plugins/speed_filter.html
+++ b/configuration/packages/costmap-plugins/speed_filter.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html
index f5c63e495..4a8d001d4 100644
--- a/configuration/packages/costmap-plugins/static.html
+++ b/configuration/packages/costmap-plugins/static.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html
index 7100a0fe5..4a5cd8a0a 100644
--- a/configuration/packages/costmap-plugins/voxel.html
+++ b/configuration/packages/costmap-plugins/voxel.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html
index a8437a7c1..4ff9f11d7 100644
--- a/configuration/packages/dwb-params/controller.html
+++ b/configuration/packages/dwb-params/controller.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html
index 04b87f430..11d4b9402 100644
--- a/configuration/packages/dwb-params/iterator.html
+++ b/configuration/packages/dwb-params/iterator.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html
index 4ba462046..5c9298c5b 100644
--- a/configuration/packages/dwb-params/kinematic.html
+++ b/configuration/packages/dwb-params/kinematic.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html
index 0ffa7e00f..409fe3abf 100644
--- a/configuration/packages/dwb-params/visualization.html
+++ b/configuration/packages/dwb-params/visualization.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html
index 8b9f6084a..3fe06d6f0 100644
--- a/configuration/packages/dwb-plugins/limited_accel_generator.html
+++ b/configuration/packages/dwb-plugins/limited_accel_generator.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html
index 62aa166c2..0b66d489b 100644
--- a/configuration/packages/dwb-plugins/standard_traj_generator.html
+++ b/configuration/packages/dwb-plugins/standard_traj_generator.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 825344871..256ddff52 100644
--- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 38fd54621..17802764c 100644
--- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 f28232fd8..b023bc8aa 100644
--- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 851d6624a..228eacd31 100644
--- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
+++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 351df7438..b447870c9 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 649c07267..9f9b13836 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </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 2d7f34997..4586dbbed 100644
--- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
+++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html
index 08434695c..b16e5e7a5 100644
--- a/configuration/packages/smac/configuring-smac-2d.html
+++ b/configuration/packages/smac/configuring-smac-2d.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html
index 6c94eed08..ea6a5cd91 100644
--- a/configuration/packages/smac/configuring-smac-hybrid.html
+++ b/configuration/packages/smac/configuring-smac-hybrid.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html
index 9eaae0fcb..d6d6ea8e1 100644
--- a/configuration/packages/smac/configuring-smac-lattice.html
+++ b/configuration/packages/smac/configuring-smac-lattice.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html
index 837fcca48..a83f9dda4 100644
--- a/configuration/packages/trajectory_critics/base_obstacle.html
+++ b/configuration/packages/trajectory_critics/base_obstacle.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html
index 26c0d9cc6..fa81820e8 100644
--- a/configuration/packages/trajectory_critics/goal_align.html
+++ b/configuration/packages/trajectory_critics/goal_align.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html
index 517435cdf..4065d8072 100644
--- a/configuration/packages/trajectory_critics/goal_dist.html
+++ b/configuration/packages/trajectory_critics/goal_dist.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html
index 7b853aae0..bc24edb10 100644
--- a/configuration/packages/trajectory_critics/obstacle_footprint.html
+++ b/configuration/packages/trajectory_critics/obstacle_footprint.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html
index bc05cb00b..24b7be73d 100644
--- a/configuration/packages/trajectory_critics/oscillation.html
+++ b/configuration/packages/trajectory_critics/oscillation.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html
index 8501ed3e9..0e5dcd56f 100644
--- a/configuration/packages/trajectory_critics/path_align.html
+++ b/configuration/packages/trajectory_critics/path_align.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/path_dist.html b/configuration/packages/trajectory_critics/path_dist.html
index 3bd55c759..2f83d5382 100644
--- a/configuration/packages/trajectory_critics/path_dist.html
+++ b/configuration/packages/trajectory_critics/path_dist.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/prefer_forward.html b/configuration/packages/trajectory_critics/prefer_forward.html
index a91975554..f7292c50b 100644
--- a/configuration/packages/trajectory_critics/prefer_forward.html
+++ b/configuration/packages/trajectory_critics/prefer_forward.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html
index 4b2ff4232..4f7d7244a 100644
--- a/configuration/packages/trajectory_critics/rotate_to_goal.html
+++ b/configuration/packages/trajectory_critics/rotate_to_goal.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html
index 8b7b8c04b..c87ca3966 100644
--- a/configuration/packages/trajectory_critics/twirling.html
+++ b/configuration/packages/trajectory_critics/twirling.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/build_docs/build_troubleshooting_guide.html b/development_guides/build_docs/build_troubleshooting_guide.html
index f664145d9..f86bcd718 100644
--- a/development_guides/build_docs/build_troubleshooting_guide.html
+++ b/development_guides/build_docs/build_troubleshooting_guide.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/build_docs/index.html b/development_guides/build_docs/index.html
index 7a7fa02ff..e7256d188 100644
--- a/development_guides/build_docs/index.html
+++ b/development_guides/build_docs/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/devcontainer_docs/devcontainer_guide.html b/development_guides/devcontainer_docs/devcontainer_guide.html
index 48bbe23f1..96a63c6af 100644
--- a/development_guides/devcontainer_docs/devcontainer_guide.html
+++ b/development_guides/devcontainer_docs/devcontainer_guide.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/devcontainer_docs/index.html b/development_guides/devcontainer_docs/index.html
index 3fcb953e9..0368d9519 100644
--- a/development_guides/devcontainer_docs/index.html
+++ b/development_guides/devcontainer_docs/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/index.html b/development_guides/index.html
index f8895f7ce..a9b8e19e0 100644
--- a/development_guides/index.html
+++ b/development_guides/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html
index c99712826..b8a2dee6c 100644
--- a/development_guides/involvement_docs/index.html
+++ b/development_guides/involvement_docs/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/genindex.html b/genindex.html
index c4ffecf42..1c08daa38 100644
--- a/genindex.html
+++ b/genindex.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/getting_started/index.html b/getting_started/index.html
index cca4ab631..2801149d3 100644
--- a/getting_started/index.html
+++ b/getting_started/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/index.html b/index.html
index 17443e4e5..cb89cb970 100644
--- a/index.html
+++ b/index.html
@@ -679,6 +679,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -955,6 +960,7 @@
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Dashing.html b/migration/Dashing.html
index e31217b87..92cd698fd 100644
--- a/migration/Dashing.html
+++ b/migration/Dashing.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Eloquent.html b/migration/Eloquent.html
index 57c6639c2..8898dff05 100644
--- a/migration/Eloquent.html
+++ b/migration/Eloquent.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Foxy.html b/migration/Foxy.html
index 190588cce..c3d27f779 100644
--- a/migration/Foxy.html
+++ b/migration/Foxy.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Galactic.html b/migration/Galactic.html
index 4a1aa1af4..bc387189a 100644
--- a/migration/Galactic.html
+++ b/migration/Galactic.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Humble.html b/migration/Humble.html
index 1e542fc89..2fb35ff36 100644
--- a/migration/Humble.html
+++ b/migration/Humble.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/migration/Iron.html b/migration/Iron.html
index cc7e1865c..977927022 100644
--- a/migration/Iron.html
+++ b/migration/Iron.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
@@ -1185,6 +1191,11 @@ <h2>Introduction of <code class="docutils literal notranslate"><span class="pre"
 <h2>Full Stack Uses Node Clocks<a class="headerlink" href="#full-stack-uses-node-clocks" title="Permalink to this headline">¶</a></h2>
 <p>The stack no longer contains wall timers or wall rates. It will now use the node clocks. This will be ROS Time for simulation when <code class="docutils literal notranslate"><span class="pre">use_sim_time</span></code> is true. Else, it uses a steady clock.</p>
 </div>
+<div class="section" id="new-graceful-motion-controller">
+<h2>New Graceful Motion Controller<a class="headerlink" href="#new-graceful-motion-controller" title="Permalink to this headline">¶</a></h2>
+<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 Motion Controller</span></a> for more information.</p>
+</div>
 </div>
 
 
diff --git a/migration/index.html b/migration/index.html
index 26399bf30..fd45de26c 100644
--- a/migration/index.html
+++ b/migration/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/objects.inv b/objects.inv
index d59a0eed3b3b17c9107506664b0415119d473fab..24a55fdc0cb93ba84120f869fc75e3d8ed77abf5 100644
GIT binary patch
delta 7951
zcmV+qAMoItLCZmqw}04|1rP)_fCb?CPuD-S=i`wyUv{_kmRzmqkL((rXRGeKB~_O_
zH1)p8k4f8Y|7}}ulJuwKdV=1YLw76_`0-D&>DpvhH&i`gDhZcPxb(s@ed3x|dD|9k
zN48l<N>ZN&@%WS&n4jMyH~e|>M4u11-83ZcNVch~U9mqmd4E^bRmRNbfIA4qunh+4
zr#Hzh6-)BuRu$w}(b*3-RbJNnq^pxp^)tEeejEpWD$o0(Y9|5ZIt<vg1ooM{BoAd?
zRq)>OYKt(trY=kP`M@*=;A~&3{8((laByK+GN1G3V$VwBj@$XNhBDcdB)P9TvS&p#
z;C|l}+w7R10)Goaipv`FP&Zxj0Ujrx&<ebQ$1khonij;n>bYp@>IfA%FX7c}NjU(e
ztT%aC{LZoyghth1fd2X>xxTyl`7ZgW8oNJ&$}>S6L$Bg^F1w;Tz)Rg0)jkY@uERk5
zS$i>`P~u5Q47jhPPS%ih0|gk2!l}x@{6z!vR+z=t^M94B+oB@_klK7ly4S3Nhhabz
z1(*93O-?>T@{m_@gs-~T1lCC@E~~(bKMDK>+EanwZm2sh&Ak2XP4Y;#=MCZ29<$cc
z(!C=cX^urzv_q|TN7^p<HFIIv{@iSz^J)XFwNk`S+~9lYHONcdd>eB90u5+Z@dh{$
zgQmlv{D1uowt3G4T7oA`##Vs-vFh^U3GfwF@@`YNuh6v|Y2iGctMsWj61_=Z<m>v(
z`i?SRlM<28M^{C)CEuyD<-a61R7$k8`KDVaLTWBdU9V<C${c$`kxSc%DZ%VLvZt~e
z7v}19?KDE4b5$nuYm1FSzQvC+ZI5-`9iZFLN`Ig`cXd<bB{cu_2D)x4n+aK2C|mYj
zCo5qDUP7L{ed5NmJcCx^I_vWGTh@~1In0f%#T;_Pd5Xy?Ca2t}1cKcnRLtw-2~y#k
z#MFf=T9FW@#VbqkFy*!!@ynVV;M1s^tZN9#cF-x;FWIRsDx;QZa!|?Xzp6O%D8y0}
zNPk&+%FMl|KV&!jfDaA#P*fRo74><40HZBw129-R(7<n?FKb?1h(J2!(kb)6TLzLm
zvBv-m9=m|m)P5)=COr<OrZ^NBHAUbDkipjpW={}LWyLN#<=r7Gs%PlTw-d3wK);O5
z6s-{ucr&9Ft<~T|7+*scj!>@L$w*F8P=8ICrL@?kXdxBw%uFU<0Rgr&904>J0zq;E
zZP5KLc>w+7Ekgjk6}4lOO}&N0u6fNcpjkJ4cr;uRE;U!)gj}kc|H2<8xBWvM)^Ocb
znrqEl%Nm5Y{8{pZ&lWCawej>C53z>T^SK}|S6kBMMF~xaUc4`P`Hg=v13o8MVSmW(
zxSWnI`P$2Qfzk%IJ&{eZD>gKgYD17Y)EJa|9F0JT!oq`^721jmvVdhV+Wrk7@HCbI
zE#i11H|lnzeGF><T#W~|5U2bMe^n%JvVEPGSuKWEL7)N*nGkuif$_-$sz4W-H^~Q3
zNyV^k5!@tCLg_0sS8IK_wssQ48Gp_BAJZ}qwX~x-^ES_(wzsHq5Z)DKXU1*X?8((B
z-+asW-~hty4hHHepR>5qEbyk8K1#XKxAa%?p8a~rar^*(!MD<7c|$VNG?0f4HWv^D
zlNR3r_}&(Fhvb2@?j#zi*k0W<<Q<yEfUkXEhB>}21;;6MoKnXrcbxW)T|Md)vK}#J
z`6dP@(*ls(+LID~B0N0;O}P_Y8quu5_IWOdw~+R0@0{5bK3O9A+TfV5%myRvaHqG_
znkWC0?FCzZpRD+M$%}5Dzpr4y^hd4s$<$wo-92xGGxB{yPS|Jd=@j>@X5bbr-!jAR
zsNF|uwg-g*sptTh>y)_`t%c7<j~trOq9HN^7l8bZTI5a*u*{pptfJJ^{P-Zc!+|5t
zs$8&qZ>U*1S2Kc`3Z~S*tB@5#G!OOhbf!xm>`P^TvCB-{%%=GGF@WhYvozUIuz{<<
zX)CH2DKtICz6enC!=rK<lv`jaMr}I7Kx|sDQHvn_Vt8wG<UuNC2yBcsi=sQx1(l@9
zTId!x9fVYJc0CH3u(#so6l@|X6|Pe1%GN<-Te_CEAqvE)ptcY#Lvr1;S9jc6?@Qtm
zjue1@i7l={>YDtS;Gp{w@uu+g#Esg(ggYh5G?gekt)rV+$2@(i?n6{9yEhf1@A<6=
z8?|eVhnVM7nv7lwz3<C<otNcnc0O(CEIA$JUgBka;Ff=7hH)q?VF|A(_nM+t<()Zn
zDOif_KsMhl^%0`wTV~Mu3K=GrXncnbHHoi(Avq{rroyA2M`lll#hs`{){9CgtaRrz
z256PN1fyJpX+;3t78RfY&thhRKyANFQQR}j*cv}_yAl!i%Gz+@RVf>XE(P1dc%}p7
zFqA*!%^sVAi$HDPGPAebY7ewcxyMv^RAHKW21slsE{gAC{o;a#ErtUXNOM56t)kO^
zDi^|ot<i7F6h4JR8!hTZLnCE5n6^7_zFi2%3T>$vsBz6b6+zd0;htPHz7n%t&frRT
zbO%;0RUPL=A}Z-d52t!;dMKrfBOY3L$oEsx;P=)Q$g;Y`+rxVCj+@2x>Au0D6-jtZ
zsYm6NT6z*>Syy`ihoipJsi~oDozaqiqMMJ@;Fs!#o6`|8cPWnaggciKg;$(NRu&b3
zUhu!qM2Y<(3J}!*ADBdoD{ipI1_>#qq{5e+F)?*0G{&a7O!v&GSytD~ofy5cA&qDn
zPEwm67C+{lD<nn-YB;QmQ3!l~o)*OH*YwD(eHJtw3W7hR#US5~D$0QHezN#~o$$CX
zQ)yT;8-_>4Jd58xnj9~NwHM=YV5*`J4acxKmY*Z!4?fkl<#B5}I}2#>ff~fXrd3d5
zO3HlE2&nCW8cGzKn9?Y!`LCQ$KPYo$a>k;l`qwSR5CG$t%q$PaN0DBcO_6VwD8><j
z({h>bUJzld4_~-3zI;=jB03R&7JAPA_E%`i@$pj^>ep`wG8o0&FH4&yMSJoU@Cj1v
z(pZ;zp<o;P!FSA_bc{|??nLQ66;TSM$*Xo(H^(f0&I|BflFJ|xc5j5)9+*f<rArl`
zrO05Ot4+@5nquF}6E~ubxP@ifrzfh2<(IX-m+(%TMmGf3xF(h~qQSX;@0oQ|n^H%6
zqHc=G^q2ZvZnIpSK9fD-ft06<)Q+#{<fi}dMA!EVIOx%#P@1c=YqH}+Bub?jvZrQB
z1Ur9Jj(9{fm>m%d4d=ySNzI6CzW=D4h!%P<E3$PT&Wp>|Vtp>a2Ka{B&+4X*c}t#2
zS)Y(dp6$=Y7V)A=Mk$kj8cFpnKBrWUdoY)mB{vS0;SB9ZdjR)1lAva$cwv7UW|*Ar
z`$-o`KA^~Alf&pF_mjyC8mKMKoUrE_Y3!Ch(r61CsQ5*TVd1fcKnyt$-29-^bIWE?
z3}x<FJWl!JRNACu+T>OUB%hc7z&IY^O+d}ePlZ_vl_d2I%7heubymgkRN~Y*f0*1n
z+%FuuD(}N*+Gni7Ww_S*Na$0&ZYgx{TQ0EBC3PH@4W9*Ncg?`Js$tRh<nTIXiyMHP
z)&gvWb2R)8C-OW@Hpf)HMjQ}@-yo<R^EexEFud#!H^(E6#W4q(T2316Ba+uK2a8G#
zF^C|sM2~rJ6taka$qbpt`IrOCvC`!xiNp{=<^Yo;B$YW5!w#7PLWaUBon$t5ArjF5
z5yDGun9pOG57uJE`1vk#I4m=O+FTeH*<}{@BNCm5MB*fg%%*(I!sz6Wc&Q;X=pOS?
z_RAa&TF4x>M=UfaYsAG2iDfXv0dw^Y(Y->?QHTR$Fd<Z0&ciHjKpYw$$-qe?n739K
z2hh9f=w4KeT`ZglPWcjzRmJE9r8q>cRVi!n=~4?PaS#I*W5!lkW-Ob;Vs@>*IM!FD
zt|P?3Q5HYcwT}2jj5#pO+GZ_yOk0zd3@QmNJkwBw><4mhlgSJte>^L*&~O_)8vbB0
zmtGi+%12dn@(|}S3*#|5If@PnVl=aGJ~Tm3)G3Iu)WR8fbb6x3L5v|7&Op)=6eSgL
z9!V}5i<@reVAI7C52BHo<OPkQFq3o;56aD7aM2Skw(=bfc62#?c!B&f3*9r(`<BiJ
z*26EftUVLBccpx20rit>4IvcUv8DkU-`VBb!WFwoBpRE!(L~#mpbaU1M~gWG%y?7|
zBBw>#^q$ILa9XZ}Alt<ws4ZL4Da_Pyq)~Roq`#oc-0{R@sGSS-B*-}z&VXvx#LwwI
zBk+5x`EgSQLDN<EWW=Z2k0DOv`B%!Bd*S{JZO#V~M@sQC^+N2(%{BF82#TuiKcz=n
zeHMv<IKCgt=?Fl{$UF6a{f|!{`2kh|W~@py5r(DjsefTukYkubkh9fKeVhWvHX)bs
zL`ou30zvgV#v>}LrEjh(PN=Z_T!nTr1g0iDvvvCGyD*phY=p?nYuW+;r}2bmeEYIa
zH&Z$(zcLTZzP?RDI;P&rzR5RacP^ox)6F!|aQudNc*fJ=%Mnz6#0fCVVn;Two03dK
zCG{AHkJ8Miyvp}szVXP9sA|$HGVh<Dda}xqTqUbKu#y~4C;iCqP#x|RPvTA<8nP`m
zUGYrVVQ2iX<Z|L`fX-o8O~gWV<SOj@N-TVa`0KarMHIiTtS!1u_(mJDKhuMM)6;1p
z0992CF8Pz>;oJ~^{HHzp7hp77b;owQwTI#u|CRd8h#_ak&+dlQiB+S8uDbjE+iSY7
z%ltLAqw`qdakohPfQfQRGYB1}VMn9VwKZn<BoxPdBdX<82#Ts$(akqgz9nTRT*Sv@
zXzPp06Fw&p@A9_Gr}~$Ad=?acCM&cvp$KrR#ir<@Yp11u&%pe~A5W?aFZnAyKb4=j
zG8v1dFBWuP)ibJxune3T8H8o*%t`+#lYu6;q^gUSM1bL%;&@(W=41XE1*52TWhk@8
zt1H&?gsE6C-v~L?=Pv#|=>{0A|6tGJ-<0dL+=;6EKvZEUwtSkr+Q-14dSWiDqEUR+
z)-ed!Hsa`i_oJ#S(@pX3ro}#e6N7{*atzE!>|1%RzmqZo0@dS<EHx1d00&1Wl#&zd
zVX=}^Z_3z8F;D=&z&RL)7IXTK|71PgJ%1YD_FGYrW8f=ysqrR3TA5VX&qaHl!bJ3`
z@@W0ME{pasQrf((l*O^Y^T_fIp8dHe)wI$dwjzdqk2LWH(>{o#5Nx<yvdtUZ%9;N&
z8k@(8{6cBs6Qt3Z-Pcis^b~nzB1ib4hyI-KGBVP(;`p=xtds2VHw;M+JcSdRr=n%S
zxpvgs46F`oYPhcuup@C^uv|SBRlIY{wyRGkdB)#-zz%bw_R^Hl;uXPfCW2oj;5tEY
zlXp^oBoyuhlOmRb$2Xk_xFhkN4s};w7O!QJe`@%6HePlD#3kXH7JFjqI9MDN+r#AR
z5Gs&QRT*4g-;E6}-9`?t>!yguz|<8Szt9Ki&A-OMfe{Dv<0Kjn*H-{xG>9QOvpWK+
zlO0mFX$ri%?P{GvhcIExFlIt*oo<O3KipD(u?di9lLX<%zKX-s>-TJg8~hoE1kb0P
z0R+{197xxg3`3MHe6V$QYQjGCAUpa<@4a|D9bvmE%HWatumO&#e=r#hJB~NL0`>Ym
zT_mmoQA_a^NUHZZqAJj-Av@B*Yj0j4ERDpX*$~(0;<NYc(PUI~0-PRgxew#qkJ?aw
zrq0PzO(U48pt_f$DZ|Lw1KNCMl>ah7&{L}g2V(p_83zkuY0)V(S_C?fx8Jz#9E@Z@
zEQbgdK6Zo#hF;nwm<W^L^jrit3VNy9_W-5>#UoEvt(zDqIx%DEWqgb=HuU3m1W73T
z^u2ic(K3YpG)7T!o)$E@Jl*_`<uHYR#Lxb4g1UT>T7;-&03U0FGsVxa79^6)eJ|-8
zj>>YB3^Pb#;Q;%q6r!3IH(zBrOo{QcSs18RvR0-+QFto`0%p;{Wnm8a1tQU9VAEEX
zL#!Adr3JxkU)Gr&$B)4YisY9j%>_kL>1QC$7r-VS;yFUASq^Y^JhQ?Ah%u~xh$tRo
zU}0gQhwC#BzA=XeMh1qlSY&AEhC=OoMjZl3SsXKXdpL!ev1x!HM4|Jv7BCP_!Cwku
z+`!0Gt^n#81Vt2`XBcEb6>@3sacra{!5ZVC7?j3{$cCr*@Q;=RB4bPx0mv8?S$Nnz
zCDem&z@&khQ~ULSksAuN?-??GNg(#XC<cu^G_oO4nN)Zh8aWAYj`2|hIL8Rd0>@<V
z_<!nYU;rhs(e)3x_z~N346UMAAgM4O82nGQ@d#OK5umlPT|`l8qdN<qv_3HG6U@wv
zF*E0Mjw2+`WgxROfD4MiC3!PDGPdSqygL1J=}bz6aX&c}!QjPnk#U!Q!2?}-$fX1H
zPzpfuKqvW@OwgrGDxJ;^MIgrNPUc+RoAPx|UpHJD1k-CZc&E3C2sL>h6UQ^O;ONSn
zV?FQ^S@SJ34rYwg5VdQjM2qBIogB#2AMwtH)+9qR=X-C%%bCthIu;u*l0)Aj=5Y3y
zmiy)T7eAGZvAZv?jewzlCEfWXPL6IVX9@quhy0fp8>8BQ!P`D9F`U^ztcASHS|6QU
z%2U@~?c7*w$dqcPdDka#RK9iFfgD;Zsu#?md$l$shg8#*L*Gj8Kn~4C*b8RRxxO2c
zKXy5QojuReFwfntn%qbBI~11oW(W741$5S5Toe@*IJPG&2lhUHcy=xz5V_AFJDnSX
z|C|FaJ|5hyu=J#YkCgiu+0Q`1@jV3@?l_nZYG}X0(knT>lL4WL%?26WY`{5}@e`m!
zdl!}ig3NC}8#=blfkJ29Y&=%Sj)vvXh6&$p2MXqxZ=kQp)SV4uU<T<IOGkp-H{qjZ
zNF<CuaRD?65o76pNz_sKi5e0dCsSMiol47C`cid#!@LcNaSFD<Jt|A@<`?JY6$U_F
z3l-I>y7s9ohql4^_OQ^q29bM<(+*8^ndtjgmR1tZFf_7Q2DY^z9<l!<{=0YYU|9}t
zlJW0vK~PrDKN*yJE6Z|tw~TY6OV<?Zb2om)N>M%6<ujpAkL>GQK9G)HqH@oqAP8;<
zPG{k<q8Q6md089tIoE%>{;545kEHps!y^l?U>t)pIgnANs})0*)2kG684OXGl-W<Y
z{h!_>xAb|E8<%C1R~95Rm)<DLWDiVuvCW|y#z~7}@490|KEAqRg3Ke=N_#Dyj2V1a
z)_6ovx7cp#nJ@T`Dc}khldl#Pf8BsIUZMS4kf=+~CZsKV@de&@uJaXM^70$MwN-bo
ziM3a_Lib#dm#c9*yo|Y=!D3MT-Ek3v*6_6#0o2d<x#5y+6L_tWs>0rh_C&kX2wo7a
zRWylT4x>u95#G!i&^y4FAPunGv;j5Du27iH&}t^9UF@Wifacu}HF!5vf57!t;YgHw
zeeAoiBJ0A4_u%T}t4x74W-<(=Ec~@ht3@L&bb|r)%-#5ndhxcHc83T8XOv{U*`Yof
zpTF{PXrd_<g(3CzB4U}|zd36;yef~r<o>4YBpctUUiCdv)Tw-wDrTLVr|8n3*w8f9
zv%NWrdhhM^Tcyy?_g5CWe`;IMCb-i!p;1rVVk#|KJJYtWRem&ADEtuz7Z)ukL_5ko
zWp~_`+z!guB<MNwga-oS!G#DJm=mF=gcm{p<BRw8_tym*i(@ld?=sqBr%;#A8|YWX
z%6vO`on43l21iP!^)A&U)85s4A%wBXXDW2hgk;&Yiya^zFAU5dfA<W3DTROuSO6dL
z5)TO9EcX15ahpPg*%f+<Z6Sd6e>orVw9-AP`u0fL6i>z88u$|=yKD`$v%}@W!BW>G
zIT+HVy)v|5^lCNs3j(~yFRSD_xngY*szb$uH!|*q%k@r#;sgC3UzNi=?U`|?Cl0Sx
zGOi`6aRpCGg`Q}Je^>1H!l|k@^M2d5EnLkwvxBfNa*L;V()N<Bd~grS4V~%%+<Tn2
zu{m}AMno!b7dZPu^?!boJk$+zlDHA)6Fz|o$X*JDChw}}qNyv|FYzOCz&XT6$kHWS
zn^Nk$w32EF&+sSmaJljw+2!Z5OWv`czd?j<I>=s%?m#)Bf9)(^DcVVy9qtaFB)8|b
ztB;I`oRoFGg&G7kb6uVZha!fiRM5dz4Fkf5iOdS8oQiR41tUcT2lq?9pWxkOkQnWh
znMlC|^Z1VbrX$4z@whE2?5gNOH}%W%KXxgq2Y_OXB1omNU+=N5L7{J&VojIS01cyq
zOB_wTJ#S{XDem<@;G-m^9VEpA4(aRH#%{tjU8>o#x(PKg#yefC;U=IGChyNBJ=l}z
z87F@%5#QB4GzAN*@zifny<QX|1i^{8q8`kKA<Gab4^uS2Zm|9B{tIHbIqzvy&#v(M
zvV}OgYhD-FN{#0eGr)Z`NdK1dn1I&*J^%gp*M;Nkkg2m8j?+Vy{25=z7&uI%G;b*i
zXyHrq79xlh|N17mzPtMQF43+%x<7&v8^C|Gi_s#}hVP&Hc!dqBtobRmVz?)-oKsbH
zDC#z(1*&#bst0jy6EeKB<2gHCbDPkjIalarepzla%2#K8WO|i#tINu4)L!G=xs{cV
z)_$q=))9D~AQa{a^1!?^9dTd?dV~h;&@{?DcL8-4m7oc3l$-6KlKoj5;e0}wCn0~c
zpbc|-BAa5jam56_SwBUu;EK#2ZKk<F9vs}O{l-(x8toO=<vmm-5ke!+24Sf>@otrZ
z(eNqy8Q0I$)d8hE`Y|4s8lT4JWg#&@YX(JBrro*eN&-#e&%y4Y;Y8J}S2eHH7F}hY
zJRDxz0`GQu62i&P8V(v`?N4p6cN%}(?L}a!`DE?>hliEce%bEYGCxl9hZ@4+537$i
zpMF&RemxYF+ju$|rOcFvdWSK`u5Q7~kI_$<Z$b1M|5aCdMdW!ik5vjU74t+T8yXey
z0b}Pc(G3Ibf^~%QYI~zXn5k+v!_v}TldY9NmE#XA+blmX$mm6G3xvzE8Bl-dIlK*=
ztjy0@U;^+B;Hr)c8X2|_L|q(~E(8T#b_j;TV--q7n2yNQb^+u2vMBi=5EQn<DpxiF
znbU+Dp0N%Wh))oiV!`S9E@Wc0a0)E8Z8a8@rtN|xH^zEFSz*S&*X{e5o$Z6Mc%(!H
zV);~)vmt1nUFv;IGZO4Pymo&Fx-(RXc^a~A@@h)J)3>KtuPn0n7cK62D@@}w%vZ8*
zi;jRtPG92&b-(!<x`iuKhMDJ2Q>pn#I3JBaSTuFM758^bll<Wo|6f3TWIv_Sm8#6&
zfJ;?XgxJB2pQiMls2mLi7Hz&G-K%3R#9!iy3Ny(bu*nd;#8)(hO@x26ByTnclR=En
z_~|Yz{Q<^)Ad5GJW_h`X8r>a^1H5A?b7d-VaP(=~n_BVN$6rsb>f4fIUg74K;L;EZ
z$_R1ApJ_`647F!7pOz&lb7km=9N~0CZ%D}yPC(Ju`+xuQzilEn?JZRE1CEuZfjQwC
z?~A7GQoNar&k?LJl`ns12EGlo9#46Jqwg!E;JnU<i+XC&+HIz%cqf!-y{(TN9RBGw
zZpc~q<+RQ?Yv1d`&+%71vC~V9SJR2B<Jef4rOAhWmm_+X^CwN-0C8@%J8lC1^g1=<
zY$s3`eto=qzp#sK^5zKkp$QY-Vl;}%?IxtKxI@L>Q0X0tql|w!0wzzXytzJ3>C@5(
z8-aQ`(k;DrsZ%a=ny>^kc%>6G&HANI{!v}*ak)!vEay8rw}mmV%_AD<VYs}=#oyjQ
zq=D<Od{K$5vS3Vur<OFwqAJ?sqV1l`iDOmJ=tuBRzkU3XzpT7U-hBtlRo-89!UI=^
zI79HDf8OHKINg6nWlkSh*;^@^E3Wy#G<jK4ffNN&ZaNjFMTC_=U8SZIW-j5D5^ibH
zk+z!<OmcBi3fFIvo9#2+Hn&y#o+obfJ-*VHy7{)~&Xr?!3ZLoW_7jt1&Ack0Hbs`A
zspcI1JIDRVC&kUdr7}1$szJWp(({?v`b?L%-!l7<{!lm_er45mtBrN8lP3@nBxkoR
z*Qxl!l7=tIrS59@_4dj1vw?Tj<QYzStsCp$wozez&klVK|H<c*Js%-|yu>x&!?hR|
zwD>iBZg~Jj=*+Z#UV748b08AWBz5Q%b-)C4AP{Z7I$*YX+KliN5UvXfhUbbyrp2cq
zkkja+lju{Xo+lx&E&&*vln#k1Cb<_;NN^0|j6~hXw7D^OG}OkzK7P$l9vJo1Qw)MB
z6d}>}s9#rfJ{FG;Oi4O_=OP{P#*20C%|HN#!db<)tcW1y?{5$i1P>jaHPX_>Y5K>i
z%a13<EqVvh`D@#eBaMU~&lMY8Yr9t#IGW22Akdnt^P}UxCH|EPUDsf6Y_Y_@QWLaX
zvg87kcqBJah<(X}ODUr(6%(L2*D5q@Qo;?+TF3}nvX}tTzi6RC;nc-^V9jL>(~)zv
zU>aC^y}-gLrQ9&B1%-fRmWc)GSZJ|Oif!XgjK(^QW`Etqekh$E(7GG>I@Be;{|Bja
Fx^^$$WgP$j

delta 7930
zcmV<W9tGjcL7PF4w}0H1MGyowuor;qKVARSo{vY;eA(UBTXMCcKeB7Mo~^p`mQ-E#
z(A4`TKPGLr{kLtsNz$K^>j`>q4&AX#;Kx77rfZX3-B9&}sU%!F;nEAs^oeU;<!xKE
z9oc3bDM@`A#N$(9V19m+-0<tk6TLp*cGHl&BiW{|cE$eO<bPdJR~a*#1MVOc!!{VG
zpWY<5R4mDpTUC%_MQ1<URC!tNldeua)z9R<`*9rjsXXtCs+|Os>o8!~64+<*l01}o
zRl$49t1ZIpnz}6E=L6FifU|wA@?)_H!@-4R$$ZYAi#;oiJ8tL88p>o-lH|VX$etC|
zfct$@Y_ns23V$pJDK2ZwL)~=A2e_PkLM!kJ9>1)TYg!QRs^_Aqt0Pq8yo6V?CFKB=
zvfkun@jH8*AT+851N7H7$@SgU&v(g3)!6+JRGtaq7<v`QbJ-Q$0bc61sP<tHbR7ob
z&)SRmgc46eV!(YRb+U%68z{hF6i!tJ<}VtUx56yGo`0`o-4-1gfYjzY(!FLCTnq!E
zD7f6O=<Vb)+#d2uj__3%o4`6L#bp&(@hgGfKzl0i+YNQcrJ1+Cy-6O)_Pimy+T)|O
zv~=%CN19_%741;#-I2Bne$8B1wm&!9=e*iLYpoRV6F2xCdJXbYH{XVwzd!?;RlETX
z#GvUgD1U!{gKge3ftKJ2Z(}P!|5$bT@dWsaDtWi5+gIpXj<j$d&sF+V9EskfFY<ML
zW_?GQuStnW=%uTo+LG_o+45hK8!9DQ+I-V36e0B~OkJ;LL&_X`L-CZh5mSQMdt_H-
zH!jT8>)L6AUgxSz=GPV*g?x)2W!fI=x;sF(p?{S?ckb$@$V+Jc>kV|>R5lZ`vQW0{
zyG~ZZ2)u+mdHckTXL$y##C6u??YFEY&2yL=TZ=j5i1QS0r+7Q%MkNsJ7NKHZCr@w}
zzDc~ha78N;!nAm0DK4hmmLq;ylLLGjb(3`sA=wT(<@zN%)kS60GEELDIsI1^XC8%E
zihlwryPq<1@97WO4L{&T!#xyL23<vc-XFkdOWFVomJT%V8|cfLR~I6XPPuf-Jn)u*
zBv0%z0E5deU^TTL3W-UNgQ+PF1x8H~_yJ__b%NOw#8X+Z%T9TB$cpM2I`i#BY%kC+
zV>3l-1O(p9Xhmx^_z=d|@CZjJSMFrwNq<sMO_`;%*rjM874Xc5OuhmFY-u<GXf6bT
z<ObTH`(5$?`pH{{0D3EG$0(b63pcywHN${r-Spwna7nn-T+b%tQq}wyelfZ2FY2&{
z>#ovVYu;McAiU+*k|(^ja4D;er`LFhHLRY`1$nvJk}fYwXhQVjeaXvj{F52*Ie)<l
zLw3jIbactrUd{`YHn{DHY>Hj6p`lb8g3O`DpxonV1VR)R9@MPRR$Pz;EQ`_hZvcU(
zu?%Pt#~Zm(w<GOiQ2Xa<Jg|j0<!AV-B6*YT>%7crF|-N-6=2AO$eRs}PaaSOy3o8y
zK7dLphINbJCV3J{U!l2L>&vyZlYb!2XwLtbmU*b99epxy^XzGRiz)}<T~T&s+@{T*
zT%GdGw|ox{Al&X?pq}zMi!03nZ<^_)lpB3Ze<knPuZJAR5AYX!D_xd1BqL1&&#=Mf
z0-|8j;yVD}+rsXUJdoC%L?ad3tDA<rL(>@WwGYfN$JeFcIHitL>Nw?&(?H&_OPxa2
zBgQP>#NcFF0FqmKQo>J!r$?YEccM!pnl;!y&js-o?)}<3XEudTb`yPVa7<WcgOPT)
z(_3oI^Zb+Q1zUfATk-dj7u`I6U%`Uuk6P_-Q-39P_q-L($oCC7VV||9Q{1zffm^hE
z%M8Dxb|0zP9ux|sq61*AQ|4N<7Csw2a%e`2hR6rF0OWVnB6n(lW!@xa6{V);#|P0J
z4jge-<$~pVL(S5;ni0fQFs1%og{&B&&rlyvXPWw8Un+l#U1s8DHpRz}0ZfmX-IEOk
z8@LLbwxWuWLepdHivUGGJSwL_xdoPD)TT2G#HIxswFts5hPOsX9;9N1z{Xg!D7q6}
zP)VAsg>G@vK}aQM*Q1~bdn;~E!6t5{!c|IL**b`9OLJ)(qClJqY75aa+^(DU>W*9M
zeMwxxkph1(vBfn=U6Vf(9CTkI-W0x`xKSIJaHm9>rV@pxb#yc9n5R$GeTb@M_oia>
zJ--!Uqjs(F5c8Z$lhI3|_kCHf^Rj%+&ZjM%C8wj@OT4TP-14u?Fb;(!Ea5ffUQ_g{
zyfcR`1xv9V$mZLnK0>s7%M4myA;ZLO8sDKqP2zuRNDfMusqpCMk=fH>aVKh#^`a6A
zE8RJb0a|4*!6+ADS`k3EMFnWUvzVD6P}?t46!*+Bw#JX#u0+JWvNl|JRm#SpOTo4<
zp6LKN4CN1bv&W|3B2e46%<L_<+5>G<?lBb}RhXup0TP>ui{krOzqp`bi{U^8(i{+N
ztLT5U%7yS?YxJ8kg-_woMvHpU&`4PhrtQv~Zx_O`LR%^ZYFu+qMbI@*+>?vOS7Nry
z8C(gE?!d~Ws^h#!L?zwm;Z%=J52bW*#6v3&`F<)I{NB0(Syq>Ldsr{takH48?i(yx
zk%Y&TdQ@Jir6)m_b+rd@IO;o{ni|^H87+S)y7@>AeyMJ_IUON$m*PlIxN|8{c*Tii
zWl<661^@d@l-Mt#08tI_fl0Ku;s$$ca3jS#sqiIdOiUdLjj^dN(>-%)men<LCq}Pq
zNF$ntlho#i#gBRC3W?Ey8V>7X6at^0rv)+lH9c}`p9M{ag5VcvG03;0iZUR)pDcfV
zCp_-UR2tUIhT%~$&*Ha_CdZ3m?ZtQ;n5rm5!!c}*J<k!I4?fkl<#B5}`w`IM12u?&
zO{<{BJ1O%;BcQeiYA8``VoIZ^=D%`2{h-X1$r+2H>R-1MLja6pGP67wA4Pg)HpO$Z
zn_?UxI4zg??gbIX`tXGt<I6YYDWZQ9VWH>zZ-0fR93MY*p?>{_AcIlN{j#)aQnV*u
z0iPhnE{%1m7YeqqAAHB`Nyq3U<xZ6DQxT<5n!IXvb#u(}=ez*#CAkbDVfRLu?SY9~
zsdTC0vlJQ3bG6C&TvP0OdE!R25x1~R`}9N=vHY^u_Y&S|)98l48rQ^<Ml^po_dT<2
zYE$ZHPt;8@nf_9r%Wamc(`T|rJdpBqk=pSUo!s;vp6L310S7%g6iRb-c1?Dih(xJ0
zL-y2%62Z<N^+Y_P8GIZO3k^Su!;<<Svibg_o<y|JgO4Ix_u*%8*;=g61=s-JQ2SZk
z)G=?#Gb!s663Mgux!59JRLOrRWl|%lzQya5%5e|o^0MT{p)#DI{b&#19!C<?%oH!|
zPs0q8(|tebBFP67S!{9`o#cKpnLz`!#hDX!T_cU%(n}g`VFMMvXfZ52))0sx2ZEa)
zbb4;tEQ+DbJ&VgJznn^&luVo43W4Mk695>;BfJTynfa+OYoT&WeS?4UMv6MC;&>`?
z>YQIpZXWIz4qcV^;WO<sR$&^hwLTJhRj*qL-TRgcEObd7hh@WOL0Mfh@U3cC^ffuW
zj@jY{Ag8qeTj3lHzr%?<50lL?m9G&8MBz6GYR5dzMjQ+;`@_xgh+}cgfu@#|M*E25
zb<Dw{QbP<PNG#D~9vpv#EMhW4=5apez;a}|+$510BFG$Ia)hKZM`G9^b3n*YSf!K9
z<}O4c8X!V=$qn;)Ec3xytQbGvWe$gB22h&|<08Av;(kP;^N>iKB$3&ak69R<{1GoT
zWCq=1KFU7L;h=@gVSB_vbFxNU%#c_HLmV(y-w@p^^c;maFa}x^LghTn;s(T_@sSLi
zG=h1#!Z?85tfM=r7@I7d2~PPEjjUpHLMaZBD=TFspDvX+iGvuBj2X+Y%t)KWVs>R;
z9Ql>0d4xDPO7cU^b;Ktz=D;v(o0agGmXnhVDhVY#(@=!02XZfy#tb8W{8471;Wm0S
z{K8@`y)YV;kE-b8A<knK#$$AH6de@AXlCJjXo8-oQxIdRg){Kz^hAw=7(+0efutuW
zN-E+!l3X+vH{H&`ri&#WL?biF3mQdXCg~s^l$*ccq9<G|^BoO#G@U-2AiqqadnS5c
z>U<y{exbDXOyJ&3`B3(gX$>J1%dw^b8eiGvTEZ2(NF*AYxzI#glb#JJe@lxw1k89;
z4kD*T+Vt+qVQ^ZmgdkhRBd9G~(kaZ;aimdp#iYNW%iQss$xu5N>Pe7uF8lzhSrb2}
z`;5Tvt>(u~83avN;gb=cZa;=Nk^5gMd+vq%GqgD$L~JR=_tXoqBNx}ylOZUoy8o1J
zY4us$48-yMSWZU(O2)HOf8YQ3^pS616=24yL=$0H`kwk1h6Oo>IRrUdeb>h+aBLGY
zjVJCT;!Yr_e#Ll1WwrFptm1?U%lB1iCqrOr!ZXX$U*Cnf<a;ATKD?$a0B{;l_=9g>
z*6C(SC*@b>f!Wu$Nl3@kTPcej*}QH_GSR!#V~#&cGoSJ*--r3ef4wxK%D-1+-ao;6
zXQiH8C96EJ^pB^Lz880>4tI)MTqh3=*%q6wcqVKYF}@3NIq@|>tGlZvVxc-Rz4^Wp
z8O0EP{d%~F;@6e6Z03Z@-;n*8?x>rdP7?vBs$$f}uOtuWhTuQ#*`L|aY}FlGM%EsR
zWBk|XGb6@w9p4lif9_7K8ZGpJ-S6LC(|uj$udzLd#|jT<#mx_RQ|1bT&{2MKG%8(N
zqfAdiam+WOT26(asESl+zM1kZDND>EJ|;t3&(==(oIt$GVOT!ZztrQ?i}*8Hp`8gu
zfNK~wMHgK=Eqw;&H-33iU3ke~>BgjdE0f7sEPatFeN{Jqe;&dzuo+_zma)wo{o6MN
zn%t7AE?N=+hHHv_Z<(2o`D+x6qS}?AlohY8NR$avv0%Ota;nc={Cm<3Fj)V=uEoD8
z*EX~hRryY%!cc7aG<mg;fkE}eBvVDh<EpJ=5U};R(eFo9SLSiz-%X2s`X&YmRpc0$
zk=VELTz@BJe*^@o#~WE{A`}3QI!-7hXRgCyC8yq$L5pIb0Dys$8xAez^dJApdb)dl
zHNfpR7-Sy<U%5+-Hwn_pq{4nK+Vd2OpHG!X>*sY@w1<(>=5?hkjs<S?m2YrU%{{56
zmHx05F?^&qZ}8p+aVrEH<{`FugKH%7e@0{TSdm{Sf4%tx_vn=A>nK9HJ-aePBK*+Z
zbWV867in9uFIfQAN%r^~hFcH(4rdHcMazP7Z4b2>SRK~Xa9?3IN8-F-xq2+Bc;}XF
zSD#LD^St?h9p*&srFTM$R|LPA2!54->jc3~-bs;AxD!l@SPm}VbRyu6#Ctl_U42=+
zmP!7pf8piXc-htpmxOCt>=~cqU~yDz50kG$I5s|2WpI6cH#WF*8#%nLn<5?qQ&({O
zLNBB@{~8AeMjX(OlW06#Ujc;CAcpA7?g*$(c1YQ#DezFVt91??!h|uym<h2axg}!!
za7)D|K%z|&gdh7V4o|P&r}=O2XB-mT_;m&le^l>rAP-_P3{kf5!PecW3H#K8?C2xC
z_u}$&gzcs%gGc7W1~{hv!elgTpWFBf)a&;=jJOI!EyY(Lsovv=sz9fP>_`Kzy?KGK
zG!lzuL!3{G*WR;BlTpzLaJpyYK8(yhYD1YiCr>qvV5WlVUW%p+V?7UO^O;fp%K$;Q
ze}fj}g7Je|9Q1;v#Z%Du2IxQ@E8{xMFOpiY9AYl`Xa^b?dK#8U@lS%&C;8nd=xJr&
z11JC#kKD4fZepP5jEAL{N-;)-(D$(s?3?gy?c#Yo%MfDG8287y4bSBAbQ33*!`uu%
zt-=ZF@<nPfjg|pKrx7v|-yB-7Gcxyqf1h*6AInje$sjv~1MJTzh-zBgM3Ch$*Thc~
zVW3(`2bl&%A%qwRm_-LkggN9Vb3~Vc%?DWy(M^0@5d^b+S!Z?}KL#f#l3$wq5fn+K
zpMf}E0Gqfw<_KS9IY5T-%nA!2#;_uyc#MICg@x`~&pi0X92yuI7{+3ep`jZJf3@!!
zbqFA3am?WD;S?r6z&;33=sc|j41`ngmx35KFfx@ZfO-Z&5k==223b&rT-tja8!1V!
z#&{?Or7<G1;VC}+qa}gJ7!ySRGDbxf9(Di-_23&YX<+8metlr%hC=OohD;KOJur$v
zV-JmNNK_^jo`yzF0-R%f6amgLe?qdrF&W%fpL!Y?KnZL#{~?nfu`S0?7R3Tdg>fg|
zf2xf~NUlYI*2Z=bMX8PMEPT@Xz_3qpAhRPQJx=Zubr$8)c`Fsh{TxdKg9oEUhA#%4
za_Qk{4zMgK07<8u<XaLdmo_(ZI>i!!7)g@MnI)T2$)~5^mIhDrT8)9}e`yy&O`aFT
z@eJkdTo30+t6k#JeA&9e2jgr$?HDBSVSAH&0}u5_ytARyUdY4w-rI0i(D{&#oZUs9
z(3cAwemth-etG^JqVizuY{qM&-)%{EK8c-;TT1=G|M4RK<;BJrD`4=pzn2)!Y#>%X
zEVI&#lS_GO3e$cXi&U6Wf6X-S`db{8Fa0_2gjQnmf=}p9dWJk9)pR|fFJU_Hgk~=D
zf)D6SlZHGW+q~X>JWqy|Ki#gH+(-6A|E0ZVz)k%}XZ^uCQBi?|<-Z(QLf}~dfIuW&
zKRcZpg8!TY59S>t{VzRt!AHt{j4TVF;5aouL*o8)P(!r;rB`x%e?b636P*2wa`riO
zF@7F#XbHe_K#=+ECl$w53sC5+n~lfnSQxMzT6f@EG(f=|^9}SBnYut=49p;lVd=Ob
zmml~T4iX8YAzT2B!e>}|ZtAG~d<O}Ra}q9qPGvVNeRp+y!}JG<aSFD<r5;P~8WQIk
z5C%XVTNKr*x|Vw^e}`6+_?Cjuv+$6@ilg@?x=i%tA4}^N4%8c2ECZ`U5RX{K5&zx0
z7lJH@*P8g3i6AJe=bsG9y&_~eyy(QaUZiV^^|>2A0;H&(>++e<OZIUiA4o?J`M76N
z5Ck^_XN7RvON?czysV9Bk?TKQ|J0t3N78)R;g)(=Fpj|q9}##^rmGc0meZ~Na~TX#
znUvX2x&5EsB)9Z>k{gFPlZ6%}e}}Rt*`^03yx8W@4dbLmv3H$;AunIuF+t{$Yo)yw
zzl{(0uB>qjn{Kh))H7f39aF$W5ox+&S8SNKdY61@3XCy-xV!!G<3e4>GhU(nD|x6(
z&sv@>eDMXI$E~ORU-I%BKUGwBuZgu+nCN;g$jjBZ9bU#<&L9J*{_ePlf58s;+KT|{
zXZ+kS^VtL*yQ8YGccNX<4&8wlL~9kj#Sbr0rP~N^W)0{a;7gDO*weHDHO#J1c%Pxw
zOinv^NafPZJH2S|?4p3<m%@=K=g!z?HAU8i5%0m($yb>IYs_RAN?G`8nO2KNT<8V^
z>Y2Oo8};ICG3^c!1kNbQe|ob+eKbCQ<>SyqQz{BW>gz>Bw%fnPX*rzSMqhH7P<E1y
z?^Lh)QX}eAUP=|S&NWChgC^DmP4#TAF{0jkd;N+d^z;3dg|6C4t_kk6wOrH_x0p(c
z)&j5XYn30(423`9;NqeMg=j}PN9&H;lB+6tPJ-@(PIw?N9$bi!e}Op>dP;a91TemM
zUw?mHu(3EcqxCMMJ$4Fp`MiOCRV29E!Q<9K3@|uSGOc&1CYkoG-U}g&O+HhhdnP2y
zrd{j+`FLUA^KsAcmr@9L0}J3oUg8GUo5i00F>X_+FuOueu`LA9{x9bv?xwjXRo@;-
zo8qciq5^+{WS6a>e|C0Fz9EC9u1Rt*q)U5cXu;^wU+fnIc#mIJ$#rtY+9FhkiV1II
z+zprOoe0GT`aixZhk4pF<4{j*uB<$`c2kWj_^njviDr1kelMJ=YBTS*ZQH_Z#+hx@
ze34To&7Gi^H1okdC?`m&8$|DM-o~b;`5O_bz+K?%3)TPme@*gGH_%DqdX`Uk1u7tW
zDHxi(tDcLdu4uo+cbWm`5Fa7gm27Qhrt?rmsv$hXpGarr%6DX!pUW<J$A10>5xVIh
zdnvjDrCPSLe5Gh7Wp=nbypr6W+paz`K5tUi`4(yr)Xa5xCLD?wno>ar=`#!nA0{#@
zoVh8+trd(Ee-#|uFZq6gcay=*Xs66X3MQDxcl0+MDISQ&ZBb!YMHAip=y!xUc4(&u
zfMSdv@-B@1dXIGt3VqWQYnoC6G>la(aWwVzyqV#;*Z+W*l9YCk6c0G0uU{Lx3D-1L
zvt@M?YGRCcnyld_pb{qU&n4X-=~~u#;TauszqA25lOY-#f9xi{t9xh)7FOe_pYVCT
zC`1T?6LCd7_!x#PL!ewt(EvMP^|$*kh~ehEr%^pSV(!Zp;^eM*U0^FU{+###+(&~f
zYAKI5(E7jUzyJQaaBRUbbymZ%3CEIO<9UpMJvmDA6rF$;zBEtCfmrdcZ<6b~tDo-@
z?O2}sBPg)}e@wd=Ei!HR{;7{w*r3XqpHeG^d-BRTRb_{wZbMq2YDcAd5a%`_!#g{k
zv*R_l2`!p)g>L4T<u;>yb>>H=S6R2ZtjtF3HQt?DS@~$~ms)Qff#(TAVSYpIJ9nld
z4h%t$(4ZZfMmdKqpw6NaG{KE>@)}gKKWihLPbl*we`FT4VQx=kQ|vabn7}vdr|1=2
zk@=&|G&jhDgL}2#c&b^Wz2dsOhpHq(Xyn--ELA7otx_-=K1Dy{`k9&?P|Bkp<6)`s
zX?$K55(BhmP()?gotv&C&@}!W>>e6URLy!-^T=n>Rp!aV;k7OB?4c(iocyfepfT3|
z)CPN}f5F{e1g4r#*6x3JSZVE-?XE5J<1~M$Asqg&`grr{N7e7wLqWNXr;}02OnInx
z7<26E7Odwn`U&$bh<@Y0>PoMO{MpRiiNZ_8+?dFQMn!zU*fvI#ci%2pM<|b8H!6gA
zSM6rly|mY4xe};y{DNhhJ<kggW0Bhe;j(N7e-wHSZv!VQ^X&?l0DJ?O)saCX!xn<5
zi^I}|prC1oU?@CRp+tn~h)iu4FuuHrk`DqwVLPmHWh0O|O}OD1dALA)g2)sLPS<xK
z6WPKku-NL)SWud_3zA%4>IG$m83SLp?_+kh4@UAxi3&veRFktIXr5i_eM~bF>^!`7
ze+Rn2Qi*vQvTpKfO2E^%r&+Ho9`7$&-1AnL#%Y+ZWZf1W0gs%%#trIz^EGq}SEdXz
z&#$IZ^O0~q8o#h;>U=BCmzE~^#Vh{5fcnUON~J4RnZE&-s;UUFgBw4+(|e+FG!$60
z`Hpn2j=2zji7P71B)h;SL-Z0~(K~D+f21XOvpJXyV!XyTNn!UN@KpPjo@ANj<sNEu
zcQ_94j-||%sl>t2t7&g)#b+OXJ-MoHOOAPkYe<4iLntUC#1+4$r4ATs&zd;xk)+I(
zp(CCMrz3hp$^+p96n(w__doyJCUWiDLN!0&SZNxV6Rz>TXxc8tle737!3yv4e{^Qx
z+feKAlovSqzCsGl>wLJVrxvZ<W_pTuLW$Pf`pCiIpI+mJoP}Rb>x{GZy*~ULf7KJ)
z1k`vnojBTzjg{FwdC~83M9*^mq{$l~&dqkmP2itir-q#E1nR=Ck9Y4EcCk%f9Kk*`
zVZvLCMp3!lgcKHcsMs4Sy+d)7e=$eE<SCUm^W&60Esd}dsFx$%(sO}2<-nl{DWJh4
zhoEWJ4;}K4>SA}DU20=F-xjnjjDc+)(LfKw<;7F{?F~d4n1|&_C6;Bum<BihXpTiy
zw8ur;J(m;5s-V%2;Gcf`_#=N=d6m5T4wkFDKZ=6~t_*R8;6eYq#nd=me@10aA6SpK
zQZ!dw^MPsdvZMkj3Z&e0Dol$AD}lO7O()D;!Yw7-(xM}6HzAnh;-VC;-y}ENXFLsU
ztM)xl+~|9Jr7v~!ZPA@8$Lthd)5Gm2CdZn2RX}ZuEJahzIsA8y`;kwIYivtpa9~t}
ze7mLF9I^aNm$%<Cd$0RYI30eZ(srwjb*_^q5D_G2w=LJ^^23sbFUh6uYWVf`$@H^<
zch%$>PI|2yYyY!RVSWw_y$=7$>yv69A%C3W8t~yth6N?Rrq3-8pa`9r_RmXCnrjY3
z;+dolouUqyfDQzr%~uD^R!^G|o&v(P&;RgTamcjz6a;b_eRL9i%GC2D1lC^qgOk!B
zQN<+pA_@tPL7b7Od$%(;29Ji?SlGLm`N;#Lo_dNwFohx{+8*`miq6O4@qsBx=YL$J
zBi?wiwvQPIz)(1=_>vV7#QgmYLW1C-!!0{nnw+M8th)SoV%(y45S_oa9XZlS`0-q^
z(Y3aEWr3r)>;M9-nVlaU|1I&aROq?}gJa1Of2JlVU9#i?lz1c;P>6NOgQ=9!OvMCf
z&Rm6tO-i`IS&59Wl*I&y{-lM5Q$H8;fi=?_rXy#zU>aCEUtr;sQf`=5LLnf{GO<7%
ki53f`ST^p&Xyjou`|B?DL+Sj0*4@b0p{Dr$AJ368Ndvw|TL1t6

diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html
index a04d755e9..079cf9b5c 100644
--- a/plugin_tutorials/docs/writing_new_behavior_plugin.html
+++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html
index 288242fee..c53d2acac 100644
--- a/plugin_tutorials/docs/writing_new_bt_plugin.html
+++ b/plugin_tutorials/docs/writing_new_bt_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
index 346df4b3c..4c06eadae 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
+++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
index 7759a6bcd..bb2738f16 100644
--- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
index 8c23f8761..9b1385ba2 100644
--- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
+++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html
index ae1f535bb..272897329 100644
--- a/plugin_tutorials/docs/writing_new_navigator_plugin.html
+++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html
index 0e4dd06fa..ff228fc74 100644
--- a/plugin_tutorials/index.html
+++ b/plugin_tutorials/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/plugins/index.html b/plugins/index.html
index 6ce77fac4..cc7f3d6b0 100644
--- a/plugins/index.html
+++ b/plugins/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
@@ -1155,10 +1161,10 @@ <h2>Costmap Filters<a class="headerlink" href="#costmap-filters" title="Permalin
 <h2>Controllers<a class="headerlink" href="#controllers" title="Permalink to this headline">¶</a></h2>
 <table class="docutils align-default">
 <colgroup>
-<col style="width: 27%" />
-<col style="width: 19%" />
-<col style="width: 32%" />
-<col style="width: 22%" />
+<col style="width: 29%" />
+<col style="width: 18%" />
+<col style="width: 31%" />
+<col style="width: 21%" />
 </colgroup>
 <thead>
 <tr class="row-odd"><th class="head"><p>Plugin Name</p></th>
@@ -1211,6 +1217,13 @@ <h2>Controllers<a class="headerlink" href="#controllers" title="Permalink to thi
 <td><p>Differential, Omni,
 model rotate in place</p></td>
 </tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller">Graceful Motion Controller</a></p></td>
+<td><p>Alberto Tudela</p></td>
+<td><p>A controller based on a
+pose-following control law to
+generate smooth trajectories.</p></td>
+<td><p>Differential</p></td>
+</tr>
 </tbody>
 </table>
 </div>
diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html
index c4a5b9d39..aac08ea19 100644
--- a/roadmap/roadmap.html
+++ b/roadmap/roadmap.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/search.html b/search.html
index 3147846cc..9179900bc 100644
--- a/search.html
+++ b/search.html
@@ -681,6 +681,11 @@
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -957,6 +962,7 @@
 <li class="toctree-l3"><a class="reference internal" href="migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/searchindex.js b/searchindex.js
index a04d6cabe..bb0e0820a 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Search.setIndex({docnames:["2021summerOfCode/Summer_2021_Student_Program","2021summerOfCode/projects/assisted_teleop","2021summerOfCode/projects/create_configuration_assistant","2021summerOfCode/projects/create_plugins","2021summerOfCode/projects/dynamic","2021summerOfCode/projects/grid_maps","2021summerOfCode/projects/localization","2021summerOfCode/projects/multithreading","2021summerOfCode/projects/navigation_rebranding","2021summerOfCode/projects/safety_node","2021summerOfCode/projects/semantics","2021summerOfCode/projects/spinners","2021summerOfCode/projects/testing","2021summerOfCode/projects/twist_n_config","about/index","about/related_projects","about/robots","behavior_trees/index","behavior_trees/overview/detailed_behavior_tree_walkthrough","behavior_trees/overview/nav2_specific_nodes","behavior_trees/trees/follow_point","behavior_trees/trees/nav_through_poses_recovery","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle","behavior_trees/trees/nav_to_pose_recovery","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid","behavior_trees/trees/odometry_calibration","commander_api/index","concepts/index","configuration/index","configuration/packages/bt-plugins/actions/AssistedTeleop","configuration/packages/bt-plugins/actions/BackUp","configuration/packages/bt-plugins/actions/CancelAssistedTeleop","configuration/packages/bt-plugins/actions/CancelBackUp","configuration/packages/bt-plugins/actions/CancelControl","configuration/packages/bt-plugins/actions/CancelCoverage","configuration/packages/bt-plugins/actions/CancelDriveOnHeading","configuration/packages/bt-plugins/actions/CancelSpin","configuration/packages/bt-plugins/actions/CancelWait","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion","configuration/packages/bt-plugins/actions/ClearEntireCostmap","configuration/packages/bt-plugins/actions/ComputeCoveragePath","configuration/packages/bt-plugins/actions/ComputePathThroughPoses","configuration/packages/bt-plugins/actions/ComputePathToPose","configuration/packages/bt-plugins/actions/ControllerSelector","configuration/packages/bt-plugins/actions/DriveOnHeading","configuration/packages/bt-plugins/actions/FollowPath","configuration/packages/bt-plugins/actions/GoalCheckerSelector","configuration/packages/bt-plugins/actions/NavigateThroughPoses","configuration/packages/bt-plugins/actions/NavigateToPose","configuration/packages/bt-plugins/actions/PlannerSelector","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization","configuration/packages/bt-plugins/actions/RemovePassedGoals","configuration/packages/bt-plugins/actions/Smooth","configuration/packages/bt-plugins/actions/SmootherSelector","configuration/packages/bt-plugins/actions/Spin","configuration/packages/bt-plugins/actions/TruncatePath","configuration/packages/bt-plugins/actions/TruncatePathLocal","configuration/packages/bt-plugins/actions/Wait","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent","configuration/packages/bt-plugins/conditions/DistanceTraveled","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal","configuration/packages/bt-plugins/conditions/GoalReached","configuration/packages/bt-plugins/conditions/GoalUpdated","configuration/packages/bt-plugins/conditions/InitialPoseReceived","configuration/packages/bt-plugins/conditions/IsBatteryCharging","configuration/packages/bt-plugins/conditions/IsBatteryLow","configuration/packages/bt-plugins/conditions/IsPathValid","configuration/packages/bt-plugins/conditions/IsStuck","configuration/packages/bt-plugins/conditions/PathExpiringTimer","configuration/packages/bt-plugins/conditions/TimeExpired","configuration/packages/bt-plugins/conditions/TransformAvailable","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp","configuration/packages/bt-plugins/controls/PipelineSequence","configuration/packages/bt-plugins/controls/RecoveryNode","configuration/packages/bt-plugins/controls/RoundRobin","configuration/packages/bt-plugins/decorators/DistanceController","configuration/packages/bt-plugins/decorators/GoalUpdater","configuration/packages/bt-plugins/decorators/PathLongerOnApproach","configuration/packages/bt-plugins/decorators/RateController","configuration/packages/bt-plugins/decorators/SingleTrigger","configuration/packages/bt-plugins/decorators/SpeedController","configuration/packages/collision_monitor/configuring-collision-detector-node","configuration/packages/collision_monitor/configuring-collision-monitor-node","configuration/packages/configuring-amcl","configuration/packages/configuring-behavior-server","configuration/packages/configuring-bt-navigator","configuration/packages/configuring-bt-xml","configuration/packages/configuring-collision-monitor","configuration/packages/configuring-constrained-smoother","configuration/packages/configuring-controller-server","configuration/packages/configuring-costmaps","configuration/packages/configuring-coverage-server","configuration/packages/configuring-dwb-controller","configuration/packages/configuring-lifecycle","configuration/packages/configuring-map-server","configuration/packages/configuring-mppic","configuration/packages/configuring-navfn","configuration/packages/configuring-planner-server","configuration/packages/configuring-regulated-pp","configuration/packages/configuring-rotation-shim-controller","configuration/packages/configuring-savitzky-golay-smoother","configuration/packages/configuring-simple-smoother","configuration/packages/configuring-smac-planner","configuration/packages/configuring-smoother-server","configuration/packages/configuring-thetastar","configuration/packages/configuring-velocity-smoother","configuration/packages/configuring-waypoint-follower","configuration/packages/costmap-plugins/binary_filter","configuration/packages/costmap-plugins/denoise","configuration/packages/costmap-plugins/inflation","configuration/packages/costmap-plugins/keepout_filter","configuration/packages/costmap-plugins/obstacle","configuration/packages/costmap-plugins/range","configuration/packages/costmap-plugins/speed_filter","configuration/packages/costmap-plugins/static","configuration/packages/costmap-plugins/voxel","configuration/packages/dwb-params/controller","configuration/packages/dwb-params/iterator","configuration/packages/dwb-params/kinematic","configuration/packages/dwb-params/visualization","configuration/packages/dwb-plugins/limited_accel_generator","configuration/packages/dwb-plugins/standard_traj_generator","configuration/packages/nav2_controller-plugins/pose_progress_checker","configuration/packages/nav2_controller-plugins/simple_goal_checker","configuration/packages/nav2_controller-plugins/simple_progress_checker","configuration/packages/nav2_controller-plugins/stopped_goal_checker","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint","configuration/packages/smac/configuring-smac-2d","configuration/packages/smac/configuring-smac-hybrid","configuration/packages/smac/configuring-smac-lattice","configuration/packages/trajectory_critics/base_obstacle","configuration/packages/trajectory_critics/goal_align","configuration/packages/trajectory_critics/goal_dist","configuration/packages/trajectory_critics/obstacle_footprint","configuration/packages/trajectory_critics/oscillation","configuration/packages/trajectory_critics/path_align","configuration/packages/trajectory_critics/path_dist","configuration/packages/trajectory_critics/prefer_forward","configuration/packages/trajectory_critics/rotate_to_goal","configuration/packages/trajectory_critics/twirling","development_guides/build_docs/build_troubleshooting_guide","development_guides/build_docs/index","development_guides/devcontainer_docs/devcontainer_guide","development_guides/devcontainer_docs/index","development_guides/index","development_guides/involvement_docs/index","getting_started/index","index","migration/Dashing","migration/Eloquent","migration/Foxy","migration/Galactic","migration/Humble","migration/Iron","migration/index","plugin_tutorials/docs/writing_new_behavior_plugin","plugin_tutorials/docs/writing_new_bt_plugin","plugin_tutorials/docs/writing_new_costmap2d_plugin","plugin_tutorials/docs/writing_new_nav2controller_plugin","plugin_tutorials/docs/writing_new_nav2planner_plugin","plugin_tutorials/docs/writing_new_navigator_plugin","plugin_tutorials/index","plugins/index","roadmap/roadmap","setup_guides/algorithm/select_algorithm","setup_guides/footprint/setup_footprint","setup_guides/index","setup_guides/odom/setup_odom","setup_guides/sensors/setup_sensors","setup_guides/transformation/setup_transforms","setup_guides/urdf/setup_urdf","tuning/index","tutorials/docs/adding_a_nav2_task_server","tutorials/docs/adding_smoother","tutorials/docs/camera_calibration","tutorials/docs/filtering_of_noise-induced_obstacles","tutorials/docs/get_backtrace","tutorials/docs/get_profile","tutorials/docs/integrating_vio","tutorials/docs/navigation2_dynamic_point_following","tutorials/docs/navigation2_on_real_turtlebot3","tutorials/docs/navigation2_with_gps","tutorials/docs/navigation2_with_keepout_filter","tutorials/docs/navigation2_with_slam","tutorials/docs/navigation2_with_speed_filter","tutorials/docs/navigation2_with_stvl","tutorials/docs/using_collision_monitor","tutorials/docs/using_groot","tutorials/docs/using_shim_controller","tutorials/index"],envversion:{"sphinx.domains.c":2,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":3,"sphinx.domains.index":1,"sphinx.domains.javascript":2,"sphinx.domains.math":2,"sphinx.domains.python":2,"sphinx.domains.rst":2,"sphinx.domains.std":2,sphinx:56},filenames:["2021summerOfCode/Summer_2021_Student_Program.rst","2021summerOfCode/projects/assisted_teleop.rst","2021summerOfCode/projects/create_configuration_assistant.rst","2021summerOfCode/projects/create_plugins.rst","2021summerOfCode/projects/dynamic.rst","2021summerOfCode/projects/grid_maps.rst","2021summerOfCode/projects/localization.rst","2021summerOfCode/projects/multithreading.rst","2021summerOfCode/projects/navigation_rebranding.rst","2021summerOfCode/projects/safety_node.rst","2021summerOfCode/projects/semantics.rst","2021summerOfCode/projects/spinners.rst","2021summerOfCode/projects/testing.rst","2021summerOfCode/projects/twist_n_config.rst","about/index.rst","about/related_projects.rst","about/robots.rst","behavior_trees/index.rst","behavior_trees/overview/detailed_behavior_tree_walkthrough.rst","behavior_trees/overview/nav2_specific_nodes.rst","behavior_trees/trees/follow_point.rst","behavior_trees/trees/nav_through_poses_recovery.rst","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst","behavior_trees/trees/nav_to_pose_recovery.rst","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst","behavior_trees/trees/odometry_calibration.rst","commander_api/index.rst","concepts/index.rst","configuration/index.rst","configuration/packages/bt-plugins/actions/AssistedTeleop.rst","configuration/packages/bt-plugins/actions/BackUp.rst","configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst","configuration/packages/bt-plugins/actions/CancelBackUp.rst","configuration/packages/bt-plugins/actions/CancelControl.rst","configuration/packages/bt-plugins/actions/CancelCoverage.rst","configuration/packages/bt-plugins/actions/CancelDriveOnHeading.rst","configuration/packages/bt-plugins/actions/CancelSpin.rst","configuration/packages/bt-plugins/actions/CancelWait.rst","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.rst","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.rst","configuration/packages/bt-plugins/actions/ClearEntireCostmap.rst","configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst","configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst","configuration/packages/bt-plugins/actions/ComputePathToPose.rst","configuration/packages/bt-plugins/actions/ControllerSelector.rst","configuration/packages/bt-plugins/actions/DriveOnHeading.rst","configuration/packages/bt-plugins/actions/FollowPath.rst","configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst","configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst","configuration/packages/bt-plugins/actions/NavigateToPose.rst","configuration/packages/bt-plugins/actions/PlannerSelector.rst","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.rst","configuration/packages/bt-plugins/actions/RemovePassedGoals.rst","configuration/packages/bt-plugins/actions/Smooth.rst","configuration/packages/bt-plugins/actions/SmootherSelector.rst","configuration/packages/bt-plugins/actions/Spin.rst","configuration/packages/bt-plugins/actions/TruncatePath.rst","configuration/packages/bt-plugins/actions/TruncatePathLocal.rst","configuration/packages/bt-plugins/actions/Wait.rst","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.rst","configuration/packages/bt-plugins/conditions/DistanceTraveled.rst","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst","configuration/packages/bt-plugins/conditions/GoalReached.rst","configuration/packages/bt-plugins/conditions/GoalUpdated.rst","configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst","configuration/packages/bt-plugins/conditions/IsBatteryCharging.rst","configuration/packages/bt-plugins/conditions/IsBatteryLow.rst","configuration/packages/bt-plugins/conditions/IsPathValid.rst","configuration/packages/bt-plugins/conditions/IsStuck.rst","configuration/packages/bt-plugins/conditions/PathExpiringTimer.rst","configuration/packages/bt-plugins/conditions/TimeExpired.rst","configuration/packages/bt-plugins/conditions/TransformAvailable.rst","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.rst","configuration/packages/bt-plugins/controls/PipelineSequence.rst","configuration/packages/bt-plugins/controls/RecoveryNode.rst","configuration/packages/bt-plugins/controls/RoundRobin.rst","configuration/packages/bt-plugins/decorators/DistanceController.rst","configuration/packages/bt-plugins/decorators/GoalUpdater.rst","configuration/packages/bt-plugins/decorators/PathLongerOnApproach.rst","configuration/packages/bt-plugins/decorators/RateController.rst","configuration/packages/bt-plugins/decorators/SingleTrigger.rst","configuration/packages/bt-plugins/decorators/SpeedController.rst","configuration/packages/collision_monitor/configuring-collision-detector-node.rst","configuration/packages/collision_monitor/configuring-collision-monitor-node.rst","configuration/packages/configuring-amcl.rst","configuration/packages/configuring-behavior-server.rst","configuration/packages/configuring-bt-navigator.rst","configuration/packages/configuring-bt-xml.rst","configuration/packages/configuring-collision-monitor.rst","configuration/packages/configuring-constrained-smoother.rst","configuration/packages/configuring-controller-server.rst","configuration/packages/configuring-costmaps.rst","configuration/packages/configuring-coverage-server.rst","configuration/packages/configuring-dwb-controller.rst","configuration/packages/configuring-lifecycle.rst","configuration/packages/configuring-map-server.rst","configuration/packages/configuring-mppic.rst","configuration/packages/configuring-navfn.rst","configuration/packages/configuring-planner-server.rst","configuration/packages/configuring-regulated-pp.rst","configuration/packages/configuring-rotation-shim-controller.rst","configuration/packages/configuring-savitzky-golay-smoother.rst","configuration/packages/configuring-simple-smoother.rst","configuration/packages/configuring-smac-planner.rst","configuration/packages/configuring-smoother-server.rst","configuration/packages/configuring-thetastar.rst","configuration/packages/configuring-velocity-smoother.rst","configuration/packages/configuring-waypoint-follower.rst","configuration/packages/costmap-plugins/binary_filter.rst","configuration/packages/costmap-plugins/denoise.rst","configuration/packages/costmap-plugins/inflation.rst","configuration/packages/costmap-plugins/keepout_filter.rst","configuration/packages/costmap-plugins/obstacle.rst","configuration/packages/costmap-plugins/range.rst","configuration/packages/costmap-plugins/speed_filter.rst","configuration/packages/costmap-plugins/static.rst","configuration/packages/costmap-plugins/voxel.rst","configuration/packages/dwb-params/controller.rst","configuration/packages/dwb-params/iterator.rst","configuration/packages/dwb-params/kinematic.rst","configuration/packages/dwb-params/visualization.rst","configuration/packages/dwb-plugins/limited_accel_generator.rst","configuration/packages/dwb-plugins/standard_traj_generator.rst","configuration/packages/nav2_controller-plugins/pose_progress_checker.rst","configuration/packages/nav2_controller-plugins/simple_goal_checker.rst","configuration/packages/nav2_controller-plugins/simple_progress_checker.rst","configuration/packages/nav2_controller-plugins/stopped_goal_checker.rst","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.rst","configuration/packages/smac/configuring-smac-2d.rst","configuration/packages/smac/configuring-smac-hybrid.rst","configuration/packages/smac/configuring-smac-lattice.rst","configuration/packages/trajectory_critics/base_obstacle.rst","configuration/packages/trajectory_critics/goal_align.rst","configuration/packages/trajectory_critics/goal_dist.rst","configuration/packages/trajectory_critics/obstacle_footprint.rst","configuration/packages/trajectory_critics/oscillation.rst","configuration/packages/trajectory_critics/path_align.rst","configuration/packages/trajectory_critics/path_dist.rst","configuration/packages/trajectory_critics/prefer_forward.rst","configuration/packages/trajectory_critics/rotate_to_goal.rst","configuration/packages/trajectory_critics/twirling.rst","development_guides/build_docs/build_troubleshooting_guide.rst","development_guides/build_docs/index.rst","development_guides/devcontainer_docs/devcontainer_guide.md","development_guides/devcontainer_docs/index.md","development_guides/index.rst","development_guides/involvement_docs/index.rst","getting_started/index.rst","index.rst","migration/Dashing.rst","migration/Eloquent.rst","migration/Foxy.rst","migration/Galactic.rst","migration/Humble.rst","migration/Iron.rst","migration/index.rst","plugin_tutorials/docs/writing_new_behavior_plugin.rst","plugin_tutorials/docs/writing_new_bt_plugin.rst","plugin_tutorials/docs/writing_new_costmap2d_plugin.rst","plugin_tutorials/docs/writing_new_nav2controller_plugin.rst","plugin_tutorials/docs/writing_new_nav2planner_plugin.rst","plugin_tutorials/docs/writing_new_navigator_plugin.rst","plugin_tutorials/index.rst","plugins/index.rst","roadmap/roadmap.rst","setup_guides/algorithm/select_algorithm.rst","setup_guides/footprint/setup_footprint.rst","setup_guides/index.rst","setup_guides/odom/setup_odom.rst","setup_guides/sensors/setup_sensors.rst","setup_guides/transformation/setup_transforms.rst","setup_guides/urdf/setup_urdf.rst","tuning/index.rst","tutorials/docs/adding_a_nav2_task_server.rst","tutorials/docs/adding_smoother.rst","tutorials/docs/camera_calibration.rst","tutorials/docs/filtering_of_noise-induced_obstacles.rst","tutorials/docs/get_backtrace.rst","tutorials/docs/get_profile.rst","tutorials/docs/integrating_vio.rst","tutorials/docs/navigation2_dynamic_point_following.rst","tutorials/docs/navigation2_on_real_turtlebot3.rst","tutorials/docs/navigation2_with_gps.rst","tutorials/docs/navigation2_with_keepout_filter.rst","tutorials/docs/navigation2_with_slam.rst","tutorials/docs/navigation2_with_speed_filter.rst","tutorials/docs/navigation2_with_stvl.rst","tutorials/docs/using_collision_monitor.rst","tutorials/docs/using_groot.rst","tutorials/docs/using_shim_controller.rst","tutorials/index.rst"],objects:{},objnames:{},objtypes:{},terms:{"000":[172,174],"000000":173,"0000008":172,"0000075":172,"0001":92,"000km":186,"001":[86,92,95,101,102,172,173,193],"002":172,"003":172,"005":86,"010":186,"015":[91,98,133,134,173],"015000":173,"022":173,"025":[18,21,23,26,30,45,89,95,124,175],"035":173,"047198":173,"048":190,"0508":173,"055":173,"05s":98,"092":172,"0_1602582820":130,"0x000055555555828b":181,"0x0000555555558e1d":181,"0x000055555555936c":181,"0x0000555555559cfc":181,"0x00007ffff79cc859":181,"0x00007ffff7c52951":181,"0x00007ffff7c553eb":181,"0x00007ffff7c5e47c":181,"0x00007ffff7c5e4e7":181,"0x00007ffff7c5e799":181,"0x5555555cfb40":181,"0x5555555cfdb0":181,"0x7fffffffc108":181,"100":[84,85,86,91,93,98,116,152,157,172,174,177,181,184,186,187,189,192],"1000":[88,98,104,132,133,134],"10000":[98,157,177],"100000":98,"1000000":[98,132,133,134],"10001":177,"10002":177,"1001":157,"10099":177,"100hz":18,"100m":[26,105,156],"101":[59,157,177,187],"1012":[87,88,92,100,106,109,158],"103":[155,174,186],"105":[27,152,172,174,186],"107":59,"1070":181,"1091":181,"10cm":[132,133,174],"10x":94,"113m":105,"119":59,"120000":173,"122":186,"124":162,"125":[132,173],"1263":155,"127":172,"128":175,"12th":172,"12thread":156,"130":173,"144m":105,"146m":105,"160":175,"161479":186,"161491":186,"161491054181276":186,"161587576524845":186,"164":175,"1660":154,"171":162,"177":186,"1780":154,"1784":154,"180":[84,85,186],"185":91,"1855":155,"1859":154,"188":[187,189],"1882":155,"195":170,"196":189,"199":[157,177],"1cm":186,"1ms":103,"1st":172,"200":[133,134,158,174,177],"2000":[86,98],"2000000":91,"2005":168,"200m":[105,156],"201":[157,177],"2020":152,"2021":[105,147,152,176,190],"2022":186,"2023":[26,85,101,152,183],"2024":152,"204":176,"20cm":174,"20hz":98,"20m":174,"20mm":179,"215":173,"2181":155,"2204":155,"2247":155,"2263":155,"2264":155,"2295":155,"22km":186,"2338":155,"2411":156,"243m":105,"2473":156,"2481":156,"2488":156,"254":173,"255":[93,162,187],"2567":157,"2569":156,"2591":156,"2592":156,"25hz":156,"2607":156,"2627":156,"2642":156,"2665":156,"2696":156,"2701":156,"2704":156,"2718":156,"2750":156,"2752":156,"2753":156,"2772":156,"2787":156,"280000":173,"2804":156,"2814":158,"2856":156,"2865":156,"2867":156,"2875":156,"2904":156,"292km":186,"2964":156,"2965":156,"2976":156,"2982":157,"299":[157,177],"2992":156,"2nd":172,"300":[98,176,177],"301":[157,177],"30hz":98,"3131":157,"3146":157,"3159":157,"3165":157,"3168":157,"3174":157,"3201":157,"3204":157,"3218":157,"3219":157,"3222":157,"3227":157,"3228":157,"3229":157,"3248":157,"325":[136,140],"3251":157,"3255":157,"3283":157,"32gb":156,"3320":157,"3324":157,"333":21,"3345":157,"3374":157,"3414":157,"3504":157,"3512":157,"3513":157,"3519":157,"3530":157,"3553":157,"3555":157,"3569":157,"3572":158,"3577":157,"360":173,"3612":158,"3693":158,"3704":158,"3708":158,"3785":158,"3787":158,"3825":158,"3866":158,"3871":158,"3880":158,"3911":158,"3914":158,"3950":158,"3962":158,"3965":158,"399":[157,177],"3rd":172,"4020":158,"40hz":9,"40x":[133,134],"413km":186,"4194":186,"454630":186,"4546443":186,"45464431092836":186,"4547994038464":186,"46m":107,"475km":186,"4789":186,"480":173,"488":186,"4th":98,"500":[86,177],"501":[157,177],"50m":156,"511km":186,"553km":186,"557":175,"570796":25,"599":[157,177],"5cm":[98,132,133],"5e3":91,"600":[26,156,177],"601":[157,177],"640":173,"65535":[157,177],"699":[157,177],"6core":156,"6th":85,"701":[157,177],"709":157,"70m":183,"710":157,"719":157,"720":157,"729":157,"730":157,"739":157,"785":[101,102,193],"785398":98,"799":177,"7x7":179,"7x9":179,"800":177,"801":[157,177],"816":156,"842000000":172,"8700":156,"8745":190,"899":177,"8x10":179,"900":[88,109],"901":157,"9900":177,"9901":177,"996":172,"9999":[157,177],"abstract":[5,11,27,156,157,192],"boolean":[27,110,157,167,173],"break":[104,155,157],"case":[1,6,12,18,19,21,27,29,30,45,51,55,65,84,85,94,98,101,103,116,119,126,128,132,133,134,147,152,154,155,158,160,161,162,163,165,167,170,172,173,174,175,177,180,181,182,183,184,185,186,187,189,191,192],"catch":[26,156],"char":162,"class":[27,85,86,88,152,154,155,156,157,158,160,161,162,163,164,165,175,176,190],"const":[156,160,161,163,165],"default":[15,17,18,19,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,66,70,71,72,73,74,76,78,79,80,81,83,84,85,86,88,91,94,95,96,97,98,99,101,102,103,104,106,107,108,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,146,147,148,151,153,154,156,161,162,165,167,169,170,172,173,176,179,180,183,184,186,187,191,192],"enum":[97,98,114,118,133,157,177],"export":[146,151,185,188,190,192],"final":[21,22,26,27,96,98,132,133,134,147,155,161,165,173,176,177,178,183,186,193],"float":[26,158],"function":[1,3,4,9,11,17,22,26,27,91,92,98,105,107,112,133,134,154,155,156,157,158,160,161,162,163,164,165,167,169,170,172,173,174,176,180,181,182,187,189,192],"gin\u00e9":152,"goto":[162,163,164,165],"i\u00f1igo":167,"import":[11,17,26,27,41,91,98,105,108,147,150,165,168,170,173,174,175,176,177,180,181,182,186,187,189,192,193],"int":[26,41,76,84,85,86,88,91,93,94,97,98,103,104,107,109,111,114,118,120,131,132,133,134,158,161,162,164,165,181],"long":[2,4,9,14,22,27,87,88,92,100,105,106,109,114,118,122,134,156,158,165,169,173,176,180,186],"mart\u00edn":[152,167],"new":[1,4,5,6,8,9,11,14,17,18,20,21,23,24,26,27,84,85,87,88,98,102,114,118,145,147,148,150,166,167,168,169,170,171,172,173,174,175,176,178,181,183,184,185,186,187,188,189,190,192,193,194],"public":[150,158,162,177,183,186],"r\u00f6smann":167,"return":[18,19,21,22,23,24,26,27,41,53,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,78,81,82,83,98,114,118,132,133,134,152,153,155,156,157,160,161,163,164,165,167,172,173,175,177,178,181,187,189],"short":[18,59,72,73,74,134,160,173,174,183,192],"static":[3,27,84,85,86,93,114,118,133,134,150,152,156,158,161,167,170,173,176,177,180,186,190,191],"switch":[26,85,98,110,147,148,154,155,156,157,158],"throw":[26,84,92,156,157,181],"transient":[21,23,24,44,47,50,54],"true":[8,19,26,27,29,41,53,55,66,84,85,86,87,88,91,92,93,94,95,96,98,99,101,102,103,104,106,107,108,109,110,111,112,113,114,115,116,117,118,119,122,124,126,128,129,130,131,132,133,134,151,155,156,157,158,160,161,162,163,164,165,170,172,173,175,176,177,178,180,182,183,186,187,188,189,190,191,193],"try":[18,20,21,23,24,26,85,94,96,98,108,109,133,134,145,147,151,153,174,175,181,184,187,192],"void":[41,156,161,163,165],"while":[7,9,13,18,21,23,24,26,88,96,98,101,103,113,133,143,146,147,148,155,156,157,161,165,169,170,172,173,176,177,178,180,181,183,185,186,187,191,192,193,194],ADE:148,Adding:[157,181,194],And:[17,18,152,158,174,175,178,179,180,187],Are:[114,118,167],Axes:175,BTs:[18,19,167,177,192],BUT:18,DDS:[11,147],For:[0,14,18,19,27,84,85,86,87,88,92,93,94,95,98,100,101,102,103,105,106,107,109,110,113,116,130,133,134,146,147,148,150,151,155,156,160,161,162,163,164,165,167,168,169,170,171,172,173,174,175,176,177,178,180,181,183,184,186,187,188,189,190,191,193],GPS:[15,27,41,94,109,167,172,173,183,194],IDE:[148,181],IDEs:[148,181],IDs:[41,165],Its:[98,165,175,180,183],LTS:151,NOT:[114,118],Near:17,Not:[57,98,152,176],One:[27,169,172,175,186],PMs:150,PRs:[13,150,156,157],QoS:[44,47,50,54,117,155,173,183],ROS:[0,1,2,3,4,6,7,8,9,10,12,13,14,15,19,21,23,24,26,29,30,41,42,43,45,46,48,49,55,58,85,94,95,97,105,145,146,147,148,150,151,152,153,154,155,156,158,160,161,162,163,164,165,167,168,169,171,172,173,174,175,176,177,178,179,180,185,187,188,189,190,191,192,193,194],SMS:[27,160],Such:147,TLS:190,That:[19,27,133,150,155,156,169,170],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,48,49,50,52,53,54,56,57,59,60,62,69,70,72,73,74,76,78,79,81,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,116,130,132,133,134,145,146,147,150,152,153,154,155,156,157,160,161,162,163,164,165,167,169,170,171,172,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],Then:[7,19,155,161,162,163,164,165,172,173,181,182,185],There:[3,14,18,19,27,97,98,145,146,150,153,155,156,162,167,169,173,174,181,186,187,193],These:[17,18,27,98,147,152,153,154,155,156,157,161,162,163,165,169,171,172,173,174,175,176,177,178,181,182,183,186,187,189,192],Use:[27,88,91,172,180,183,184,187,189],Used:[31,32,33,34,35,36,37,51,84,85,88,110,113,116,176,186],Useful:[71,91,176],Uses:167,Using:[14,84,85,98,102,148,156,167,172,173,176,181,182,194],Will:[19,53,85,167],With:[14,17,27,133,174,186,190],Yes:[160,161,162,163,164,165],__cxa_throw:181,__gi_abort:181,__gi_rais:181,__n:181,__node:[181,182],_config:172,_costmap:[155,190],_differenti:183,_from_numb:160,_joint:175,_link:175,_m_range_check:181,_nav:176,_to_numb:160,_twilio:160,abi:[98,147],abil:[6,7,27,85,98,157,158,191],abl:[0,5,9,14,18,19,156,157,160,161,163,164,165,167,170,172,173,174,176,181,182,183,186,192],abort:[93,155,161,181],about:[4,7,9,11,21,22,23,24,27,84,110,113,116,145,146,147,148,150,152,155,157,158,160,161,162,164,165,172,173,174,175,176,180,181,182,183,185,186,189,192],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,83,98,107,115,134,146,153,155,160,163,164,165,169,172,173,174,175,176,177,180,181,182,186,187,188,189,190,192,193],abrupt:27,abs:163,absolut:[48,49,97,116,154,158,163,172,175,181,183,186,187,189],absurdli:98,academ:6,acc_lim_i:[95,121],acc_lim_theta:[95,121],acc_lim_x:[95,121],accel:172,acceler:[87,101,102,108,121,156,172,176,193],accelwithcovariancestamp:172,accept:[6,26,62,86,107,133,134,150,158,165,169,170,183,184],acceptpendinggo:165,access:[0,27,85,92,108,147,148,155,156,161,173,175,181,192],accommod:147,accompani:91,accomplish:[8,160,167,172,175,181],accord:[27,97,172,173,186,187,189],accordingli:[9,85,186,187,189],account:[27,84,85,155,156,160,169,176,180],account_sid:160,accross:158,accumul:98,accur:[6,27,84,85,155,172,176,183,186],accuraci:[25,85,153,183,186],achiev:[11,91,98,101,105,108,109,155,156,157,158,175,176,183,186],acircl:179,ackerman:169,ackermann:[105,152,155,167,169,176],ackermannconstraint:98,acknowledg:88,acquir:27,across:[17,27,98,104,112,133,134,147,157,165,168,173,174,176,186,192],act:[9,14,27,132,154,155,171,173,175,187,191,193],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,53,55,58,76,78,79,80,81,84,85,87,88,92,93,94,98,100,106,109,151,152,153,157,160,161,165,167,169,170,172,173,174,175,176,177,178,184,185,186,187,189,191,192],action_a:19,action_b:19,action_c:19,action_nam:161,action_server_result_timeout:[87,88,92,94,100,106,109,158],action_typ:[84,85,158,191],actionnod:19,actionnodebas:161,actiont:165,activ:[12,26,27,59,72,73,74,85,87,88,92,94,96,100,106,109,145,150,151,154,155,156,157,160,163,164,165,172,173,176,177,186],actual:[18,53,85,91,98,102,133,156,165,170,174,175,176,179,183,185,186,191,193],actuat:147,adapt:[6,27,86,101,155,167,173,174,175],add:[0,2,8,75,76,77,78,79,80,81,82,83,85,91,92,98,108,113,114,118,133,147,150,154,155,156,157,160,165,170,172,173,174,175,176,177,178,181,182,183,186,188,190,191,192],add_act:[187,189],add_compile_opt:[181,182],added:[10,13,21,23,24,88,98,147,150,153,154,155,156,157,160,162,163,164,165,169,170,173,174,175,176,177,182,186,190,191,193],addin:186,adding:[1,9,41,86,133,134,147,156,157,172,173,175,177,180,183,186,187,189,191],addit:[3,11,19,21,22,23,24,27,41,84,85,88,90,133,146,147,155,156,157,161,165,169,172,173,175,176,181,182,183,186,191],addition:[0,11,27,85,147,148,153,154,155,158,165,186,191],address:[31,32,33,34,35,36,37,41,42,43,46,153,154,155,156,157,158,160],adequ:176,adher:174,adjac:[107,111,180],adjust:[9,11,27,28,41,78,81,83,85,87,88,92,93,98,100,106,108,109,133,152,157,158,170,175,183,189,191],admiss:[133,134,156],admittedli:11,advanc:[0,27,133,168,176],advantag:[12,27,157,193],advic:[169,176],advis:[21,23,24,27,172],affect:[84,90,155,156,158,175],aforement:98,after:[2,10,20,21,23,24,26,27,85,86,88,98,102,103,108,117,119,126,128,131,132,133,134,150,151,155,156,158,162,163,164,165,170,172,173,175,176,177,179,180,181,182,184,186,187,189,190,191,192,193],afterward:172,again:[18,19,20,22,76,145,147,151,153,168,172,175],against:[59,72,73,74,134,157,158,176,191],agent:[85,176],aggreg:177,aggregation_typ:[136,137,140,141],aggress:[85,133],agre:150,agreement:150,ahead:[87,98,101,123,124,136,140],aid:[2,22],aim:[1,7,9,10,13,108,171,175,176,182],air:186,aisl:[27,132,156,169,176],aislewai:[133,156],aitor:167,alarm:[84,158],alberto:167,aleksei:167,alexei:[14,152,167],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,91,98,101,103,104,105,132,150,152,153,155,156,157,158,162,163,167,170,173,175,176,178,180,182,183],alias:27,align:[119,136,140,141,158,186],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,75,85,86,87,88,94,96,98,101,103,105,107,108,111,115,133,138,146,147,148,150,152,153,154,155,156,158,160,163,164,165,167,169,172,173,174,175,176,177,178,179,181,182,183,186,187,189,190,192,193],allevi:176,alloc:[27,177,181,190],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,80,85,86,87,88,94,98,99,101,107,116,132,133,134,135,138,143,147,148,150,152,154,155,156,160,162,163,164,169,172,173,174,175,176,177,179,180,181,183,184,186,187,189,191],allow_primitive_interpol:[133,158],allow_revers:101,allow_reverse_expans:134,allow_unknown:[99,107,132,133,134,155,164],almost:[154,156],alon:183,along:[14,26,27,57,67,83,98,101,102,110,113,116,133,134,138,154,155,156,157,167,169,173,175,177,178,181,183,186,187,189],alongsid:[158,165,176],alot:[98,183],alpha1:86,alpha2:86,alpha3:86,alpha4:86,alpha5:86,alpha:[175,187],alreadi:[4,7,98,154,155,156,160,170,172,175,176,181,183,186],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,84,85,86,87,89,92,93,94,96,97,98,100,101,103,105,106,108,109,112,133,134,146,147,148,150,151,152,153,154,155,156,157,158,160,161,162,163,164,165,169,170,172,173,174,175,176,177,178,179,180,181,182,183,186,187,188,189,190,191,193],alter:147,altern:[3,22,27,57,147,148,155,158,170,172,181],although:148,altitud:186,altogeth:183,alwai:[9,16,20,71,84,85,96,108,134,145,155,156,175,176,186,187,191,193],always_on:[172,173,186],always_reset_initial_pos:86,always_send_full_costmap:[93,158,173],alwayson:173,ambigu:101,amcl:[6,7,26,27,28,51,64,151,154,167,173,174,176,183,186],amcl_pos:153,amclnod:156,amend:150,ament:[160,162,163,164,165,179],ament_cmak:[160,163,164,165,175],ament_cppcheck:150,ament_cpplint:150,ament_index_cpp:165,ament_index_python:[187,189],ament_uncrustifi:150,america:186,among:[27,107,169,176,180],amongst:175,amount:[93,115,125,127,129,131,132,133,134,143,154,155,157,187],amp:186,ampl:[21,23,24],amr:183,analog:[8,85,155,157,158,161,181,193],analysi:[7,27,150,152,182],analyt:[133,134,155,156,158],analytic_expansion_max_cost:[133,134,158],analytic_expansion_max_cost_overrid:[133,134,158],analytic_expansion_max_length:[133,134,156,158],analytic_expansion_ratio:[133,134],analyz:[5,6,7,10,26,27,161,182],andrei:167,angl:[26,27,55,84,85,94,107,125,132,133,155,167,176,186],angle_quantization_bin:133,angular:[57,85,94,98,101,102,120,121,124,133,136,139,140,142,157,163,172,176,191,193],angular_dist_threshold:[102,193],angular_distance_weight:57,angular_granular:[95,124],angular_limit:[85,157],angular_vel:163,angular_veloc:172,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,52,54,59,61,75,84,85,92,96,98,101,104,105,107,113,114,118,133,134,145,147,148,150,152,154,155,156,157,158,160,161,162,163,164,165,167,169,173,174,175,176,177,178,180,181,182,183,184,186,187,189,191,192,193],anim:[4,180],annot:[27,94,155,162,163,164,187,189],announc:150,anoth:[0,1,4,6,10,20,21,23,26,27,59,84,87,88,92,100,105,106,109,132,133,147,150,155,156,158,161,167,169,170,172,173,175,178,181,184,186,187,188,189,190],anshumaan:167,answer:[0,150,155],anybot:5,anyhow:156,anyon:11,anyth:[20,27,84,155,161,162,165,176,187,192],anywai:176,anywher:[148,156],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,150],apart:[22,193],apex:148,api:[17,27,53,152,153,155,160,162,165,173,178,186],appear:[85,150,151,155,156,157,173,175,179,180,185,186,191,192],append:[147,150,172,173],appli:[0,7,11,27,85,98,101,104,107,108,113,132,133,134,142,148,155,161,174,175,176,180,181,182,188,189],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,57,84,85,87,88,91,92,98,100,106,109,145,147,152,153,156,157,160,162,165,167,169,176,177,180,181,182,183,184,186,189,190,192,193],appreci:[27,150],approach:[22,27,80,85,95,98,99,101,105,107,132,133,134,152,155,157,167,169,172,176,178,191,193],approach_velocity_scaling_dist:101,appropri:[2,18,92,98,100,108,116,150,156,157,165,169,172,174,175,176,181,183,191,192],approri:[158,191],approv:[3,150],approxim:[85,102,108,132,133,151,157,169,170,176,179,193],apt:[146,147,151,172,173,175,179,182,186,188,190],arbitrari:[27,85,105,148,167,169,171,176],arbitrarili:152,arc:[84,85,173],architectur:[11,155,183],area:[3,7,27,38,39,85,93,110,113,115,116,132,133,134,150,155,156,157,158,160,162,167,173,175,176,179,182,187,189],area_memori:183,areerrorcodespres:[89,157],arg:[146,179,181,182,191],argc:181,argument:[26,146,156,157,158,161,163,172,175,178,181,182,186,187,189,191],argv:181,arm:160,aroun:157,around:[9,14,18,22,27,38,57,80,84,85,91,93,98,101,112,150,155,167,173,174,175,176,179,186,188,193],arrai:[91,133,134],arriv:[109,130,155,167],arrow:[175,185,186],art:105,articl:[152,177],artifact:[103,105,147,180],artifici:98,arxiv:152,as_str:165,asid:[172,173],ask:[0,3,27,150,162,181,192],asla:14,aspect:[19,147,148,178,179],assembl:192,assess:176,asset:181,assign:[27,53,57,91],assist:[0,26,29,150,167,176],assisted_teleop:[31,87],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,89,156,157,167],associ:[27,157,172,173,174],assum:[18,19,148,155,162,163,167,170,174,175,180,181,186,187,188,189,190,191,192],assumpt:[108,176,186,188],assymmetr:183,asymmetr:91,async_slam_toolbox_nod:173,asynchron:[18,19,27,154],ata:[130,167],atom:13,attach:[27,93,150,170,172,173,174,177],attempt:[1,18,20,21,23,24,27,80,96,97,98,104,111,132,133,134,148,158,181,183,187],attempt_respawn_reconnect:96,attent:[27,98,176],attest:150,attract:98,attribut:[98,157,187],augment:[186,194],auth_token:160,author:[148,150,152],auto:[147,163,165],auto_start:185,autom:[146,147,148],automat:[17,27,94,98,101,115,147,150,155,156,170,172,174,175,176,177,186,187,189],autonom:[1,26,27,98,101,152,155,183,186],autonomi:[1,26,27,153,156,157,177,186,192],autostart:[26,96,151,176,177,185,187,189],auxiliari:26,avail:[5,9,26,27,71,84,85,93,94,98,101,107,145,146,148,150,153,155,156,162,167,169,172,173,176,177,178,179,181,184,186,190],averag:[84,85,86,107],avoid:[1,27,85,87,88,90,91,92,93,98,100,106,109,113,115,134,147,152,155,156,158,162,169,170,172,173,174,175,176,191],awai:[20,91,98,102,132,157,173,176,179,192,193],awar:[21,23,24,91,98,105,107,132,133,134,152,155,173,176],awkward:[98,176],axes:108,axi:[26,108,162,175,186],back:[1,9,21,23,24,26,27,30,91,94,98,102,110,134,150,152,153,156,157,161,163,164,165,167,174,175,176,186,192],back_up:87,background:[97,154,156,175,176,187],backport:98,backtrac:[157,194],backup:[1,18,19,21,22,23,24,26,32,89,153,156,157,160,167],backup_dist:[18,21,22,23,24,26,30,89,155],backup_error_cod:30,backup_serv:[30,45],backup_spe:[18,21,22,23,24,26,30,89,155],backward:[57,119,139,142,155,157,158,181,191],backward_ro:181,bad:[21,23,24,27,86,160,183],bake:176,balanc:[98,104],ball:27,band:[3,153,169,186,193],bar:[175,179,192],barrier:14,base:[2,5,6,9,18,20,27,52,57,60,62,78,83,84,85,86,87,88,91,93,97,98,103,105,106,110,113,116,125,133,134,135,136,137,138,140,141,146,147,148,150,152,153,155,156,157,160,161,163,164,165,167,169,172,173,174,175,176,180,181,183,186,187,189,190,191,192],base_:175,base_class_typ:[160,162,163,164,165],base_footprint:[84,85,86,175,186,191],base_frame_id:[84,85,86,191],base_height:175,base_joint:[175,186],base_las:174,base_laser2:174,base_length:175,base_link:[27,52,57,60,62,71,78,87,88,93,103,104,106,160,161,162,165,170,172,173,174,175,178,183,186],base_link_fram:[172,186],base_shift_correct:[84,85],base_width:175,baselin:[98,133,173],baseobstacl:95,baseobstaclecrit:95,bash:[145,146,147,151,162,170,172,173,175,185,187,188,189],bashrc:[145,147],basi:[5,98,176],basic:[4,5,17,18,26,27,134,153,155,156,162,165,169,170,171,172,173,174,181,183,190],basic_class_typ:162,basicnavig:[26,156,186],basket:26,batch:98,batch_siz:98,batteri:[18,19,27,65,66,156,157,167,184],battery_statu:[65,66],battery_top:[65,66],batteryst:[65,66],beam:86,beam_skip_dist:86,beam_skip_error_threshold:86,beam_skip_threshold:86,beamskip:86,beauti:181,becam:155,becaus:[22,27,96,98,147,148,150,155,158,160,172,174,176,181,182,185,186,192,193],becom:[4,11,17,18,27,93,96,98,107,153,156,158,172,174,175,183],been:[4,6,14,18,19,21,23,24,27,52,60,84,87,88,90,92,98,100,105,106,109,147,150,154,155,156,157,158,162,163,164,167,170,173,174,175,176,182,186,190,191],befor:[5,11,18,21,22,23,24,25,27,44,47,50,54,60,76,78,80,85,86,92,94,97,98,104,113,114,118,129,132,133,134,142,147,148,153,154,155,156,158,160,161,162,163,164,165,167,169,172,173,175,176,177,178,180,181,182,185,186,187,188,189,190,192,193],beforehand:[11,186],begin:[133,134,156,158,163,165,172,175,177,193],beginn:[175,181],behalf:150,behav:156,behavior:[1,2,3,11,19,20,21,22,23,24,25,28,29,30,31,32,35,36,37,44,45,47,48,49,50,55,58,60,62,75,76,77,80,84,85,98,101,102,105,109,132,133,147,152,153,163,165,166,169,172,177,178,186,190,193,194],behavior_plugin:[87,156,160],behavior_serv:[87,96,156,160,177],behavior_tre:[18,26,48,49,88,154,158,165,192],behaviortre:[17,18,19,20,21,22,23,24,25,27,61,89,152,161,167,184,192],behaviortreeengin:158,behaviortreenavig:[88,157,165],behaviour:[154,155,189],behavor:155,behind:[156,189],being:[0,6,8,11,18,21,23,24,27,55,85,91,97,98,110,116,133,134,147,154,155,158,163,165,169,170,172,173,176,177,181,186,187,189,191],believ:[19,183],belong:[27,116,155,187,189],below:[0,4,9,11,13,16,17,18,19,22,26,27,66,83,85,88,90,92,95,98,102,103,105,107,109,114,115,118,128,143,150,152,155,156,157,160,161,162,163,164,165,167,170,172,173,174,175,177,178,179,180,181,182,183,184,185,186,187,189,191,192,193],belt:181,benchmark:[4,7,11],benefici:[2,27,98,113,165,181],benefit:[7,147,176],benign:148,berth:176,bespok:156,best:[6,8,11,27,28,85,98,119,132,133,134,147,150,156,157,169,173,174,176,180,181,183,187,190],better:[21,23,24,27,84,85,92,101,107,108,133,147,155,156,158,173,176,177,182,189,193],between:[18,26,27,41,84,85,86,89,94,98,99,103,107,132,133,134,147,148,154,155,156,157,158,159,165,169,170,172,173,174,175,176,183,186,187,192,193],bewar:157,beyond:[151,161,176,189],bezier:91,bias_mean:172,bias_stddev:172,bidirect:158,big:[18,186],bin:[133,134,156],binari:[27,93,97,132,151,157,160,161,163,164,165,167,176,190],binary_filt:110,binary_st:110,binary_state_top:110,binaryfilt:[110,176],bind:[91,165],bing:186,bit:[18,156,176,181,186],black:[173,178,180,187],blackboard:[17,41,42,43,46,48,49,53,61,62,63,80,88,156,157,161,165,177,178,192],blacker:187,blanco:167,blank:164,blasco:167,blib:183,blind:[101,155],blink:84,blob:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],block:[12,13,26,27,85,145,156,162,164,172,175,176,190,193],blocki:134,blog:8,blue:[186,192],blur:183,bmp:[187,189],board:[27,179],bodi:161,bog:181,bogu:[97,183],boiler:160,boilerpl:[160,165,171],bond:[96,154,173],bond_client_node_:156,bond_respawn_max_dur:96,bond_timeout:[96,155,177],bond_timeout_m:155,book:27,booker:152,bookkeep:[87,88,92,100,106,109],booktitl:152,bool:[41,53,55,84,85,86,87,88,91,92,93,94,96,98,99,101,103,104,107,108,109,110,111,112,113,114,115,116,117,118,119,122,124,126,128,129,130,131,132,133,134,135,138,155,160,165],both:[1,7,11,18,21,22,23,24,26,27,41,84,85,101,105,152,155,156,158,161,165,169,170,172,173,175,176,180,181,182,183,187,188,189,190,191,193],bottleneck:182,bottom:[151,170,173,179,181,182,185],bounc:183,bound:[9,57,85,101,104,132,133,134,156,162,191],boundari:[156,189],boustrophedon:94,box:[1,9,27,85,109,156,157,170,172,173,175,176,183,190,191,192],box_inertia:[172,175],bpwilcox:14,branch:[5,13,22,133,134,145,146,147,150,156,178],breakdown:176,breakpoint:181,breez:175,breviti:[160,193],brian:[14,167],brief:[105,156,172,173,174,175],briefli:148,bring:[26,85,96,156,158,175,186,188],bringup:[26,27,96,146,151,156,157,162,169,171,173,176,177,191],bringup_launch:185,broad:[2,7,171,176],broadcast:[172,186],broadcast_utm_transform:186,broader:183,broadli:[133,183,186],broken:18,brother:160,brought:152,brows:192,browser:[146,148],brute_forc:94,bsd:150,bt_action_server_:165,bt_loop_dur:88,bt_navig:[26,48,49,60,62,88,96,154,157,158,161,165,177],bt_plugin:[154,155],bt_register_nod:161,bt_xml_filenam:165,btactionnod:161,btstatu:165,budyakov:167,buffer:[27,87,93,106,108,114,118,160,163,164,183,190],bug:[14,150,168,186],buggi:192,build:[1,5,7,10,14,17,18,26,27,148,149,151,152,156,157,160,161,162,163,164,165,174,180,181,182,184,186,187,189,190,191],build_test:175,build_typ:[160,163,164,165],builder:[147,161],buildtool_depend:175,buildx:147,built:[11,147,150,162,170,171,172,173,175,176,179,180,181,186,187,188,189,190,191,193],builtin_interfac:177,bulldoz:27,bunch:145,burden:176,busi:27,button:[151,157,162,163,164,165,170,173,179,184,185,186],bypass:[85,90,187],c_str:[164,165],cach:[94,133,134,146,147,156],cache_obstacle_heurist:[133,134,176],cachefrom:147,calcul:[18,26,84,85,110,156,162,163,164,172,180,186],calendar:150,calib_cb_fast_check:179,calibr:[17,186,194],calibrationdata:179,call:[26,27,38,39,40,85,92,100,133,134,139,150,151,153,154,155,156,157,158,160,161,162,163,164,165,167,174,175,176,177,178,181,182,186,187],callabl:162,callback:[11,13,27,155,165],callback_group:156,caller:[21,23,24],callgrind:182,came:155,camera:[27,110,130,157,173,176,190,194],camera_calibr:179,camera_depth_fram:173,camera_depth_joint:173,camera_image_topic_nam:130,camera_joint:173,camera_link:[173,174],camera_nam:179,camera_odom:183,cameracalibr:179,can:[0,1,3,4,5,6,7,8,11,13,14,17,18,19,21,22,23,24,25,26,27,28,31,32,33,34,35,36,37,41,42,43,46,76,78,79,81,83,84,85,86,88,89,90,91,92,93,94,97,98,101,102,103,105,107,108,109,114,118,133,134,145,146,147,148,150,151,152,153,154,155,156,157,158,160,161,162,163,164,165,167,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],cancel:[20,22,26,31,32,33,34,35,36,37,151,161,165,167,184],cancelassistedteleop:[89,156],cancelbackup:89,cancelcontrol:[22,89,156],cancelcoverag:89,canceldriveonhead:89,cancelingcontrolandwait:22,cancelnav:156,cancelspin:89,canceltask:26,cancelwait:89,candid:[1,7,94,98,150,169],cannot:[27,71,98,101,108,133,134,139,155,157,165,176,177,186,190,192],canon:27,capabl:[4,7,10,15,26,147,148,152,155,158,168,173,183,184,186,193],captur:[27,156,169,182,183],car:[105,152,155,167,170,176],cardin:186,care:[98,133],career:11,carefulli:[169,183],carl:[14,167],carlo:[6,27,86,173],carri:[27,154,155,156,164,184],carrot:20,cart:4,cartesian:[27,41,94,98,158,167,186],cartograph:153,cast:7,caster:175,caster_joint:175,caster_xoff:175,catchi:8,categori:169,cater:156,cati:184,caus:[22,30,45,84,85,86,98,133,134,151,156,176,180,183,187,189],caution:[148,180],ccach:[146,147],ccw:25,ceas:85,cell:[26,27,107,111,112,114,115,118,133,156,162,169,170,173,175,180,187,189],center:[18,27,38,39,94,98,113,132,133,134,156,160,170,174,175,179,185,186],central:[27,186],cere:91,cerescostawaresmooth:[106,178],certain:[19,154,156,162,169,171,173,184],certainli:[158,183],certif:[85,149],certifi:[9,85,150],chain:[186,189,191],challeng:27,chanc:[1,7,9,19,156],chang:[6,11,12,13,14,17,18,21,23,24,26,27,61,63,75,85,87,88,91,92,93,94,98,100,104,106,108,109,126,128,132,133,134,136,140,147,150,151,154,162,163,165,168,170,172,173,176,181,183,184,185,186,187,189,190,191,192],change_penalti:[133,134],changemap:26,channel:[133,150],chao:150,chapter:[27,187,189],charact:103,characterist:[4,12,104,172],charg:[27,65,157,167,169],charger:27,charuco:179,chassi:[174,175],chat:150,check:[0,7,9,11,14,18,19,22,26,27,52,53,59,61,62,63,65,66,67,69,71,72,73,74,80,84,85,87,88,89,91,92,93,98,101,102,106,109,112,113,125,126,127,128,139,145,146,147,148,150,152,154,155,156,158,160,161,162,163,164,165,167,169,170,172,173,174,176,179,180,181,185,186,187,189,191,193],check_for_collis:[26,53],checker:[17,46,92,119,153,160,193],checkerboard:179,checklist:171,checkout:[101,146,183],chessboard:179,child:[18,19,22,71,75,76,78,81,82,83,156,167,172,173,174,175,186],child_frame_id:172,children:[18,19,22,75,76,77,80,167,182],chip:176,choic:[10,26,27,176,177,183,188],choos:[107,147,148,151,165,170,174,176,180,181,186,189],chosen:[26,27,147,157,189],christoph:167,chronicl:147,chug:181,cilqr:3,circl:[19,27,84,85,176,179,191],circular:[27,93,98,105,112,152,158,169,170,175,176],cite:[101,152],citizen:190,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:150,class_list_macro:[160,162,163,164,165],classic:176,classification2d:173,classification3d:173,clavero:152,clean:[27,94,98,147,154,156,158,160,163,164,165,176],cleaner:175,cleaningup:177,cleanli:[27,96,165,176,182],cleanup:[160,163,164,165,177],clear:[18,19,21,22,23,24,26,27,38,39,40,93,114,115,118,150,155,156,157,164,167,173,176,179,183,190],clear_after_read:190,clear_around_:155,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,89,161],clear_entirely_local_costmap:[18,21,22,23,24,40,89,161],clear_except_:155,clear_except_local_costmap:39,clear_on_max_read:[115,173],clear_threshold:115,clearallcostmap:26,cleararoundrobot:156,clearcostmaparoundrobot:89,clearcostmapexceptregion:89,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,89,155,161],clearer:173,clearexceptregion:156,clearglobalcostmap:[18,21,22,23,24,26,89,161],clearing_endpoint:155,clearingact:[18,21,22,23,24,89],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,89,161],clever:181,cli:[27,97,147,148,154,155,182,188],click:[16,148,151,162,163,164,165,170,173,179,185,186,192],clicked_point:184,clicked_point_to_pos:184,client:[19,27,94,153,155,156,160,161,165,178],client_nod:156,client_node_:156,clinet_node_:156,clip:[173,187],clock:[187,189],clock_:[163,165],clockwis:191,clone:[146,179,184,186,187,188,189,190],cloned_tb3_simulation_launch:158,close:[22,27,52,80,84,85,93,98,101,108,134,137,143,147,155,156,158,163,170,176,186,191],closed_loop:108,closer:[56,98,133,157,158],closest:[57,101,119],closur:183,cloud:[7,27,147,148,151,154],cluster:176,cmake:[160,162,163,164,165,179,182],cmake_build_typ:182,cmakelist:[160,162,163,164,165,172,173,175,181,182],cmd:[172,173],cmd_vel:[13,84,85,158,163,172,182,191],cmd_vel_in_top:[85,191],cmd_vel_nav:[182,191],cmd_vel_out_top:[85,191],cmd_vel_raw:85,cmd_vel_smooth:[85,191],cmd_vel_teleop:87,code:[5,6,15,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,108,109,132,147,148,150,153,154,156,160,161,162,163,164,165,167,170,172,173,175,178,180,181,186,190,193],codebas:[85,92,108,150,158],codecov:12,codespac:[147,148],codifi:147,coeffici:[116,179,187,189],coffe:[148,192],colcon:[146,147,162,170,172,173,175,181,182,187,189],collabor:[4,14,150],collect:[26,171,173,176,182,183],collid:[4,9,170],collis:[1,7,9,27,28,29,53,87,91,93,98,101,102,106,112,113,115,143,152,153,155,156,160,167,168,169,170,172,173,175,176,193,194],collision_cost:98,collision_detector:84,collision_detector_st:[84,158],collision_margin_dist:98,collision_monitor:[85,191],collision_monitor_nod:191,collision_monitor_param:191,collision_monitor_st:85,collisionmonitor:157,color:[8,91,130,173,175,176,180,187,189,190],color_dark:187,color_light:187,column:[118,173],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],combin:[27,93,133,136,137,140,141,155,188],combination_method:[93,114,118,158,190],come:[8,13,14,27,94,98,101,128,133,150,156,157,160,163,164,165,172,174,175],command:[1,9,22,29,44,47,50,54,79,85,101,102,108,146,147,148,152,154,160,162,163,164,165,167,169,172,173,174,175,181,183,184,185,187,188,189,193],commandlin:[97,181,182],comment:[147,150,156,162,164,181,190],commerci:[27,150,186],commit:[147,150,168,179],common:[18,26,27,85,98,147,148,152,155,156,165,172,183,186,191],commonli:[19,44,47,50,54,165,173,183,186],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,147,150,152,160,165,174,176,177,179],compani:[150,152,176],companion:192,compar:[27,59,72,73,74,85,88,91,105,157],comparison:152,compat:172,compens:186,compet:150,compil:[147,148,160,163,164,165,178,181,182],complement:[5,154,186],complementari:177,complet:[3,4,5,12,17,18,19,22,26,27,34,53,85,94,98,101,102,126,128,133,134,143,147,150,151,152,153,154,155,156,157,158,160,161,165,167,168,169,170,172,173,175,177,178,179,182,183,185,186,188,190,192,193],complex:[27,88,98,133,152,157,173,174,175,181,192],complexyolo:4,compli:[2,169,172,186],complianc:108,compliant:174,complic:152,complimentari:165,compon:[6,41,75,76,77,78,79,80,81,82,83,98,107,108,142,155,156,171,175,177,183,187,189],component_contain:177,component_container_isol:156,componentcontain:181,compos:[11,156,162,176,177,181,182],composable_node_descript:177,composablenod:[177,191],composablenodecontain:177,composit:[168,181,182,187,189],composition_demo:177,comprehens:147,compris:[13,152,175],comput:[7,17,18,19,20,21,27,41,42,43,94,98,100,101,105,107,132,133,134,136,140,152,156,157,160,161,163,164,167,169,170,172,173,174,176,178,182,183,185],computation:[27,118,156],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[42,43,88,178],compute_path_error_code_id:177,compute_path_through_pos:[157,177],compute_path_to_pos:[157,177],compute_path_to_pose_error_cod:73,computeandpublishveloc:155,computeandsmoothpath:178,computecoverag:41,computecoveragepath:89,computepaththroughpos:[21,89],computepaththroughposesrecoveryfallback:21,computepathtopos:[17,18,19,20,22,23,24,50,52,78,81,83,89,161,165,178,184],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,23,89],computevelocitycommand:[92,163],concaten:155,concept:[7,18,19,152,155,169,173,174,177,187,189,192],conceptu:174,concern:[148,150,156],conclus:22,concret:174,condit:[12,18,21,23,24,27,29,30,45,55,67,68,71,104,147,156,157,161,167,172,175,183,186,192,193],conditionnod:161,conduct:152,conf:[85,92,108,158,161],confer:152,config:[147,148,170,172,173,175,181,186,188],configur:[0,1,14,16,17,18,19,26,27,44,47,50,54,60,84,85,90,91,92,93,96,97,98,105,110,113,116,146,147,148,152,153,154,156,157,158,160,161,163,164,165,167,171,175,176,177,178,180,181,183,184,185,186,188,190,192],configured_param:[177,187,189,191],confin:[98,133,147,158,170],confirm:[170,173,179,186],conflict:154,conform:152,confus:19,conjunct:[26,98],connect:[14,19,27,94,96,99,107,111,132,147,148,154,155,156,167,169,172,173,174,175,180,186,192],connector:[41,183],consequ:22,consid:[3,14,18,29,30,45,55,84,85,86,88,89,93,98,128,133,134,143,150,154,155,157,158,160,161,163,164,165,167,169,176,177,183,186,187,191],consider:[4,98,176],consider_footprint:98,consist:[8,17,98,148,150,155,156,167,172,173,174,176,177,186,192],consol:191,constant:[19,94,101,163,175,176],constantli:[154,156],constrain:[28,104,155,167,176],constrainedsmooth:[91,156],constraint:[21,102,108,134,155,156,158,165,167,169,176,193],constraintcrit:98,construct:[27,150,156],constructor:[26,27,156,158,161],constsharedptr:165,consult:14,consum:[9,156],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,150,152,176,177],contain:[9,11,17,21,23,24,27,46,49,90,98,105,108,114,118,133,134,149,153,154,155,156,157,158,160,162,163,164,165,167,172,173,175,176,177,178,179,181,183,187,189,191,193],container:147,containeris:147,content:[148,170,171,173,175],context:[11,13,18,19,21,22,23,24,89,146,161,167,192],contextu:[17,18,21,23,24,152,157],continu:[1,12,18,19,20,21,22,23,24,27,94,98,109,131,133,134,148,150,151,152,153,154,155,156,157,165,172,175,176,183,186,188,191],contractor:14,contrast:[156,186],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,94,133,150,158,173,176,177],contributor:[14,150],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,56,57,72,73,74,76,77,78,79,83,85,93,101,105,108,116,118,120,121,122,123,124,125,126,127,128,134,135,136,137,138,139,140,141,142,143,144,152,153,154,158,160,161,162,165,166,168,170,171,172,175,177,178,181,182,183,184,185,188,189,190,191,192,194],controlcancel:22,controller_frequ:[92,95,98,101,102,193],controller_id:[18,20,21,22,23,24,26,44,46,89,155,161,184],controller_pati:155,controller_plugin:[92,95,101,102,154,163,169,193],controller_plugin_id:[119,120,121,122,123,124,135,136,137,138,139,142,143,144],controller_selector:44,controller_serv:[22,92,95,96,98,101,102,154,155,156,158,163,169,177,182,189,193],controllerselector:[21,23,24,89,155],controllerserv:156,controlnod:161,conveni:[148,158,183,189],convent:[21,23,24,27,173,174,177,186],converg:[86,91,98,186],convers:[26,97,150,187,189],convert:[0,27,94,98,109,116,133,134,152,153,155,164,174,186,187,189],convert_typ:[187,189],convex:98,cooper:2,coordin:[5,26,27,41,86,93,94,109,156,172,174,175,183,184,186],coordinates_in_cartesian_fram:94,cope:186,copi:[156,170,172,173,175,178,181,187,189,190],copyright:150,core:[7,17,27,157,177,178],corner:[101,151,155,179,187,192],corpor:14,correct:[27,84,85,145,147,150,156,172,173,175,185,187,189,191],correctli:[19,27,151,155,156,170,172,173,174,186,187,189,191],correl:147,correspond:[27,41,80,84,85,88,98,99,107,110,111,112,113,114,115,116,117,118,132,133,134,155,156,160,161,162,173,174,180,186,189],correspont:187,corridor:[98,169,176],cost:[9,18,26,27,84,85,87,91,93,101,105,107,112,113,122,132,133,134,147,152,155,156,162,167,173,176,180],cost_check_point:91,cost_cloud:155,cost_penalti:[133,134],cost_pow:98,cost_scaling_factor:[93,98,107,112,162,173],cost_travel_multipli:132,cost_weight:98,costamp2d:187,costcrit:[98,158],costli:27,costmap2d:[145,158,166,167,180,187,189],costmap2dro:[156,163],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,85,87,90,91,92,100,101,106,107,110,111,112,113,114,115,116,117,118,132,133,134,135,138,152,153,156,162,163,164,169,170,176,180,186,194],costmap_2d:[5,158,162,173],costmap_2d_cloud:155,costmap_2d_ro:117,costmap_:[162,164],costmap_filter_info:[97,110,113,116,187,189],costmap_filter_info_serv:[97,187,189],costmap_filters_demo_dir:[187,189],costmap_raw:[87,103,104,106,160,178],costmap_ro:[156,163,164],costmap_ros_:163,costmap_top:[103,104,106,160,178],costmapfilt:155,costmapfilterinfo:[110,113,116,187,189],costmapinfotyp:157,costmapsubscrib:158,could:[1,2,3,6,7,9,10,20,27,84,85,92,107,147,148,154,155,156,157,161,162,163,167,174,176,178,181,184,186,187,189,190,191],couldn:181,count:[98,156,172,179,187],counter:[29,105,156,161,165,172,191],counterpart:176,coupl:[26,183,193],cours:[5,11,147,175,183],cov_path:41,covari:[86,186],cover:[2,27,85,115,150,155,158,169,176,177,181,186,187,189,191],coverag:[3,4,6,12,17,27,28,34,41,152,158,165,167,168,176,177],coverage_path:41,coverage_serv:94,coveragenavig:[41,88,167],cpp:[18,27,152,153,154,155,156,158,161,162,167,181,192],cpu:[4,7,85,147,156,176,177,183],crash:[27,96,154,156,176,177,192],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,77,80,85,93,94,96,98,104,105,133,146,148,150,152,153,154,155,156,157,162,167,169,170,172,173,174,175,176,177,180,183,185,186,187,189,190,191,192,193],create_cli:165,create_subscript:165,createplan:164,creation:[9,154,176],creativ:[6,8],creator:167,criteria:[27,126,128,143,150,156,167],criterion:91,critic:[1,7,9,27,119,133,134,135,136,137,138,139,140,141,142,143,144,153,169,176,177,181],critical_cost:98,critical_weight:98,cross:[145,147,152,169,170],crowd:[21,23,24,169],crtl:[147,148],crux:18,ctrl:147,cube:[170,173],cubic:91,cuda:7,cull:[21,52,167],current:[3,9,11,12,14,18,19,24,26,27,45,52,57,61,78,81,83,84,85,94,98,100,101,102,108,109,110,113,115,116,134,146,150,152,154,155,156,157,158,160,161,163,164,165,167,172,173,174,175,176,177,184,186,191,192,193],current_path:165,current_pos:165,curv:[94,107,162,176],curvatur:[91,94,98,101,133,134,155,163,169],curvature_lookahead_dist:[101,157],curvature_smooth:[106,178],cusp:[91,98,101],cusp_zone_length:91,custom:[10,17,18,19,21,23,24,26,27,56,57,77,79,86,87,88,94,98,105,109,134,146,147,148,152,156,157,160,163,164,165,167,169,171,173,186,190,191],customiz:[152,157],cut:[133,134],cxprime:173,cyan:[91,175],cycl:[22,84,85,101,133,134,156,160],cycle_frequ:[87,160],cylind:[173,175,186],cylinder_inertia:175,dai:[11,85],damag:108,danc:186,danger:[91,152,191],dark:187,darker:189,dash:[151,159],data:[1,4,7,9,10,26,27,84,85,87,88,90,92,98,104,108,114,115,118,132,133,134,147,152,155,157,158,167,172,173,174,176,177,179,182,183,186,187,189,190,191],data_typ:[93,114,118,173,190],dataset:183,date:[84,85,86,110,113,116,150,153],datum:186,david:[14,95,167],dcmake_build_typ:182,dco:149,deactiv:[27,96,160,163,164,165,177],dead:27,deadband:[108,156],deadband_veloc:108,deadlin:[85,87,88,92,100,106,108,109,158],deal:[7,27,172,174,176],dealloc:27,dealt:18,debug:[27,91,98,118,119,122,133,134,147,157,181,182],debug_optim:91,debug_trajectory_detail:[95,119,163],debug_visu:[133,134,158],debugg:[147,181],debuggin:98,decad:[6,14],decai:[86,98,112,167,173,176],decay_acceler:190,decay_model:190,decel_lim_i:[95,121],decel_lim_theta:[95,121],decel_lim_x:[95,121],deceler:[121,158],decemb:[105,176,190],decent:98,decid:[22,86,158,174,175,177],decis:[170,186],declar:[60,62,147,150,155,158,160,162,163,164,187,189],declare_autostart_cmd:[187,189],declare_mask_yaml_file_cmd:[187,189],declare_namespace_cmd:[187,189],declare_paramet:165,declare_parameter_if_not_declar:[163,164],declare_params_file_cmd:[187,189],declare_use_sim_time_cmd:[187,189],declarelaunchargu:[172,175,187,189],declareparamet:162,decod:189,decor:[18,20,22,156,161,167,184,192],decoratornod:161,decreas:[98,157,190,191],decrement:162,dedic:14,deduc:181,deeper:[98,133,173],deepli:192,def:[156,175,187,189],default_:94,default_allow_overlap:94,default_bt_xml_filenam:[88,154,161,165,184],default_control:44,default_critic_namespac:119,default_custom_ord:94,default_goal_check:47,default_headland_typ:94,default_headland_width:94,default_model_path:[172,175],default_nav_through_poses_bt_xml:[88,165],default_nav_to_pose_bt_xml:[88,158,165],default_offset:94,default_path_continuity_typ:94,default_path_typ:94,default_plann:50,default_route_typ:94,default_rviz_config_path:175,default_server_timeout:88,default_smooth:54,default_spiral_n:94,default_st:110,default_step_angl:94,default_swath_angl:94,default_swath_angle_typ:94,default_swath_typ:94,default_turn_point_dist:94,default_valu:[172,175,187,189],defaultsto:172,defin:[1,5,9,10,18,26,27,41,44,47,50,54,59,60,62,80,84,85,87,88,92,93,97,98,100,106,109,119,120,121,122,123,124,125,126,127,128,129,130,131,135,136,137,138,139,140,141,142,143,144,147,152,153,154,155,156,157,158,161,162,164,165,169,170,172,173,174,175,177,180,181,185,186,187,189,190,192],definit:[27,46,53,88,157,160,162,165,172,173,175,177],deg:[94,98],degrad:[133,134,186],degre:[11,25,84,85,133,155,158,186],delai:[84,85,186],delet:[156,172],deliv:26,deliveri:1,deloc:51,delsei:[14,167],delta:107,demand:[27,163,164,186],demo:[8,10,22,27,156,158,170,177,186,187,189],demo_inspect:26,demo_pick:26,demo_secur:26,demonstr:[4,10,26,85,146,156,158,162,186,190,191],deni:165,denois:[93,167],denoise_lay:[111,180],denoiselay:[111,176,180],denot:[173,181],dens:[26,134],dense_qr:91,densiti:[86,94,98],depend:[18,27,85,98,116,146,147,148,153,155,156,157,158,160,161,163,164,165,169,170,172,175,176,180,181,183,185,186,187,191],depict:[22,91],deploi:[4,98,152,169],deploy:[155,177,186],deprec:[6,91,155,156],depth:[27,85,93,114,118,167,169,173,174,175,176,183,190],depth_camera:173,depth_camera_control:173,deriv:[85,148,160,162,172,175,186],descent:[103,156],describ:[18,19,98,150,151,158,162,163,164,165,169,172,175,181,182,186,189,190,191,192],descriopt:110,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,154,155,158,160,161,162,163,164,165,167,169,172,175,176,187,189],descriptor:174,design:[5,6,8,26,27,90,98,103,105,155,157,162,176,180,187,189,191,192],desir:[84,85,98,101,130,133,134,147,150,155,157,158,163,176,183,184,189],desired_linear_vel:[101,163],desired_linear_vel_:163,desk:152,despit:186,destin:[26,27,62,151,172,173,175],destroi:147,destroynod:26,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,88,98,105,110,113,116,147,150,154,155,156,157,158,160,162,163,164,165,169,170,171,172,174,176,181,186,189,190,192],detect:[4,27,53,57,84,85,90,91,101,147,158,170,172,173,176,179,184],detection2d:173,detection3d:173,detector:[27,90,184],detectron2:4,determin:[0,68,109,119,130,158,165,169,175,180,181,182,191],determinist:[11,27,96,103,177],dev:[146,149,186],devcontain:[147,148],devcontainerid:147,devel:[188,190],develop:[3,4,5,8,11,14,21,23,24,27,85,105,107,145,147,148,156,168,175,176,177,181,193],developercertif:150,dever:147,deviat:[86,98,108,158,176],devic:[147,176,186],diademata:151,diagnost:172,diagnostic_msg:172,diagnosticarrai:172,diagon:111,diagram:[152,174,184],diamet:172,dictat:193,dictionari:158,did:[19,20,158,160,163,164,173,175,181,182],didn:176,diego:14,diff:[91,105,167,176,186],diff_driv:172,diff_drive_control:172,diffdriv:98,differ:[10,17,18,19,21,22,23,24,27,61,84,85,89,94,101,102,105,107,110,113,116,133,147,148,150,152,154,156,157,158,162,165,169,171,172,173,174,175,176,177,178,181,183,184,186,187,189,191,192,193],differenti:[8,86,98,102,105,107,152,155,156,167,169,170,172,173,175,176,183,186,193],differentialmotionmodel:86,difficult:[27,102,156,176,193],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[103,130,167],dijkstra:[3,99,156,167,169],dilig:148,dime:176,dimens:[155,175,179,183],dimension:186,direct:[4,57,85,91,98,101,105,108,120,133,134,139,146,147,155,158,168,169,174,179,185,186,191],direction_end_angl:[85,191],direction_start_angl:[85,191],directli:[27,94,98,131,147,148,150,155,158,161,162,175,181,186,187,189],directori:[130,146,147,148,155,156,158,160,162,163,164,165,167,170,172,173,175,176,187,189],disabl:[84,85,86,92,132,133,134,156,157,176,179,183],disable_calib_cb_fast_check:179,disagre:86,disappear:85,discard:[87,88,92,100,106,109,111,156,158,180],discontinu:[94,103,105,134],discours:[0,150],discov:[146,161],discover:[160,162,163,164,165],discoveri:[96,147],discret:[27,111,147,150,169,172],discretize_by_tim:124,discuss:[3,6,19,27,88,150,154,155,156,163,164,169,170,171,172,173,174,175,177,186,193],dislpai:173,dispatch:27,displac:[30,45],displai:[2,84,100,133,134,155,170,172,173,175,176,180,186,189,192],disproportion:98,disscuss:155,dist:[26,133,134,179],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,55,56,57,60,62,78,86,87,91,94,98,101,102,119,124,133,134,139,153,154,155,158,163,167,169,172,173,174,176,184,193],distance_backward:57,distance_forward:57,distance_remain:[155,165],distancecontrol:[17,18,89,91,154],distancetravel:89,distancetraveledcondit:154,distant:57,distinct:[27,174],distinguish:41,distort:[103,179,180],distortionk1:173,distortionk2:173,distortionk3:173,distortiont1:173,distortiont2:173,distribut:[98,145,147,148,150,151,158,159,168,187],distro:[145,146,151,172,173,175,179,185,186,188,190],distroa:145,distrob:145,disturb:186,dive:175,diverg:[133,134,176,183],divid:[154,155,186],do_beamskip:86,do_refin:[103,104,106,133,134,157,178],doc:[8,146,151,154,186],dock:[17,18,27,87,169],docker:[147,148],dockerfil:[146,147],document:[8,10,15,18,22,27,146,147,150,151,154,172,173,174,175,180,181,182,183,187,188,189],doe:[4,9,19,21,22,23,24,84,85,90,98,113,115,133,134,146,147,155,156,157,158,160,163,164,165,170,172,176,177,178,186,187,189,192],doesn:[75,132,155,156,160,176,183,187],dog:183,doing:[26,109,113,150,165,181,186],doisi:167,domin:[114,118,158],don:[133,134,138,151,155,174,176,178,181,183,184,185,186,187,188],done:[13,18,19,27,85,147,153,154,155,162,163,164,165,168,169,173,181,182,183,192],dont:175,door:17,dot:[158,186],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,52,53,55,56,57,58,60,62,70,78,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,104,106,107,108,109,110,112,113,114,115,116,117,118,119,121,122,123,124,125,126,127,128,129,132,133,134,135,136,137,138,139,140,141,142,143,144,155,158,163,164],doubt:98,down:[26,27,96,98,101,107,116,118,151,152,154,156,157,176,177,181,186,189,191],download:[5,147,179],downsampl:[91,98,132,133,134,156,158],downsample_costmap:[132,133],downsample_factor:[132,133],downsample_obstacle_heurist:[133,158],downsampling_factor:[132,133],downstream:155,doxygen:149,dozen:27,drag:[151,192],dramat:[133,134,154],draw:[186,187,189],drawn:187,drift:[27,172],drivabl:[102,169,176,193],drive:[1,25,26,35,45,91,98,101,105,133,134,152,155,163,167,169,170,172,173,175,176,186,187],drive_on_head:[35,87],drive_on_heading_error_cod:45,driven:[4,176],driveonhead:[25,26,89,157],driver:[1,13,16,145,147,172,173,179,183],drivetrain:167,drivewhl_l:175,drivewhl_l_joint:172,drivewhl_r:175,drivewhl_r_joint:172,drop:[9,154,183,192],dropdown:2,dual:[148,186],dual_ekf_navsat:186,dub:156,dubin:[94,133,134,155,156,167,169],dubiou:156,due:[0,6,9,11,22,27,31,32,35,36,37,86,93,98,108,111,133,134,150,154,155,156,157,165,170,172,173,176,180,183,192,193],dumb:27,dummi:162,dump:169,duplic:[27,165],durabl:175,durat:[53,70,83,87,88,92,96,98,139,150,156,161,163,177,184],dure:[6,22,84,85,91,96,98,133,134,147,154,155,156,157,158,161,162,170,175,176,182,185,188,192],dwa:[3,167,169],dwb:[1,3,9,21,23,24,27,28,120,121,122,123,124,135,136,137,138,139,140,141,142,143,144,153,154,167,169,176,193],dwb_core:[92,95,154,155,169,193],dwb_critic:[95,119],dwb_local_plann:154,dwb_plugin:[95,119],dwblocalplann:[92,95,154,169,193],dynam:[0,3,13,15,17,21,23,24,27,79,80,84,85,95,98,133,134,152,153,154,155,160,161,162,163,164,165,168,169,173,175,176,189,190,191,192,194],dynamicfollowpath:154,each:[11,18,21,23,24,25,26,27,61,84,85,86,87,88,92,93,98,100,106,108,131,148,150,152,153,155,156,157,158,160,161,162,163,164,169,172,173,174,175,176,177,178,180,181,186,187,189,191,192],earli:[5,11,16],earlier:[86,133,134,148,151,156,160,174],earth:186,earth_wgs84:186,easi:[10,11,14,18,27,41,147,148,150,152,171,173,183,188],easier:[150,169,173,174,175,176,181,193],easili:[13,18,27,88,147,154,155,156,158,176,182,191],east:186,echo:186,ecosystem:[0,27,105,156,176],edg:[4,94,98,158,174,187],edit:[8,155,167,172,173,178],editor:[187,189,192],educ:14,effect:[2,4,85,91,115,132,147,154,156,172,176,187],effici:[22,27,105,173,176,177],effort:[8,14,27,94,108,150,152,155,169,173,176,190],efk:172,eight:[180,186],eitan:167,either:[1,18,19,26,27,85,86,97,98,115,117,147,148,157,158,167,169,172,173,176,182,189,192],ekf:[172,183,186],ekf_filter_nod:172,ekf_filter_node_map:186,ekf_filter_node_odom:186,ekf_localization_nod:172,ekf_nod:172,elaps:155,elast:[3,153,169,193],electr:186,electromagnet:186,element:[8,153,160,172,175],elev:[17,27,85,92,108,148,150,158,186],elif:[26,156],elimin:175,ellipsoid:186,elong:91,eloqu:[27,159],els:[26,84,93,155,156,158,162,163,165,172,191],elsewher:182,email:[0,14,27,150],emb:174,embed:[6,27,156,176,177],emerg:[6,9,85,90],emit:173,emphas:186,emploi:85,empti:[42,43,98,114,117,118,129,154,155,156,163,165,180],emul:147,emulate_tti:[187,189],enabl:[10,13,22,52,84,85,86,93,98,101,109,110,111,112,113,114,115,116,117,118,129,130,131,133,134,147,148,155,156,157,160,163,164,165,167,172,173,175,176,177,183,188,190,191,192],enable_stamped_cmd_vel:[85,87,92,108,158,191],enabled_:162,enact:[9,80,152,193],encod:[27,110,116,172,174,183,186,187,189],encompass:176,encount:[16,169,173,181,182],encourag:[0,14,22,98,150,175,177,181],end:[6,11,20,27,84,85,98,99,103,132,134,156,158,160,162,163,164,165,167,175,176,177,180,181,186,191],endpoint:[133,134],energi:[98,173],enforc:[91,108,113,155,179],enforce_path_invers:[98,158],engag:150,engin:[6,146,148,153,182,183],enhanc:150,enough:[18,157,170,176,179,186],enrich:148,ensur:[4,9,11,13,20,21,23,24,27,85,92,96,98,101,108,147,148,150,153,155,156,157,158,169,170,174,175,176,177,182,190],enter:[21,23,24,27,98,160,163,164,165,187],entir:[12,18,19,21,23,24,85,146,147,150,167,169,176,183,191],entiti:172,entri:[14,172,178,181,182,191],entryfil:176,entrypoint:146,enu:186,enumer:[29,30,41,42,43,45,46,53,55,192],env:147,environ:[4,5,9,10,12,27,105,145,146,147,148,150,151,152,169,170,172,173,174,176,183,185,186,187,191],environemnt:173,environment:[93,118,152],envok:[29,30,45,55],envrion:190,ephemer:147,eppstein:167,eqal:91,equal:[27,84,85,110,162,179,180,187,189],equat:107,equip:[173,183,186,192],eros:180,error:[27,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,84,85,86,88,98,111,145,146,154,155,156,167,170,173,178,180,183,185,186,190],error_cod:[59,72,73,74,177,178],error_code_id:[29,30,41,42,43,45,46,48,49,53,55,178],error_code_id_nam:[157,177],error_code_nam:[48,49,88],error_codes_to_check:59,especi:[86,133,134,148,153,156,174,178,183,185,186,188,190,193],essenc:174,essenti:[6,133,134,156,173,176],establish:177,estim:[15,85,86,103,108,151,153,155,162,163,164,165,172,173,174,185,186],estimated_time_remain:[155,165],etc:[4,10,13,17,26,27,84,85,88,92,93,94,108,110,147,148,150,155,157,158,160,165,169,171,172,174,176,183,186,188,192],eth:5,euclidean:[155,176],europ:186,evalu:[119,122,134,169,183],evalul:7,even:[19,20,21,23,97,98,101,108,112,133,148,152,154,155,156,167,169,170,171,172,176,181,183,187],evenli:86,event:[1,13,150,156],eventu:[157,173,175],ever:[98,155],everi:[17,19,21,23,24,57,82,91,93,98,101,114,118,133,150,155,156,158,161,162],everyon:[148,150],everyth:[151,156,162,172,186],everywher:[98,153],exact:[98,103,132,133,134,147,157,169,170,176,184,187],exactli:[132,151,176,189],exampl:[1,7,15,16,17,18,19,22,27,105,146,147,148,154,155,156,158,160,161,162,163,164,165,170,171,172,173,174,175,176,177,178,179,180,181,182,183,187,189,190,191,192,193],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:[29,30,45,55,87,88,92,100,106,109,116,155],exceed:[18,93,157],excel:[1,7,9,186,193],except:[26,27,39,84,92,133,134,150,155,157,164,167,172,181,183,189],exception:[165,172,182],excess:11,exchang:[98,133],exclud:157,exclus:22,exe:181,exec:147,exec_depend:[172,175,177],execut:[10,11,18,20,21,23,24,26,27,76,80,85,88,92,102,108,109,147,148,150,154,155,156,158,161,162,165,167,169,170,172,173,174,175,177,180,181,182,187,189,192],executeprocess:[172,173],executor:[11,26,27,109,155,157],exemplari:17,exhaust:168,exhibit:22,exist:[4,8,11,12,27,41,84,85,97,98,111,132,145,147,150,154,155,156,158,163,165,176,182,183,184,186,192],exit:[21,23,27,96,154,156,181,182],expand:[99,133,134,135,147,156,169,175],expans:[8,99,107,133,134,155,156,157,158,167],expect:[5,11,26,86,98,100,114,118,150,152,154,155,158,165,172,177,178,186],expected_planner_frequ:[100,107],expected_update_r:[114,118,190],expend:176,expens:[27,118,156,157,172],experi:[1,2,3,4,5,6,7,9,10,12,25,146,147,148,152,156,175,181,183,185],experienc:171,expert:[4,14],expir:[22,69,167,190],explain:[11,18,19,22,148,150,170,181,182,188,193],explan:[18,90,105],explicitli:[4,26,148,187],explor:[133,173,174],exponenti:[86,98,112,167,173,176],expos:[19,27,106,155,157,186],exposur:7,express:[27,116,158,163,186,187,189],extend:[162,172,186],extens:[22,27,98,147,148,157,158,183],extent:101,extern:[4,21,23,24,26,84,92,96,129,146,147,153,154,157,158,177,183,194],extra:[91,133,134,156,187],extract:[156,165,167],extrem:[2,18,84,113,155,173],face:186,facilit:[148,156],factor:[80,91,98,112,132,133,143,173,176],factori:161,fail:[18,19,21,23,24,26,27,92,96,109,132,133,134,153,155,156,157,160,165,167,181],failed_to_make_progress:[72,157],failed_to_smooth_path:[74,157],failur:[1,17,18,19,20,21,23,24,27,29,30,45,55,59,61,62,63,65,66,67,68,69,71,72,73,74,75,76,82,98,152,153,155,156,161,167,177,181,184],failure_toler:92,fair:8,fairli:181,faith:150,fake:27,fall:85,fallback:[21,23,24,85,191],fals:[25,26,29,53,66,84,85,86,87,88,91,92,93,94,96,98,99,101,107,108,109,110,112,114,115,116,117,118,119,122,124,132,133,134,135,138,151,155,156,157,158,160,162,164,165,172,173,176,180,181,183,185,186,187,190,191,192],familiar:[18,27,175],fanci:147,far:[84,85,94,98,133,134,151,156,158,173,176,184,193],farm:190,fashion:19,fast:[84,85,86,103,104,133,134,156,180,183],faster:[156,176],fault:[12,26,27],favor:156,favourit:[187,189],feasibl:[27,98,102,104,105,113,133,152,155,156,158,167,169,176,193],featur:[1,4,6,8,9,14,27,86,92,94,101,104,108,133,147,150,151,155,156,167,168,175,176,186,187],feaur:187,feed:177,feedback:[14,26,27,88,108,150,156,165],feedback_msg:165,feel:[6,145,148,175,176],ferguson:[14,152],fetch:[163,164],fetullah:167,few:[4,11,14,19,26,80,91,94,146,147,158,169,173,176,181],field:[4,26,41,62,84,85,86,94,116,132,154,155,156,157,158,160,162,164,165,172,173,175,177,179,181,183,186,187,189,190],field_filepath:41,fields2cov:[41,94,158],figur:[186,192],file:[1,2,17,27,41,85,87,88,96,97,107,130,134,145,147,148,150,151,152,154,155,156,161,162,167,170,174,175,176,177,178,179,183,184,185,186,187,188,189,190,191,192],file_field:41,file_field_id:41,filenam:[172,173,186],filepath:[41,134,165,176],filesystem:[148,181],fill:[4,150,154,161,179,187,189,192],filter:[6,13,29,86,92,103,172,176,183,186,190,191,194],filter_dur:83,filter_info_top:[97,110,113,116,187,189],filter_mask:97,filter_mask_data:189,filter_mask_serv:[187,189],filter_space_valu:97,final_bt_statu:165,find:[14,27,57,87,88,92,94,98,100,101,106,108,109,133,134,147,148,150,151,154,155,157,158,163,165,169,175,176,178,180,181,182,184,185],find_if:163,find_packag:181,findchessboardcorn:179,finder:[155,173],findpackageshar:175,fine:[98,151,176,189],finish:[154,158,182,186],finit:[27,98,133,183,192],first:[19,27,41,75,76,84,85,98,112,117,146,147,150,152,156,157,158,163,167,168,170,172,173,174,175,176,177,178,180,181,183,184,185,186,187,188,189,190,191,192],first_map_onli:86,first_map_only_:86,firstli:22,fit:[98,176,186,191],fix:[101,115,150,154,157,158,168,170,172,173,174,175,179,183,186],flag:[9,147,172,175,179,181,182],flagship:14,flat:183,fleet:27,flexibl:[14,88,98,160],flip:[110,155,157,169,175],flip_threshold:110,flood:18,flow:[1,18,19,21,23,24,76,77,150,161,192],fluidli:98,fly:[155,181,192],fn_tol:91,focal:179,focallength:173,focu:[12,18,26,175,191,192],focus:[107,180,183],focuscamera:175,folder:[19,147,148,173,179,186],folk:[150,156,181],folllow:172,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,53,79,85,87,91,92,93,97,100,101,108,116,129,130,131,133,134,146,148,150,151,152,153,154,155,156,157,160,162,163,164,165,167,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,185,187,188,189,190,191,193,194],follow_gps_waypoint:[27,158,186],follow_path_error_cod:[46,72,88],follow_path_error_code_id:177,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,89,92,95,98,101,102,154,157,158,161,163,165,169,184,193],followpathact:[44,47,54],followpathrecoveryfallback:[18,21,23,89],followwaypoint:[26,157],fonction:156,fondli:14,fool:176,footprint:[2,84,85,87,93,98,106,113,114,118,133,134,138,156,157,158,162,169,171,175,191],footprint_clearing_en:[93,114,118],footprint_pad:93,footprint_top:[85,103,104,106,160,178],footprintapproach:85,footprintcost:26,footprintcostatpos:26,forc:[86,98,158,183],forcefulli:147,forese:154,forget:185,forgot:150,fork:[27,95],forklift:22,form:[5,41,85,107,162,173,174],formal:[27,152,180],format:[10,41,84,85,91,98,130,134,147,155,172,173,175,186,187,189,192],former:[14,84,85],formerli:[92,157,167],formul:158,formula:189,fortun:172,forward:[0,9,18,27,57,91,97,101,102,119,124,134,139,142,143,147,151,158,161,174,176,186,191,193],forward_point_dist:[95,136,140],forward_prune_dist:[119,157],forward_sampling_dist:[102,193],found:[3,8,19,22,26,27,71,85,90,98,102,105,119,132,133,134,147,148,152,153,155,156,157,158,160,161,162,163,164,165,167,168,169,170,172,173,175,177,182,185,186,187,188,189,190],foundat:165,four:[18,27],foxi:[11,27,159,164],fraction:156,fragment:180,frame:[2,27,41,52,57,60,62,71,78,84,85,86,87,88,91,93,94,97,106,109,110,113,114,116,118,122,145,153,163,164,170,172,173,174,175,179,183,186,191],frame_id:[26,62,97,114,118,158,163,164,172,187,188,189],frame_nam:173,framework:[0,2,8,14,27,105,132,152,157,172,176,177],francisco:[152,167,183],free:[10,27,93,97,98,115,132,145,148,153,167,172,173,175,176,180,183,185,186,187],free_spac:180,free_thresh:[187,189],free_thresh_default:97,freeli:175,freespac:[21,23,24,176],frequenc:[18,19,84,87,92,93,98,100,108,133,134,172,183,186],frequent:[134,176,186],fresh:147,friction:2,friendli:[98,175],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,52,54,57,61,62,84,85,86,87,88,90,91,92,93,94,97,98,101,102,103,107,108,109,114,116,117,118,132,133,134,136,139,140,144,145,146,147,148,149,150,151,152,153,154,155,156,160,161,162,163,164,165,167,168,169,170,172,173,174,175,176,177,178,179,180,183,184,185,186,187,188,189,190,191,192,193],from_imag:146,from_msg:156,from_numb:160,from_second:163,front:[84,85,133,136,140,163,175,176,191],front_cast:175,frustrat:156,fsm:27,full:[5,7,12,19,27,86,93,98,113,119,133,145,150,154,155,156,168,169,170,171,172,174,175,176,180,183,184,186,187,189,191,192,193],fulli:[27,86,112,133,134,150,151,155,156,169,176,178,183,186,190],fun:[0,16],fundament:[165,181],further:[11,19,22,98,104,133,134,147,150,156,158,174,181,183],furthest:[98,133],fuse:[27,152,168,172,186],fusion:[15,27,172,174,183,186],futur:[1,4,8,11,21,27,84,85,86,110,113,116,154,156,158,184],gain:[8,98,101],galact:[86,88,159,160,162,164,173,190,192],game:[27,183],gamma:98,gap:175,gate:183,gather:[14,27],gaussian:[86,98,172,173,186],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,145,151,158,160,161,162,163,164,165,170,171,175,176,180,185,187,189,190],gazebo_gps_world:186,gazebo_model_path:151,gazebo_ro:[156,172],gazebo_ros_camera:173,gazebo_ros_pkg:172,gazebo_ros_ray_sensor:173,gazeborosimusensor:172,gdb:[147,181],gdb_test_nod:181,gdb_test_pkg:181,gdbtester:181,gear:155,gen:98,gener:[0,3,5,10,18,22,27,41,80,85,91,94,99,105,107,108,119,132,133,134,147,148,149,152,153,155,156,157,158,167,169,170,172,173,174,176,177,180,181,182,183,188,191],general_goal_check:155,generate_headland:41,generate_launch_descript:[172,173,175,187,189],generate_path:41,generate_rout:41,generos:176,gentl:176,genuin:165,geodesi:186,geograph:[172,186],geometr:[175,176],geometri:[4,5,9,172,173,175],geometry_msg:[41,42,43,48,52,57,79,85,87,92,108,154,163,164,165,172,188],get:[1,4,10,18,19,26,27,69,88,92,98,103,107,114,118,133,137,146,147,149,152,154,155,156,157,160,161,162,163,164,165,167,168,171,172,174,175,177,178,179,180,182,183,184,185,186,187,189,190,191,193,194],get_clock:163,get_logg:[160,161,163,164],get_package_share_directori:[165,181,182,187,189],get_paramet:[162,163,164,165],get_shared_package_path:155,getandtrackrout:26,getblackboard:165,getcostidx:26,getcostmap:164,getcostmaptimestamp:26,getcostxi:26,getcurrentbtfilenam:165,getdefaultbtfilenam:165,getdefaultbtfilepath:165,getfeedback:[26,156],getglobalcostmap:26,getglobalframeid:[26,164],getindex:[26,162],getinput:161,getlocalcostmap:26,getnam:165,getorigini:26,getoriginx:26,getpath:26,getpaththroughpos:26,getresolut:26,getresourceinfo:157,getresult:[26,156],getrout:26,getsizeincellsi:26,getsizeincellsx:26,getsizeinmetersi:26,getsizeinmetersx:26,gettoler:155,ghcr:146,gif:[22,186],gimp:187,gine:[101,152],git:[5,146,148,150,179,187,188,189,190],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],give:[11,85,92,98,108,150,151,152,154,158,160,161,168,169,172,173,174,175,176,177,181,189,193],given:[3,6,22,26,27,30,33,34,45,53,55,85,87,94,98,103,104,110,154,155,156,157,158,161,162,163,164,167,169,172,176,178,182,186,192],global:[18,21,22,23,24,26,51,61,62,63,67,80,86,87,89,91,93,98,100,101,109,117,122,133,134,140,141,153,154,156,157,162,163,164,167,170,172,173,174,175,176,180,185,187,189,190],global_costmap:[18,21,22,23,24,87,89,93,103,104,106,110,113,116,160,161,162,170,173,178,180,186,187,189,190],global_costmap_top:[87,160],global_footprint_top:[87,160],global_fram:[60,78,87,88,93,157,160,161,162,165,173],global_frame_:164,global_frame_id:[86,109],global_path:164,global_plan_:163,global_plan_pos:163,global_planner_plugin:164,globallyupdatedgo:89,globalplann:164,globalupdatedgo:[24,61],gmail:2,gml:41,gmsl2:183,gnss:186,gnu:[181,190],goal:[11,17,18,19,20,21,23,24,26,27,33,34,42,43,46,48,49,52,56,61,62,63,68,79,80,87,88,89,91,92,94,99,100,101,106,109,119,125,126,127,128,132,133,134,136,137,143,144,151,153,154,160,161,163,164,165,172,175,176,177,178,184,186,188,189,191,193],goal_:161,goal_blackboard_id:[88,165],goal_blackboard_id_:165,goal_check:[47,92,95,101,102,155,163,193],goal_checker_id:[26,46,47],goal_checker_nam:119,goal_checker_plugin:[92,95,101,102,154,155,193],goal_checker_plugin_id:[126,128],goal_checker_selector:47,goal_distance_bia:119,goal_pos:[26,155,156,163,165,188],goal_reached_tol:62,goal_sub_:165,goal_upd:[79,184],goal_updater_top:79,goalalign:[95,119],goalaligncrit:95,goalanglecrit:98,goalcheck:[47,154,156,163],goalcheckerselector:[21,23,24,89,155],goalcomplet:165,goalcrit:98,goaldist:[95,119],goaldistcrit:95,goalreach:[19,78,81,83,89,158],goalreceiv:165,goals_blackboard_id:[88,165],goaltool:185,goalupd:[18,19,21,22,23,24,61,89,161],goalupdat:[20,89,184],goalupdatedcondit:154,goe:[9,19,22,116,156,160,163,164,165,178],going:[4,14,26,27,80,98,152,155,156,161,178,181,184,186,187,189,191],golai:[28,167],golden:183,gone:18,gonzalez:186,good:[1,6,27,86,98,107,108,133,150,152,158,160,162,163,164,165,170,171,175,176,179,181,183,186],googl:150,gothroughpos:26,gotopos:[26,156],gpal:91,gps:[168,186],gps_link:186,gps_waypoint:186,gps_waypoint_follow:[109,186],gps_waypoint_logg:186,gpss:186,gpu:[4,147],grab:[91,148,165,172],grade:[27,152,172,186],gradient:[5,27,91,103,156,162],gradient_factor:162,gradient_index:162,gradient_lay:162,gradient_layer_1:162,gradient_layer_2:162,gradient_plugin:162,gradient_s:162,gradient_tol:91,gradual:91,grai:[175,189],grant:147,granular:[91,124],graph:[3,10,107,134,157,168,182],graphic:[8,148,187,189],grasp:173,great:[7,14,18,150,156,181,183,186],greater:[3,98,107,147,163,177],green:[91,168,179,185,186,192],grei:189,grep:145,grid:[6,7,27,93,97,114,118,122,167,169,170,173,175,186,188,190],grid_map:5,gridbas:[18,20,21,22,23,24,42,43,50,89,99,100,107,132,133,134,155,161,164,169,178,184],groot:[88,89,194],ground:[170,172,175],group:[11,13,14,27,81,111,150,157,167,180],group_connectivity_typ:[111,180],gtest:12,guarante:[102,108,133,152,169,174,193],gui:[2,148,151,172,175,179,186,192],guid:[17,18,19,146,148,154,156,157,158,162,164,168,169,170,172,173,174,175,177,183,190,191],guidelin:157,guillaum:167,gzclient:151,habit:176,hackbaselin:173,had:[12,14,156,157,158,173,186],haghighipanah:167,half:[18,101,133,134,173],hall:176,hallmark:6,hallwai:133,halt:[18,19,22,158],haltallact:158,hand:[27,98,102,108,156,158,170,174,175,176,183,193],handi:147,handl:[11,18,22,26,27,85,87,88,92,94,96,97,100,106,109,147,155,156,157,160,161,162,163,164,165,173,175,176,177,181],handler:158,hangout:150,hansen:14,happen:[14,18,150,163],happi:[150,186],hard:[10,14,21,53,85,92,108,153,155,158,165,176,186],hardcod:[21,23,24,157,161,165],hardwar:[85,108,147,169,173,175,183,190,192],harsh:[156,183],harshli:107,has:[2,3,4,6,8,11,12,14,18,19,21,22,23,24,26,52,60,61,63,69,70,84,85,87,88,89,90,91,92,98,100,101,106,109,115,125,126,127,128,132,133,134,145,147,148,150,151,152,154,155,156,157,158,160,161,162,163,165,167,170,172,173,174,175,176,181,182,183,185,186,187,189,191,192,193],has_paramet:165,have:[0,3,4,6,10,11,12,14,16,18,19,21,22,23,24,26,27,52,85,87,92,93,98,99,100,101,105,106,107,108,109,110,113,116,132,133,134,145,147,148,150,152,154,155,156,157,158,160,161,162,163,164,165,167,169,170,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],head:[26,35,45,98,101,102,132,134,150,156,167,171,172,174,176,184,186,193],header:[62,153,158,162,163,164,172,188],heading_deg:186,headland:[41,94],headless:[148,151,176,180,191],headlight:[110,157],hear:176,heart:[27,169],heavi:[85,91,133,134,186],heavili:176,height:[26,84,85,93,101,114,118,162,173,175,186],hello:160,help:[2,3,4,5,8,11,16,21,23,24,27,41,91,98,101,134,149,150,153,155,156,157,160,162,164,167,169,171,172,174,175,176,177,182,183,187,190,192,193],henc:[156,170,173,175,177],here:[0,3,14,19,21,22,23,27,75,76,77,78,79,80,81,82,83,84,85,98,102,147,148,150,151,153,154,155,156,157,158,161,162,163,164,165,167,172,175,177,178,179,181,183,185,186,188,191,192],heurist:[27,101,105,132,133,134,155,156,158,169],hfsm:27,hide:175,hierarch:[27,192],high:[2,3,4,5,6,8,27,85,98,101,104,107,108,118,132,133,134,150,152,153,155,169,172,176,180,183],higher:[4,6,9,12,18,27,85,91,92,93,94,98,108,110,133,134,152,155,156,157,158,165,176,177,184,187,189,192],highest:[27,157],highli:[27,91,98,105,142,151,152,158,167,169,174,176,178,185,186,188,190,193],highlight:[8,17,26,91,147,169,179,183,192],hint:176,his:183,histori:175,hit:[181,189],hold:[27,173,192],holder:[150,155],holom:[85,191],holonom:[85,91,92,98,99,101,132,144,152,167,176,191],home:[130,156,176,181,184,186],hood:[11,156],hooper:167,hope:156,hopefulli:[18,98],horizon:158,horizont:[111,173,186],horizontal_fov:173,horizontal_fov_angl:190,hospit:1,host:[27,87,92,97,100,106,109,147,148,153,160,169,182,186],hot:165,hotel:[187,189],hour:185,hous:110,how:[2,7,17,26,27,76,85,86,89,91,98,107,114,118,122,136,137,140,141,147,149,150,153,157,160,161,162,163,164,165,169,170,171,172,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,189,190,191,192,193],how_many_corn:107,howev:[4,6,9,14,20,21,23,24,27,84,85,98,103,133,147,151,154,155,156,160,165,170,172,175,176,178,181,183,186,187,189,190,191,193],hpp:[160,162,163,164,165],html:146,http:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],huerist:155,huge:[98,186],human:[1,4,27,152,167],humbl:[84,85,86,87,92,95,98,101,102,151,158,159,160,191,192,193],hundr:[1,27],hurt:173,hybrid:[3,102,105,132,134,147,152,155,156,157,167,169,170,176,193],hypot:[163,164],hypothet:18,icon:192,idea:[151,152,156,158,175,176],ideal:[7,12,156,157,160,163,164],identifi:[4,7,11,13,147,155,162,169,182],idl:19,ieee:152,ifcondit:[172,175],ifunspecifi:172,ignit:168,ignor:[86,145,146,161,172,180],illustr:[85,180],ilqr:3,imag:[16,22,27,91,103,130,134,153,155,175,178,179,180,186,187,189],image_format:130,image_pipelin:179,image_raw:[130,173,179],imagin:[18,27,160,167,186],immedi:[21,23,85,96,155,160,165,172,175,181],immin:[85,152],impact:[21,23,94,98,158,176,181],impass:187,impl:130,implement:[3,5,6,7,10,20,21,23,24,27,29,30,41,42,43,45,46,48,49,55,58,76,86,87,88,92,93,94,96,97,98,99,100,101,105,106,107,108,109,114,115,117,118,132,133,134,148,150,153,155,156,157,160,163,164,165,167,169,170,172,173,176,177,178,188,190,192],implementaion:167,impli:130,implicit:26,implicitli:156,imposs:158,impract:186,improv:[1,7,9,11,12,25,27,91,103,105,133,134,147,151,153,154,155,157,158,168,182,183],imu0:[172,183,186],imu0_config:[172,186],imu:[27,172,173,174,183,186],imu_joint:172,imu_link:172,imu_plugin:172,imu_sensor:172,inact:[27,98,160,163,164,165,175,177],incentiv:[98,158],includ:[4,6,7,10,13,14,18,26,27,76,88,89,105,110,124,146,147,148,149,150,152,153,154,155,158,160,161,162,163,164,165,167,169,172,173,174,175,176,181,182,184,187,188,189,190,191,193],include_last_point:124,inclus:[147,158,173,176,181],incom:[85,90,110,113,116,154,187,189],incompat:147,incomplet:168,inconsist:155,incorpor:[86,147,155],incorrect:[155,167],incorrectli:155,increas:[12,27,91,98,107,112,133,156,157,174,176,177,179],increasingli:[27,183],incred:17,increment:[29,84,85,87,133,156],increment_recovery_count:161,inde:186,indefinit:[18,19,26,150,184],independ:[14,27,87,116,152,155,157,161,173,183,191],index:[26,130,146,160,162,163,164,165,167,192],indic:[53,84,85,86,110,113,116,129,150,152,154,155,161,162,173,189],individu:[11,27,84,85,90,105,150,153,156,157,176,188],indoor:[110,183],induc:[157,167,194],industri:[14,27,85,101,155,167,169,187],ineri:183,inerti:[173,175,183],inertia:[172,173,175],inf_is_valid:[93,114,118,190],infeas:[104,167],infer:175,infin:57,infinit:[20,92,114,118,133,134,183],inflat:[27,86,93,113,115,133,135,158,167,173,180,187,190],inflate_around_unknown:[93,112],inflate_con:115,inflate_unknown:[93,112],inflation_lay:[93,110,111,113,116,162,170,173,180,186,187,189],inflation_layer_nam:98,inflation_radiu:[93,98,112,173],inflationlay:[93,173,176],influenc:98,info:[10,14,91,95,110,113,116,148,152,155,162,172,179],inform:[1,2,4,10,19,20,27,84,85,90,93,97,98,101,102,105,108,110,113,114,116,118,119,132,133,134,146,150,153,154,156,157,158,160,161,162,163,164,165,167,172,173,174,175,176,177,178,180,181,182,183,185,186,187,188,189,190,191,192],infrar:173,infux:156,ing:19,ingest:186,inher:[147,148],inherit:[155,161,162,163,164,165],init:[26,156],init_pos:26,initalorientationasrefer:172,initi:[8,26,64,71,86,88,98,104,145,147,148,151,152,154,156,157,160,162,163,164,165,167,175,176,184,186,187,191],initial_cov_:86,initial_orientation_as_refer:172,initial_pos:[26,64,86,156],initial_pose_:86,initial_transform_timeout:[93,158],initializegoalpos:165,initialposereceiv:[19,89],inject:181,injuri:9,inlin:[162,164,190],inner:[11,191],inout_port:192,inproceed:152,input:[6,19,26,27,85,88,91,98,103,104,114,115,118,129,152,155,157,158,160,161,162,163,164,167,172,175,178,181,184,186,191,192],input_at_waypoint:129,input_go:[20,21,52,79,184],input_path:[20,56,57,184],input_port:192,input_sensor_typ:[115,173],input_top:129,inputatwaypoint:[109,155,167],inputport:161,inquiri:14,inscrib:[112,156,176],inscribed_inflated_obstacl:180,insert:[161,173,181],insid:[27,85,90,91,92,95,105,108,109,147,148,156,157,158,162,172,173,177,181,182,187,190,191],insight:[11,156,168,176],inspect:[26,147],instabl:156,instal:[145,147,148,149,160,162,163,164,165,170,172,173,174,175,178,179,180,181,182,183,185,186,187,188,189,191,193],instanc:[27,85,130,151,158,161,169,172,177,186,187,189],instantan:[92,157],instanti:[169,175,177],instead:[13,18,21,23,24,79,84,86,98,104,119,146,147,153,154,155,156,157,158,160,165,172,173,174,176,177,178,181,183,184,185,186,187,191],instruct:[27,109,151,160,162,163,164,165,172,173,181,182,188],instrument:98,int16:177,integ:187,integr:[0,1,7,12,17,28,57,85,94,101,148,155,156,158,171,172,173,174,177,181,183,192],intel:[4,14,98,156],intel_realsense_r200_depth:[84,85,93,190],intellig:[152,176],intellisens:147,intend:[88,151,154],intent:[22,98,176],intention:[14,91,187],interact:[27,88,89,98,152,155,156,175,177,178,181,194],interactive_waypoint_follow:186,intercorrel:180,interest:[7,10,11,14,17,26,27,147,150,165,174,176,178,181,182,184,185,188,192],interfac:[3,5,13,19,27,85,88,106,147,148,152,153,154,157,160,161,162,165,167,173,178,185,186,190],interfer:[93,187],interins:183,interior:179,intermediari:[21,134,152,155],intern:[18,21,23,24,102,152,157,162,165,172,177,183,186,193],interoper:173,interpol:[108,133,187],interpolation_resolut:164,interpolation_resolution_:164,interpret:[93,97,174,180],interprocess:147,intersect:101,interti:175,interv:[84,85],interven:1,intervent:152,intial_pos:19,intoroduc:158,intrest:181,intrins:183,introduc:[27,84,101,148,150,153,155,156,171,173,175,177,180],introduct:[17,89,175],intuit:[176,193],inturn:22,invalid:[17,26,147,157,165],invers:[98,158,187],inversion_xy_toler:98,inversion_yaw_toler:98,invert:[24,98,155],investig:181,invilad_start:177,invok:[29,30,41,42,43,45,46,48,49,53,55,58,146,147,177,182],involv:[4,5,6,11,18,20,98,101,149,155,157,158,170,177,183],ipc:147,iro:152,iron:[88,97,159,165],irregular:[153,183],is_recoveri:[25,29,55],is_voltag:66,isbatterycharg:[89,157],isbatterylow:[18,19,89],isbatterylowcondit:154,ish:14,isn:[98,150,181,183],isol:[148,182],ispathvalid:[24,89,93],isstuck:89,issu:[0,2,3,5,6,8,14,21,23,24,26,27,87,88,92,98,100,106,109,150,154,155,156,168,169,174,176,180,181,183,186,187,189,190],istaskcomplet:[26,156],item:[2,11,18,26,27,168],iter:[21,23,24,26,27,41,52,85,88,91,95,98,104,108,132,133,134,157,162,183],iteration_count:98,its:[1,6,8,9,11,12,18,19,21,22,23,24,26,27,41,78,81,82,83,85,91,93,98,99,102,104,105,107,117,132,133,134,146,150,152,153,154,155,156,157,158,160,162,163,164,165,167,169,170,172,173,174,175,176,177,178,179,180,181,182,183,186,187,189,190,191,192,193],itself:[27,116,133,134,147,156,161,165,173,178,187,189,192],ixi:[173,175],ixx:[173,175],ixz:[173,175],iyi:[173,175],iyz:[173,175],izz:[173,175],jag:104,jaggedli:98,jazzi:[85,159],jerk:189,jerki:[98,108],jeronimo:167,jetbrain:148,jetson:[4,183],jitter:98,job:[27,98],join:[150,170,172,173,175,187,189],joint:[172,173,175,186],joint_state_publish:[172,175],joint_state_publisher_gui:[172,175],joint_state_publisher_gui_nod:[172,175],joint_state_publisher_nod:[172,175],jonatan:152,josh:152,joshua:[14,167],joshuawallac:14,journal:152,joystick:183,jpeg:155,jpg:155,json:[2,147,148],jump:[133,172,183,186],june:105,junior:150,just:[8,20,21,23,24,27,80,93,98,139,148,150,156,161,162,170,172,173,174,175,181,182,186,187],juzhenatpku:2,kalman:[172,186],kcachegrind:182,keep:[14,18,27,85,94,98,147,154,155,158,161,163,164,167,172,174,175,186,187,192],keep_goal_orient:91,keep_start_orient:91,keepout:[93,97,155,167,176,189,194],keepout_filt:[93,113,180,187],keepout_filter_mask:187,keepout_mask:187,keepout_param:187,keepoutfilt:[93,113,155,176,187],keeprunninguntilfailur:[20,184],kei:[19,86,94,146,147,150,151,165,176,177,180,183,186],kept:[14,111],kernel:180,key_nam:192,key_name2:192,keyboard:186,kick:[27,160],kidnap:51,kill:181,kind:[22,152,172,181],kinemat:[2,95,98,102,104,105,152,155,167,169,172,175,176,186,193],kinodynam:3,kiwibot:186,know:[11,14,27,94,101,105,145,150,154,155,161,162,167,174,175,183,186,189,192],knowledg:[4,7,11,150,181,190],known:[18,22,26,27,86,101,156,165,167,176,179,186,190],konolig:167,kurt:167,label:147,lack:[176,183],laid:[187,189],lambda:161,lambda_short:86,land:8,landmark:172,landscap:183,lane:[27,97,113,155,167,187],languag:178,larg:[19,27,85,91,98,101,133,134,152,154,168,172,175,176,179],larger:[27,80,85,96,98,101,103,132,150,155,167,181,191],largest:[169,170],laser:[6,9,84,85,86,114,118,167,173,174,191],laser_likelihood_max_dist:86,laser_link:175,laser_max_rang:86,laser_min_rang:86,laser_model_typ:86,laserscan:[85,93,114,118,157,188],last:[6,14,19,21,23,56,57,85,86,91,94,98,99,105,107,108,124,132,133,134,136,137,140,141,147,156,165,169,170,172,174,175,177,183,187,189,191],lastli:[150,157,169,170,172,173,174,175],lat:186,latenc:[108,153,154,183],later:[5,98,133,134,147,148,150,156,160,161,162,163,164,165,173,182,190,192],latest:[84,85,146,147,193],latitud:186,latitude_deg:186,latter:178,lattic:[3,102,105,132,133,152,156,157,167,168,169,176,193],lattice_filepath:134,launch:[26,27,87,96,97,148,151,160,162,163,164,165,169,170,174,177,179,180,183,184,186,187,189,191,192],launch_ro:[172,175,181,187,189],launchconfigur:[172,175,187,189],launchdescript:[172,175,187,189],layer:[2,4,7,10,11,93,110,113,115,116,132,133,135,147,152,153,155,156,162,173,176,186,187,190],layeredcostmap:162,lazi:155,ld_preload:190,lead:[14,98,130,150,155,156,189],leader:14,leadership:14,lean:146,learn:[4,7,11,18,27,89,148,152,160,161,164,173,174,175],least:[20,85,147,150,155,172,191],leav:[98,101,133,154,158,181,183,191],led:[84,157,158],left:[6,27,42,43,101,107,117,133,134,147,151,156,163,164,170,172,173,175,179,180,182,185,186,189,192],left_joint:172,left_wheel_est_vel:172,leg:[105,148,152,167,169,176,183],legaci:119,length:[80,91,93,94,98,107,133,134,156,173,175,176,177,179],length_factor:[22,80],less:[9,62,85,87,88,92,98,100,101,106,108,109,111,133,153,156,172,180,183,186,187,193],let:[11,18,19,27,94,129,131,145,148,155,156,160,161,164,172,173,174,175,176,183,184,186,189,191],lethal:[93,98,112,167,173,176],lethal_cost_threshold:93,lethal_obstacl:[162,180],level:[5,9,18,21,23,24,27,85,90,104,150,152,155,156,157,177,182,183,187,189,191,192],leverag:[7,11,26,146,148,156,176,178,184,186],lib:[181,190],libgazebo_ros_camera:173,libgazebo_ros_diff_dr:172,libgazebo_ros_factori:[156,172,173],libgazebo_ros_gps_sensor:186,libgazebo_ros_imu_sensor:172,libgazebo_ros_init:[156,172,173],libgazebo_ros_ray_sensor:173,libjemalloc:190,libjmalloc:190,librari:[5,6,7,10,15,26,27,41,88,94,153,154,156,160,162,163,164,165,173,174,178,181,190,192],libstdc:181,licens:[1,2,3,4,5,6,7,8,9,10,11,12,13,149],lidar:[6,9,27,114,170,172,173,176,180,186,190],lidar_joint:173,lidar_link:[173,174],life:192,lifecycl:[26,28,108,145,152,154,155,165,169,171,176,182,187,189],lifecycle_manag:[96,177,187,189],lifecycle_manager_costmap_filt:[187,189],lifecycle_manager_navig:177,lifecycle_nod:[177,187,189],lifecyclemanag:156,lifecyclemanagercli:156,lifecyclenod:[27,156,163,165,181],lifecycleshutdown:26,lifecyclestartup:26,lifecyl:177,light:[110,156,158,179,187,189],lightli:98,like:[2,4,8,13,14,17,18,19,20,21,23,24,26,27,88,97,98,105,109,132,133,147,148,150,151,152,155,156,158,160,161,162,165,167,170,171,173,174,175,176,177,178,181,182,183,184,186,187,188,189,190,192,193],likelihood:86,likelihood_field:86,likelihood_field_prob:86,limit:[8,27,85,92,97,98,108,116,132,133,134,147,155,158,163,167,169,172,176,184,191,194],limitedaccelgener:95,line:[12,26,103,107,132,154,157,160,162,163,164,165,169,170,172,173,174,175,176,178,181,182,186,191],linear:[30,45,85,91,94,97,101,124,133,155,157,163,172,187,191],linear_acceler:172,linear_curv_chang:94,linear_granular:[95,124],linear_limit:[85,157],linear_max:[85,191],linear_min:[85,191],linear_solver_typ:91,linear_vel:163,linearli:[27,116,155,187,189],linecost:26,link:[1,2,3,4,5,6,7,8,9,10,11,12,13,16,19,107,150,156,172,173,174,175,186,191],links1:175,lint:150,linter:147,linux:[147,148,181,190],list:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,19,21,26,48,49,52,84,85,87,88,90,92,93,95,96,100,105,106,109,119,147,148,150,152,153,154,155,157,161,162,163,165,167,168,169,172,173,176,177,179,180,181,187,189,191,192,193],listen:[19,84,85,87,145,154],lit:179,littl:[176,181],live:[4,27,148,155,160,174,176,185,188,192],lld:146,load:[27,46,87,92,93,97,98,100,106,109,119,147,152,153,154,155,156,160,161,162,163,164,165,167,169,173,175,178,182,183,187,189,190,192],loadabl:[93,154,155,190],loadbehaviortre:165,loadlibrari:190,loadmap:86,local:[1,3,9,10,11,18,21,23,24,26,44,47,50,54,86,87,92,96,98,101,108,119,122,126,128,147,148,150,151,152,154,155,156,157,162,163,164,165,167,169,170,174,176,180,187,189,190,191,194],local_costmap:[18,21,22,23,24,38,39,40,85,87,89,93,111,113,160,161,162,170,173,180,187,189],local_costmap_top:[87,160],local_footprint_top:[87,160],local_fram:[87,157],local_or_glob:155,localization_lifecycle_manag:154,locat:[9,22,26,27,133,134,143,151,160,162,163,164,165,169,172,173,175,186],lock:[13,163,165],lockfil:147,locu:14,log:[148,150,156,160,161,172,173,181,191],log_level:191,logged_waypoint_follow:186,logger:156,logger_:[163,165],logic:[9,17,18,21,23,24,27,157,158,161,165,177,192],logininteractiveshel:147,logo:8,lon:186,longer:[8,22,80,94,132,156,157,158,160,181],longitud:186,longitude_deg:186,look:[0,2,11,18,52,87,101,136,140,143,150,151,152,154,158,161,169,172,173,174,175,176,177,182,186,187,189,190,191,192,193],lookahead:[101,155,163,193],lookahead_dist:[101,163],lookahead_dist_:163,lookahead_tim:[95,101,143],looker:[176,193],lookup:[57,156],lookup_table_s:[133,134],loop:[19,27,84,85,92,98,101,108,156,164,165,183],loop_rat:[109,155],loss:85,lot:[172,175,181],low:[5,18,19,66,98,103,108,133,153,167,176],lower:[14,18,66,85,87,98,110,133,156,157,173,176,177],lowest:[48,49,98,155,157,177],luckili:[174,181,192],luggag:184,macenski2020marathon2:152,macenski2023regul:152,macenski2023survei:152,macenski2024smac:152,macenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,101,152,167],machin:[4,27,147,148,172,173,174,177,192],macro:[133,134,160,161,162,163,164,165,175],made:[6,8,27,85,92,93,96,125,127,147,148,150,156,157,162,165,169,170,175,176,180,184,187,189,191],magnet:186,magnetic_declination_radian:186,magnetomet:186,mai:[0,3,4,5,6,10,14,21,23,24,26,27,41,80,84,85,87,88,92,98,100,101,103,105,106,109,111,113,133,134,139,146,147,150,152,154,155,156,157,158,161,162,165,168,169,170,172,173,174,175,176,177,178,180,181,182,183,184,185,186,187,189,192,193],main:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],main_tree_to_execut:[17,18,19,20,21,22,23,24,25,89,161,184],mainli:[18,173,174,175],mainstai:[27,105],maintain:[0,8,14,15,94,147,150,152,156,157,165,167,168,173,176,177],maintre:[17,18,19,20,21,22,23,24,25,89,161,184],major:[10,13,27,105,152,155,158,160,165,168,170,175,181],make:[1,2,7,9,10,11,12,13,14,19,21,23,24,25,27,41,56,57,88,92,98,101,102,107,114,116,118,133,144,145,147,148,150,154,155,156,157,158,160,163,164,165,167,169,170,172,173,174,175,176,177,179,180,181,182,183,184,185,186,187,188,189,190,191,193],make_shar:165,make_uniqu:161,malfunct:84,malici:148,manag:[26,27,28,114,118,147,151,152,154,155,169,171,172,174,175,176,177,179,182,183],mandatori:[155,160,161,163,164,186,189],maneuv:[98,133,134,154,170],mani:[11,17,18,21,23,24,27,76,85,86,152,153,154,158,162,167,173,174,176,178,181,182,183,184,187,189,192,193],manipul:[10,26,27,93,170,175,183],manner:[27,152],manual:[0,57,96,146,147,151,172,177,182],manufactur:173,map:[26,27,28,41,42,43,46,60,78,86,87,88,92,93,100,109,110,113,114,116,117,118,132,133,134,145,151,152,153,155,158,161,162,163,164,165,167,169,170,172,174,176,180,183,185,186,187,189,191,192,194],map_filepath:26,map_fram:172,map_io:154,map_load:154,map_sav:[97,154],map_save_dur:190,map_saver_cli:[154,188],map_serv:[86,93,97,117,154,186,187,189],map_subscribe_transient_loc:[93,117,173],map_top:[86,93,117,173],mapped_name_of_plugin:[163,164],mapper_params_online_sync:181,mapping_mod:190,mapsav:156,mapserv:154,maptoworld:26,mapviz:186,marathon:152,march:27,marder:167,margin:[98,134],mark:[4,27,91,93,114,115,118,138,157,165,173,176,180,187,189,190,192],mark_threshold:[93,115,118,173,190],marker:[98,122,150,173,175],marker_lifetim:122,market:11,martin:[101,152],mask:[27,97,110,113,116,155,157,167,180],mask_top:[97,187,189],mask_valu:[97,110,116],mask_yaml_fil:[187,189],mass:[173,175,186,189],massiv:[133,160,173,180],master:[114,118,162,168,173],master_arrai:162,master_grid:[114,118,162],match:[6,41,59,72,73,74,86,87,88,98,106,133,134,157,161,163,170,176,177,186,191],matchsiz:162,matej:167,materi:175,matrix:[27,172],matt:14,matter:186,matthew:152,matur:[23,24],max:[91,98,101,114,115,118,132,133,134,158,163,173],max_accel:108,max_allowed_time_to_collis:101,max_allowed_time_to_collision_up_to_carrot:101,max_angl:173,max_angle_to_furthest:98,max_angular_accel:[101,102,193],max_angular_vel:163,max_angular_vel_:163,max_beam:86,max_decel:108,max_dur:26,max_height:[84,85],max_i:162,max_it:104,max_iter:[91,132,133,134],max_j:162,max_linear_accel:156,max_linear_decel:156,max_lookahead_dist:101,max_obstacle_height:[93,114,118,173,190],max_on_approach_iter:[132,133,134],max_particl:86,max_path_occupancy_ratio:98,max_planning_tim:[132,133,134,155],max_planning_time_m:155,max_point:[84,85,157,191],max_rat:83,max_robot_pose_search_dist:[57,98,101],max_rotational_vel:[87,160],max_scaling_factor:119,max_smoothing_dur:53,max_spe:[83,98],max_speed_xi:[95,121],max_vel_i:[95,121],max_vel_theta:[95,121],max_vel_x:[95,121,154],max_veloc:108,max_wheel_acceler:172,max_wheel_torqu:172,max_z:190,maxim:[91,98,176],maximum:[2,27,53,57,83,84,85,86,87,91,92,93,94,97,98,101,102,104,108,114,116,118,121,125,127,132,133,134,155,156,157,158,163,167,173,180,183,187,189],maxwithoutunknownoverwrit:[114,118,158],mayb:2,mcl:6,mean:[0,1,18,19,27,85,98,108,116,133,147,148,154,157,172,173,174,176,180,186,187,189],meaning:[156,165,177],meant:[84,85,107,156,157,171,176,183],meantim:13,measur:[9,25,92,98,114,118,133,134,155,157,167,172,173,174,175,180,183,186],mecanum:183,mechan:[5,11,85,162,181,183],medium:[1,7,8,9,11,12,13,168],meet:[85,92,98,108,126,128,143,150,158],member:[4,150,160,163,164,165],memori:[27,147,156,176,177,181,190],mention:[153,154,155,169,189,193],mentor:[0,1,2,3,4,5,6,7,8,9,10,11,12,13],menu:192,mere:147,merg:[5,13,147,150,154,162],meridian:186,merit:148,merzlyakov:[14,152,167],mesh:[27,175],messag:[11,26,27,29,30,41,42,43,44,45,47,50,54,55,84,85,86,87,90,92,93,100,114,116,118,147,150,155,157,158,160,161,163,165,172,177,183,186,187,189,191],message_success:160,messsag:150,met:[128,143,150,155,193],meta:[187,189],metadata:[27,147,165,187,189,192],metapackag:[5,158],meter:[17,25,26,27,86,93,94,99,102,132,133,134,179,180,186,193],method:[3,4,6,17,21,23,24,26,27,94,96,98,114,118,136,137,140,141,150,155,156,157,158,160,161,162,163,164,165,181,182,192],metric:[90,105,157,161],michael:167,micro:176,mid:27,middl:[103,169,176,189,192],middlewar:27,might:[27,86,98,108,133,134,155,158,165,170,172,173,181,182,187,189,192],migrat:[8,168],miguel:167,mike:14,millisecond:[88,131,155],mimic:[158,175],min:[115,163,168,173],min_angl:173,min_approach_linear_veloc:101,min_batteri:66,min_dist_to_obstacl:98,min_height:[84,85],min_i:162,min_j:162,min_lookahead_dist:101,min_obstacle_height:[93,114,118,173,190],min_particl:86,min_point:[84,85,157,158,191],min_r:[133,134],min_rat:83,min_rotational_vel:[87,160],min_spe:83,min_speed_theta:[95,121],min_speed_xi:[95,121],min_theta_velocity_threshold:[92,95,101,102,193],min_turning_r:98,min_turning_radiu:94,min_vel_i:[95,121],min_vel_x:[95,121],min_veloc:108,min_x_velocity_threshold:[92,95,101,102,193],min_y_velocity_threshold:[92,95,101,102,193],min_z:190,mind:[98,147,172,174,186],mini:183,minim:[2,11,98,151,156,157,165,169,172,176,183],minima:98,minimal_group_s:[111,180],minimum:[2,9,27,66,83,84,85,86,87,91,93,94,97,98,101,108,111,114,118,121,125,127,133,134,139,142,155,156,157,158,167,169,173,174],minimum_turning_radiu:[91,133],minor:[126,128,173],minut:[27,87,88,92,100,106,109,158,179],mirror:[98,134],misalign:180,misloc:180,miss:[13,85,92,108,146,155,158,175,176,182,192],mission:[152,160],mitig:186,mittal:167,mixin:[146,147],mixtur:86,mkdir:[146,187,189],mkhansen:14,mmethod:161,mnimum:125,mobil:[1,4,5,7,9,10,12,14,26,27,152,172,173,174,183],mock:183,modal:172,mode:[20,85,94,98,108,147,157,158,183,186,187,189,192],model:[4,27,28,84,85,86,91,105,114,118,133,147,151,152,154,155,167,169,172,173,175,176,185,186,190,191],model_dt:98,model_typ:190,modelplugin:172,moder:176,modern:[105,152,176,183],modest:98,modif:[27,147,150,155,156],modifi:[6,17,56,57,88,89,95,103,147,150,155,156,158,160,161,163,164,165,167,169,170,172,175,181,182,184,192],modu:193,modul:[29,30,41,42,43,45,46,48,49,55,58,88,96,109,158,162,183,186,191],modular:[6,148,152,167],mohammad:167,moment:157,monitor:[22,28,84,152,155,192,194],monitorandfollowpath:22,monocular:179,mont:[6,27,86,173],month:[150,183],moor:[15,152],more:[2,3,4,6,7,9,10,11,12,14,17,18,23,24,27,41,57,84,85,86,91,95,98,101,102,108,110,113,116,132,133,134,142,146,147,148,150,152,154,155,156,158,160,161,162,163,164,165,167,169,170,171,172,173,174,175,176,177,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],moreov:180,most:[9,18,21,23,24,85,86,87,88,92,98,100,102,105,106,109,151,156,161,167,172,173,174,176,178,181,182,183,186,193],mostli:173,mothership:160,motion:[3,4,27,86,91,133,134,142,143,155,158,167,169,172,174,183,186,191,192],motion_model:98,motion_model_for_search:133,motiv:[10,156],motor:[108,152,186],mount:[147,148,174,186],move:[14,18,22,27,80,84,85,98,110,125,127,129,133,134,139,142,152,153,154,155,156,157,164,167,168,174,175,176,179,183,184,185,186,187,188,191],movecamera:175,moveit:[8,14],movement:[27,84,85,86,91,93,108,134,157,170,186,191],movement_time_allow:[92,95,101,102,125,127,157,193],mpc:[3,98,157,167,169],mppi:[157,167,168,176],mppicontrol:98,msg:[26,41,42,43,48,52,80,85,87,92,108,110,156,163,164,165,167,172],much:[27,91,101,108,133,150,152,154,155,157,174,175,176,186,187],multi:[7,10,11,26,27,155,156,167,169],multi_tb3_simulation_launch:158,multipl:[6,11,21,23,24,27,41,44,47,50,54,80,85,87,98,105,106,148,152,154,155,158,163,164,169,172,173,174,175,176,177,178,181,183,186,189,191],multipli:[97,110,116,132,133,187,189],multithread:0,multitud:[27,173],must:[4,14,19,26,27,60,86,93,94,97,101,104,108,111,114,118,125,127,133,134,135,146,150,154,156,157,160,161,163,164,165,167,169,172,173,174,177,178,179,182,185,188,190,191,192],my_camera:179,my_contain:177,my_gps_plugin:186,my_mark:173,my_nav_through_poses_bt:[88,165],my_nav_to_pose_bt:[88,158,165],my_packag:[88,158,165],my_world:173,myawesomenewnod:192,myplugin:[162,164,190],naiv:[105,132],name:[8,14,15,17,18,19,20,21,22,23,24,25,27,29,30,31,32,33,34,35,36,37,38,39,40,42,43,44,45,46,47,48,49,50,51,54,55,58,84,85,86,87,88,89,90,92,93,96,98,99,100,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,146,147,150,154,155,156,162,167,168,169,170,172,173,174,175,176,177,178,179,181,182,183,184,186,187,189,190,191,192,193],name_:[162,164],name_of_paramet:[163,164],namespac:[26,27,87,88,92,93,95,98,100,106,109,114,118,119,154,157,162,163,164,169,172,173,176,177,183,187,189,190,193],narrow:[98,133,147],narrowest:98,nasti:[105,156],nativ:[147,157],natur:[27,98,158,165,176,183],nav2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,18,20,21,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,146,147,148,149,150,151,153,154,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,174,175,178,179,183,186,188,190,192,193,194],nav2_amcl:[86,173,188],nav2_back_up_action_bt_nod:[88,161],nav2_behavior:[29,30,45,55,58,87,156,160],nav2_behavior_tre:[19,27,89,154,155,158,161,165,192],nav2_bringup:[151,154,155,156,157,160,162,163,164,165,170,173,176,180,181,182,184,185,187,188,189,191],nav2_bt_navig:[17,18,88,154,155,165,184,192],nav2_bt_waypoint_follow:27,nav2_ceres_costaware_smooth:[106,178],nav2_clear_costmap_service_bt_nod:88,nav2_collision_monitor:[90,191],nav2_common:[187,189],nav2_compute_path_to_pose_action_bt_nod:88,nav2_constrained_smooth:[91,156],nav2_control:[92,95,101,102,125,126,127,128,153,155,157,182,193],nav2_cor:[88,153,155,157,160,163,164,165],nav2_costmap_2d:[93,110,111,113,116,154,155,156,157,162,163,170,180,187,189],nav2_costmap_2d_mark:173,nav2_costmap_filters_demo:[187,189],nav2_default_view:185,nav2_depend_w:145,nav2_distance_controller_bt_nod:88,nav2_distance_traveled_condition_bt_nod:88,nav2_follow_path_action_bt_nod:88,nav2_gazebo_spawn:156,nav2_goal_reached_condition_bt_nod:88,nav2_goal_updated_condition_bt_nod:88,nav2_gps_waypoint_follower_demo:186,nav2_gradient_costmap_plugin:162,nav2_gradient_costmap_plugin_cor:162,nav2_hfsm_navig:27,nav2_initial_pose_received_condition_bt_nod:88,nav2_is_stuck_condition_bt_nod:88,nav2_lifecycle_manag:[177,187,189],nav2_map_serv:[187,188,189],nav2_mppi_control:98,nav2_msg:[26,27,92,154,155,161,187,189],nav2_multirobot_param_al:158,nav2_multirobot_params_:158,nav2_navfn_plann:[99,100,164,169],nav2_param:[155,156,157,160,162,163,164,165,170,176,177,178,180,182,187,189,190],nav2_pipeline_sequence_bt_nod:88,nav2_plann:[42,43,153],nav2_pure_pursuit_control:163,nav2_rate_controller_bt_nod:88,nav2_recoveri:[153,156],nav2_recovery_node_bt_nod:88,nav2_regulated_pure_pursuit_control:[101,102,155],nav2_reinitialize_global_localization_service_bt_nod:88,nav2_rotation_shim_control:[102,156,193],nav2_round_robin_node_bt_nod:88,nav2_route_serv:177,nav2_sensor_driv:177,nav2_simple_command:[26,156,186],nav2_simulation_launch:151,nav2_single_trigger_bt_nod:88,nav2_smac_plann:[91,105,132,133,134,155],nav2_smooth:[91,103,104,106,178],nav2_sms_bahavior:160,nav2_sms_behavior:160,nav2_sms_behavior_plugin:160,nav2_speed_controller_bt_nod:88,nav2_spin_action_bt_nod:88,nav2_straightline_plann:164,nav2_straightline_planner_plugin:164,nav2_test_util:184,nav2_theta_star_plann:[107,155],nav2_time_expired_condition_bt_nod:88,nav2_transform_available_condition_bt_nod:88,nav2_tree_nod:192,nav2_util:[27,154,156,164,165],nav2_velocity_smooth:[108,156,191],nav2_w:[146,147,181],nav2_wait_action_bt_nod:[88,161],nav2_waypoint_follow:[27,109,129,130,131,153,155,157,158],nav2_world_model:153,nav:[14,26,94,155,156],nav_msg:[26,41,42,43,56,57,80,163,164,165,172,177,183],nav_path:41,navfn:[3,28,98,102,103,105,153,167,169,170,176,178,193],navfnplann:[99,100,164,169],navig:[0,1,2,3,5,6,10,13,14,15,16,17,20,26,28,41,60,61,62,63,78,81,83,89,98,105,109,147,150,152,153,155,158,160,161,163,166,168,170,171,172,173,174,175,176,177,178,182,183,184,190,192,193,194],navigate_through_pos:[88,165],navigate_through_poses_error_cod:[48,88],navigate_through_poses_w_replanning_and_recoveri:[48,49],navigate_to_pos:[88,165],navigate_to_pose_error_cod:[49,88],navigate_to_pose_w_replanning_and_recoveri:[18,165],navigate_to_pose_w_replanning_goal_patience_and_recoveri:156,navigate_w_replanning_and_recoveri:[155,161,192],navigate_w_replanning_and_round_robin_recoveri:155,navigaterecoveri:[18,21,22,23,24,89,161],navigatethroughpos:[88,89,165],navigatethroughposesnavig:[88,165,167],navigatetopos:[27,88,89,109,154,161,165,184],navigatetoposeact:27,navigatetoposenavig:[88,165,167],navigatewithreplan:[17,18,20,21,22,23,24,89,161,184],navigation2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,189,191,192,193,194],navigation2_dynam:15,navigation2_tutori:[15,158,162,170,172,175,187,189],navigation_dur:26,navigation_launch:[156,170,173,182,188,191],navigation_lifecycle_manag:154,navigation_tim:[156,165],navigation_tutori:[160,163,164],navigatior:157,navigaton2:151,navigator_plugin:165,navigatorbas:165,navsat_transform:[27,186],navsat_transform_nod:[172,186],navsatfix:186,navthroughpos:[156,167],navtopos:156,ncancel:165,ndt:6,near_goal_dist:98,nearbi:[84,85,101,155,180],nearest:[98,101,187],nearli:[152,156,176],neccessari:[160,163,164,165,174],necess:[162,163,165],necessari:[11,22,26,98,101,133,134,147,155,157,158,160,162,165,170,172,173,174,175,176,177,180,182,189,193],necessarili:19,need:[2,4,11,13,21,22,23,24,26,27,41,44,47,50,54,80,85,87,88,91,92,93,94,98,100,101,106,109,133,146,147,148,150,152,155,156,157,158,160,161,162,163,164,165,169,170,172,173,174,175,176,177,178,179,181,182,183,184,185,186,187,189,191,192],need_recalculation_:162,neg:[108,133,134,155,161,172],negat:187,neglig:156,negoti:93,neigh:107,neighbor:[111,180],neighborhood:[98,167,169],neither:27,nest:[147,148,181],network:[11,27,147,153,156,161],neutral:190,never:[18,27,98,133,134,156,187,189],nevertheless:172,newer:[147,160,173],newest:[20,176],newli:[80,102,155,156,170,173,176,177,187,191,192,193],next:[4,5,18,19,21,22,23,24,27,41,98,108,109,129,131,147,151,153,154,160,162,163,164,165,167,169,170,172,173,174,175,180,189,192],next_target:192,nice:[27,160],no_inform:[114,118,180],no_readings_timeout:115,no_valid_control:[72,73,157],no_valid_rout:177,node:[0,17,18,20,21,22,23,24,26,28,44,47,50,52,54,56,57,59,60,61,64,70,72,73,74,76,77,78,79,80,81,82,83,88,91,96,105,107,108,130,133,134,145,147,153,154,160,161,163,164,165,168,169,171,172,174,175,176,179,183,184,185,186,187,188,189,191],node_:[156,160,161,162,163,164],node_nam:[96,177,181,187,189],nodebuild:161,nodeconfigur:161,nodeid:26,nodestatu:156,nois:[86,98,103,111,154,157,167,172,173,176,186,194],noisi:[155,172,180,186],nolint:165,nomenclatur:27,nomin:[21,23,24],non:[7,10,26,27,85,88,92,96,98,102,105,110,112,113,116,132,133,134,147,152,156,158,161,165,167,169,170,174,175,176,181,182,183,187,191,193],non_straight_penalti:[133,134],none:[26,44,47,48,49,50,54,84,157,158,165,176,177],nor:[98,182],normal:[98,133,147,156,181],north:186,notabl:148,note:[2,17,19,20,21,22,23,26,27,41,85,86,87,91,92,93,94,96,97,100,101,106,108,109,113,116,134,150,152,156,160,161,162,163,164,165,170,172,173,174,175,176,177,178,180,181,182,183,185,186,187,189,190,192,193],noteworthi:98,noth:[155,183],notic:[98,133,162,172,173,175,181,192],notif:148,notifi:[96,161,165],notion:177,notori:183,novel:[155,156],novelti:6,now:[11,18,19,21,22,85,151,153,154,155,156,157,158,160,161,162,163,164,165,170,172,173,174,175,176,178,181,182,183,184,185,186,190,192],nowher:158,nudg:167,num_attempt:22,num_coeff:179,num_cycl:25,number:[3,11,26,27,41,76,84,85,86,91,93,94,98,103,104,111,118,120,132,133,134,153,154,155,156,157,158,160,161,164,167,172,173,174,175,176,179,180,181,189,192],number_of_recoveri:165,number_of_retri:[18,19,21,22,23,24,76,89,161],number_recoveri:165,numer:157,numeric_limit:155,nutshel:27,nvidia:[4,183],nxm:179,object:[5,10,11,26,27,41,79,94,98,152,155,156,157,158,160,162,165,171,173,175,176,186,190,194],observ:[114,118,148,160,163,164,165,172,173,174,193],observation_persist:[114,118,190],observation_sourc:[84,85,93,114,118,173,190,191],obsolet:155,obstacl:[0,1,3,9,15,17,20,27,67,80,84,85,86,91,93,101,111,112,117,118,132,133,134,135,138,152,153,156,157,167,169,170,173,174,175,184,185,186,190,191,194],obstacle_clearance_tim:156,obstacle_lay:[93,110,113,116,155,162,173,180,186,187,189,190],obstacle_max_rang:[93,114,118,155,173],obstacle_min_rang:[93,114,118,155,173],obstacle_rang:190,obstaclecrit:158,obstaclefootprint:119,obstaclefootprintcrit:95,obstaclelay:[93,173,176],obstacles_angl:[84,85],obstaclescrit:[98,158],obstruct:179,obtain:[7,27,28,85,94,154,157,172,173,179,183],obvious:[153,176],occasion:[27,105],occdist_scal:119,occgridload:154,occup:[6,93,97,113,114,118,167,173,188],occupancygrid:[97,116,154,157,158,187,189],occupancygridupd:158,occupi:[20,27,93,97,98,114,115,118,157,173,187],occupied_thresh:[187,189],occupied_thresh_default:97,occur:[27,103,162,183,191],odd:103,odom0:[172,183,186],odom0_config:[172,186],odom1:[183,186],odom1_config:[183,186],odom1_differenti:183,odom1_pose_rejection_threshold:183,odom1_queue_s:183,odom1_rel:183,odom:[27,71,84,85,86,87,88,92,93,108,145,160,161,170,172,173,174,183,186,188,191],odom_dur:108,odom_fram:172,odom_frame_id:[84,85,86,191],odom_r:[84,85],odom_smooth:165,odom_smoother_:165,odom_top:[88,92,108,161],odometr:[25,27,183],odometri:[15,17,84,85,86,88,92,108,122,165,171,173,174,194],odometry_fram:172,odomsmooth:165,off:[20,98,102,108,110,150,156,157,158,160,175,181,193],offer:[27,169,186,190,192],offic:1,offici:[15,146,151,170,172,173,174,175],offlin:[134,156],offset:[94,174,175,177,186],offset_from_furthest:98,ofodom_fram:172,often:[19,27,91,156,172,186],old:[80,119,157,165,167],older:[92,95,101,102,151,193],omit:147,omni:[86,98,105,155,167,176,191],omnidirect:[86,98,102,105,134,156,167,169,172,176,183,193],omnimotionmodel:86,ompl:3,on_abort:161,on_activ:[27,160,163,164,165],on_cancel:161,on_cleanup:[160,163,164,165],on_complet:156,on_configur:[27,160,163,164,165],on_deactiv:[160,163,164,165],on_parameter_event_callback:156,on_success:161,on_tick:161,on_wait_for_result:[156,161],on_xyz:165,onactioncomplet:160,onc:[13,18,19,22,71,82,85,86,94,96,98,102,132,133,134,146,147,148,150,151,154,155,156,158,165,173,174,175,181,182,185,186,191,193],oncleanup:160,onconfigur:160,oncreatecommand:147,oncycleupd:160,one:[3,5,7,8,11,14,18,26,27,41,75,79,85,91,96,98,103,134,147,148,154,155,156,158,161,162,165,169,172,173,174,175,176,177,179,180,181,182,183,184,185,186,187,189,191,192,193],ones:[17,133,134,156,169,173,186],onfootprintchang:162,ongo:26,ongoalposereceiv:165,oniniti:162,onli:[0,3,9,11,18,19,20,27,42,43,52,76,82,84,85,86,90,91,93,94,98,104,109,113,133,134,143,147,152,153,154,155,157,158,160,161,162,164,167,168,170,171,172,173,174,175,176,178,180,181,182,183,186,187,188,192,193],onlin:[26,156],online_async_launch:[173,188],onloop:165,onpreempt:165,onrun:160,onto:[18,21,23,98,102,156,165,167,172,174,193],open:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,133,134,145,147,148,150,152,158,162,170,172,173,174,175,176,179,181,182,183,184,185,187,188,189,190,192],open_loop:108,opencl:7,openmp:7,opennav:[14,152],opennav_coverag:[41,94],opennav_row_coverag:94,openvdb:190,oper:[4,5,21,23,24,27,85,91,94,98,101,108,110,148,151,152,155,156,157,158,160,162,163,164,165,169,172,173,174,176,177,179,183,186,191,192],operandi:193,operation_width:94,opinion:176,opportun:[21,23,24,158,161,165],oppos:[27,134],opposit:[96,134,158,174,187],opt:[146,151,172,175,185,188],optim:[3,17,22,27,91,94,98,105,112,113,132,133,147,152,155,156,157,167,169,170,176,177,179,183,193],optimi:176,option:[2,3,6,9,42,43,84,85,86,91,94,98,133,148,155,156,157,162,173,175,178,179,180,181,182,183,184,190,192],options1:175,orang:192,orbit:[175,186],orchestr:[152,181,192],order:[1,11,27,41,93,94,96,98,109,112,116,152,153,155,156,158,161,162,163,165,170,172,173,175,176,177,178,179,183,187,189,192],order_id:94,ordinari:93,org:[14,15,150,152,154,175,176],organ:[14,146,147,163,164,192],organiz:22,orient:[56,57,91,98,99,101,103,107,126,128,132,133,134,143,151,158,162,164,169,172,173,183,185,186,187,188,189],orientaton:156,origin:[2,5,6,8,14,26,56,57,79,85,91,93,132,133,134,149,154,155,158,170,172,173,175,178,186,187,189],origin_i:[93,186],origin_x:[93,186],origin_z:[93,118,173,190],oscil:[95,103,104,139],oscillation_reset_angl:139,oscillation_reset_dist:139,oscillation_reset_tim:139,oscillationcrit:95,osrf:[87,88,92,100,106,109,186],ost:179,other:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,19,22,60,62,85,88,93,94,98,101,103,108,113,114,115,117,118,134,147,148,150,151,152,155,156,157,158,160,161,163,164,165,167,169,170,171,172,173,174,175,177,178,179,180,181,182,183,184,186,187,189,190,191,192,193],otherwis:[4,19,59,62,65,66,67,68,69,72,73,74,86,98,103,115,133,134,155,156,158,167,172,176,177,189],our:[0,11,14,16,27,97,134,147,148,150,156,160,161,162,163,164,165,169,172,173,174,175,177,180,181,182,183,184,186,187,189,190,191,192],ourselv:174,out:[0,1,9,13,14,19,20,21,26,27,80,85,88,89,98,103,108,132,133,134,147,150,152,154,155,156,157,158,160,163,164,165,167,172,173,174,176,181,182,186,187,191,192,193],outcom:98,outdat:91,outdoor:[110,183,186],outermost:[41,84,85],outlandish:183,outlin:[18,20,155,170,174],output:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,85,93,94,98,132,133,134,152,155,156,161,162,169,172,173,174,175,177,178,181,182,183,186,187,189,191,192],output_go:[20,21,52,79,184],output_path:[20,56,57,184],output_port:192,output_typ:173,outsid:[85,98,102,156,157,184,193],over:[5,6,8,11,14,18,20,26,27,52,83,85,93,98,135,150,152,155,156,157,158,165,169,170,172,173,176,177,179,183,186,187,190,191,193],overal:[7,18,75,94,133,158,169,173,183,186],overcam:156,overcom:98,overhead:[11,176],overlai:[147,148,186],overlaid:27,overlap:94,overlay_mixin:146,overli:98,overrid:[84,85,93,97,119,133,134,147,156,158,160,161,162,163,164,165],overridden:[87,92,93,97,100,154,155,158,161,162],overriden:[84,85,157],overrod:85,overshoot:[98,101,155],overview:[105,148,172,174],overwhelm:18,overwrit:[97,114,118],overwritten:[88,94,114,118,156],owen:167,own:[11,17,27,85,86,105,147,150,153,154,155,160,161,162,163,164,165,167,169,172,173,174,175,176,177,182,183,186,187,188,189,191],ownership:150,pablo:167,packag:[5,8,17,26,27,84,85,89,90,93,98,101,102,105,108,134,145,146,147,150,151,155,156,157,160,161,162,163,164,165,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,187,189,191,193],pad:93,padmanabhan:167,page:[0,2,3,8,27,88,90,92,105,110,113,116,155,157,178,180,183,187,189],pai:176,pain:[174,181],pair:[18,19,98,104,116,155,158,176,179,183,186,187,189,193],palett:[147,148,192],pallet:[27,93,170],pan:156,pancak:192,pane:[175,189],panel:[2,105,175,192],paper:[101,152,163],par:176,parabol:107,parallel:[7,13,186,191],param:[27,102,155,162,172,175,176,181,182,186,187,189,191],param_rewrit:[158,187,189],param_substitut:[187,189],param_tol:91,paramet:[2,13,18,19,25,27,28,41,48,49,66,78,81,83,95,147,153,154,160,161,162,163,164,165,169,170,172,173,175,176,177,178,179,180,181,182,183,185,186,187,189,191,192,193],parameter:[156,190,192],parameter_ev:172,parameterev:[156,172],parameteriz:192,parametervalu:[162,163,164],paramlog:156,params_fil:[160,163,164,165,170,176,187,189],paremet:157,parent:[18,19,71,147,155,160,162,163,164,172,173,174,175,181,186],parent_nod:165,park:183,parma:164,pars:[2,27,94,147],parser:179,part:[27,31,32,35,36,37,56,57,85,86,105,113,133,134,150,154,156,162,169,170,173,175,178,183,191],partial:156,particip:[11,150],particl:[6,7,27,86,151,167,176,180],particlecloud:154,particular:[6,19,22,27,84,98,154,156,165,176,178,181,182,183,186],particularli:[27,103,147,173,187],pass:[20,21,23,24,44,47,50,52,70,93,96,98,102,119,135,146,156,167,182,184,187,193],passabl:155,passag:[133,134],passibl:187,passthrough:148,past:[14,170,172,173,175,186,190],patch:[148,150],path:[3,4,17,18,19,20,21,22,23,26,27,28,41,42,43,46,48,49,53,56,57,67,69,78,80,88,89,91,92,94,97,99,100,101,102,103,104,105,106,107,119,130,132,133,134,135,140,141,145,146,147,152,154,155,160,161,162,163,164,165,167,169,170,172,173,175,176,178,180,181,182,183,184,185,186,187,189,192,193],path_blackboard_id:[88,165],path_blackboard_id_:165,path_distance_bia:119,path_downsampling_factor:91,path_loc:57,path_max_count:183,path_resolut:98,path_upsampling_factor:91,pathalign:[95,119],pathaligncrit:[95,98],pathanglecrit:98,pathcompon:41,pathcomponentsiter:41,pathdist:[95,119],pathdistcrit:95,pathexpiringtim:[24,89,156],pathfind:170,pathfollowcrit:98,pathlongeronapproach:[22,89,167],patienc:157,patience_exceed:[72,157],patrol:[26,27],pattern:[18,19,94,179],paus:[17,131,151,153,155,156,157],payload:189,pdf:173,pedro:186,penal:[98,158],penalis:107,penalti:[98,133,134,142,156,158,176],pencil:187,pend:[27,165],peopl:[4,9,21,23,24,85,171],pepper:[157,176,180],per:[84,85,98,150,158,162,163,164,167,168,169,170,182,186],perceiv:[27,173],percent:[116,187,189],percentag:[66,86,115,116,163,167,182,187],percept:[10,27,152,167,171,173,179,190],perf:147,perfectli:[98,193],perform:[1,3,4,7,9,11,17,22,26,28,30,45,55,84,85,86,90,91,98,105,109,133,134,147,152,155,156,157,160,161,162,163,164,170,173,176,177,180,181,183,184,186,192],perhap:192,period:[18,89,91,147,153,156,162,165,167],perman:186,permiss:[27,85,92,108,158],permit:[4,150,187],perpetu:176,persist:[147,167],person:[20,22,26,147,150,184],perspect:85,perturb:[98,176],pf_err:86,pf_z:86,pgm:[187,189],phase:[3,6,134],phi:115,phone:160,photo:[130,155,167],photoatwaypoint:[109,155,167],physic:[102,171,172,173,176,181,182,188,190,193,194],pick:[5,26,27,93,109,170,185,186],pictur:[26,27,109,162,186,187,189,191],pid:[147,182],piec:174,pipe:[19,157],pipelin:[167,179],pipelinesequ:[17,18,20,21,22,23,24,89,161,184],pitch:[172,176,183],pivot:176,pixel:[27,93,180,187],pkg:[88,156,158,165,172,175,181,182,185],pkg_share:[172,173,175],pkg_share_dir:165,place:[13,26,27,55,93,101,102,112,114,117,118,132,134,150,155,156,157,158,160,162,163,164,165,167,169,175,178,179,180,187,189,191,193],placehold:165,plai:[27,170,183],plan:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],planar:[172,173,176,186],plane:[156,172,175,186],planned_footprint:[133,134],planner:[1,2,4,9,10,17,18,19,21,22,23,24,28,42,43,50,73,85,90,91,93,94,98,101,102,103,104,108,113,122,140,141,152,153,154,160,162,166,168,170,171,177,178,184,187,190,193],planner_id:[18,20,21,22,23,24,26,42,43,50,89,161,178,184],planner_plugin:[99,100,107,132,133,134,154,169],planner_selector:50,planner_serv:[96,99,100,107,132,133,134,155,164,169,177],plannerselector:[21,23,24,89,155],plannerserv:156,plant:94,plate:160,platform:[7,98,105,152,155,171,174,176,183,192,193],playlist:183,pleas:[0,2,3,14,19,26,27,85,92,94,101,110,113,116,150,152,154,158,160,162,167,169,170,173,174,176,178,180,181,185,187,188,189,190,191,192],plot:185,plu:[172,173],plugin:[1,5,11,12,13,17,19,26,27,41,42,43,46,53,86,88,91,98,99,101,102,103,104,106,107,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,151,152,168,170,171,175,177,180,182,184,186,187,189,191,192,193,194],plugin_id:[163,164,165],plugin_lib_nam:[88,161],plugin_nam:[162,164,190],plugin_name_:163,plugin_specific_paramet:[163,164,165],plugin_typ:[162,164,190],pluginlib:[3,27,153,160,162,163,164,165,178,190],pluginlib_export_class:[160,162,163,164,165],pluginlib_export_plugin_description_fil:[160,162,163,164,165],pluse:155,png:[130,155,187,189],pocket:98,point:[4,9,10,14,17,18,19,21,22,23,24,26,27,52,84,85,91,93,94,98,99,101,102,103,104,107,109,110,113,119,132,133,134,136,138,140,150,152,154,155,156,157,162,163,164,165,167,170,172,173,174,175,176,177,179,181,183,185,186,190,191,192,193],pointcloud2:[85,93,114,118,190,191],pointcloud:[84,85,93,157,173,186,190],pointcloudcutoff:173,pointcloudcutoffmax:173,pointcost:26,pointer:[155,156,160,161,162,163,164],pointstamp:186,polici:[98,173,175],poll:26,polygon:[26,27,41,90,93,157,170,191],polygon_front:[84,158],polygon_limit:85,polygon_nam:[84,85],polygon_pub_top:[84,85,158,191],polygon_slowdown:[85,191],polygon_stop:[85,191],polygon_sub_top:[84,85],polygonfront:[84,158],polygonlimit:85,polygons_frame_id:41,polygonslow:[85,191],polygonstop:[85,191],pool:98,poor:[27,183],pop:181,popul:[7,86,88,155,156,160,165,173,177,178,186],popular:[27,176,181],port:[19,88,150,154,155,156,161,173,178,184,192],portion:[18,85,92,108,158,178],portslist:161,pos_track:183,pos_tracking_en:183,pose2d:86,pose:[17,19,20,26,27,42,43,48,56,57,62,64,79,86,91,98,99,101,107,124,126,128,132,133,134,136,137,145,151,152,153,154,155,156,162,163,164,165,167,172,173,175,176,183,184,186,188,191],posearrai:154,poseprogresscheck:[92,167],posestamp:[26,42,43,48,49,52,57,79,155,156,163,164,165,177,188],posewhen:98,posewithcovari:172,posewithcovariancestamp:172,posit:[1,4,57,84,85,92,126,127,128,151,153,155,156,158,161,162,163,164,165,172,173,174,175,176,180,183,184,185,186,188],position_sens:186,possibl:[2,14,27,87,98,101,147,152,155,156,157,163,165,169,170,176,180,181,183,186,187,189,191],post:[0,14,84,85,86,110,113,116,133,134,150,178,191],postcreatecommand:147,potenti:[0,1,6,7,9,10,27,85,90,101,132,133,134,152,155,156,157,158,167,173,180,181,182,183,186,191],power:[4,18,91,98,148,152,156,176],power_supply_statu:65,power_supply_status_charg:65,pr2441:156,pr2454:156,pr2456:156,pr2459:156,pr2469:156,pr2479:156,pr2480:156,pr2483:156,pr2489:156,pr2993:156,practic:[85,98,147,150,155,160,162,163,164,165,174,176,183,186,187,191],pradheep:167,pre:[10,62,85,87,88,89,97,98,101,134,147,152,167,176,185,186,187,193],prebuild:147,precis:[27,155,170],precise_goal_check:[46,47,155],precompil:147,precomput:[94,134,156],predefin:[27,186],predict:[28,85,155,158,167,183],prediction_horizon_:98,predomin:150,preeemption:165,preempt:[18,20,26,154,161,165,167],preemption:[21,23,158,161,165],preemptiv:[147,158],prefer:[0,27,97,102,108,113,133,134,147,148,151,155,156,158,167,175,176,182,187,193],preferenti:98,preferforwardcrit:[95,98],preferr:175,prefix:[94,160,162,163,164,165,175,181,182,185],prepar:[172,175,177],prerequisit:[22,149,173],presenc:[4,98,176,187],present:[22,85,108,114,118,147,154,156,157,158,162,163,165,167,173,176,191],preset:191,press:179,presum:96,pretti:[173,174,176],prevent:[9,18,27,29,85,86,90,91,98,101,108,114,118,133,134,139,144,147,155,156,157,158,167,176,177,180,187],preview:2,previou:[19,24,85,98,133,150,155,157,158,162,165,167,170,172,173,175,176,186,189,190],previous:[13,155,156,157,158,163,165,173,181,182,186,191],primari:[1,6,18,102,103,156,173,175,177],primarili:[18,156,170,176],primary_control:[102,193],prime:176,primit:[25,27,133,134,156,158,175],princip:[162,179,189],principl:187,print:[26,91,156,181],printenv:145,prior:[19,80,86,153,156],priorit:[85,92,108,156,158],prioriti:[84,85,92,108,150,157,158,165,177],prioriz:[85,92,108,158],privat:14,privileg:[147,148],probabalist:167,probabilist:154,probabl:[20,97,115,133,134,157,173,178],probe:[19,147],problem:[22,51,96,156,164,165,167,176,181],problemat:[91,101,181],proccess:181,proce:[165,175,183],proceed:97,process:[5,7,8,11,22,26,27,28,53,86,88,92,93,98,100,101,103,115,133,134,146,147,149,151,154,155,157,158,160,161,165,167,171,175,176,177,180,181,182,183,186,190,191,192,193],processor:[7,98,176],produc:[4,27,84,85,87,88,92,98,100,106,109,156,157,158,160,164,169,173,176,183,186,191],product:[9,27,136,137,140,141,147,148,152,183],profession:[21,23,24,152],profil:[1,2,3,4,5,6,7,8,9,10,11,12,13,98,181,194],program:[2,26,27,91,105,133,134,147,152,156,181,182,184],progress:[4,68,92,98,101,125,127,147,150,157,168,176,193],progress_check:[92,95,101,102,193],progress_checker_id:157,progress_checker_plugin:[92,95,101,102,154,193],progress_checker_plugin_id:[125,127],progresscheck:154,project:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,27,84,85,87,94,98,101,124,146,147,148,150,156,162,168,170,172,173,174,175,177,180,186,187,189,191,192,193],project_nam:[172,173,175],projection_tim:87,promis:156,promot:19,prompt:[2,148,181],prone:27,proof:27,proper:[91,174,175],properli:[9,26,135,152,156,170,171,172,173,174,175,180,186,187,189],properti:[19,85,147,172,173,191],propig:177,proport:[19,98,133,134,187,190],proportion:[108,133,163],propos:[0,6,154,155,156,186],proprtion:98,protect:150,provenli:27,provid:[2,4,7,11,17,18,19,21,23,24,26,27,28,41,44,47,50,54,59,85,86,88,89,93,97,98,103,108,114,118,140,141,146,147,148,150,151,152,156,157,158,160,161,162,163,164,165,168,169,171,172,173,174,175,176,177,178,180,181,183,184,185,186,188,192],providedbasicport:161,providedport:161,prox_len:[22,80],proxim:[22,52,80,98,101,155,156,158,191],prudent:148,prune:[98,119,133,147,158],prune_dist:[98,119,157,158],prune_plan:119,psutil:156,pub:188,publish:[20,44,47,50,54,84,85,86,88,92,93,95,97,98,108,109,110,113,116,118,119,129,133,134,151,153,154,155,156,158,160,163,165,167,170,172,173,176,178,179,183,184,185,186,188,191],publish_acceler:172,publish_cost_grid_pc:122,publish_evalu:122,publish_filtered_gp:186,publish_frequ:[93,173],publish_global_plan:122,publish_local_plan:122,publish_map_tf:183,publish_odom:172,publish_odom_tf:172,publish_tf:[172,183,186],publish_trajectori:122,publish_transformed_plan:122,publish_voxel_map:[93,118,173,190],publish_wheel_tf:172,published_footprint:[85,87,103,104,106,160,170,178],publishfeedback:165,pull:[14,146,147,148,150,154,155,156,167,176,181,192],pure:[28,98,152,155,156,157,160,162,164,165,167,169,176,183,193],pure_pursuit_controller_plugin:163,purepursuitcontrol:163,purpl:91,purpos:[10,27,84,150,152,157,161,165,169,175,183,184,186,188,189],pursuit:[28,152,155,156,167,169,176,193],push:[91,147,150,168],push_back:164,put:[11,91,156,162,167,175,177,186,191],pycostmap2d:26,python3:[2,12,13,26,152,155,156,157],python:[4,10,134,152,155,172,186,187,189],qos_depth:183,quadrat:133,quadrup:183,qualifi:86,qualiti:[3,8,25,27,91,98,104,105,133,134,150,152,156,158,172,183,186],quantiz:133,quaternion:[155,172,174],queri:[155,156,167,169],question:[0,150],queue:150,quick:[18,133,134,174,187],quickli:[7,147,150,156,174,176,192],quirk:[156,176,193],quit:[19,148,156,181,183,186],r8g8b8:173,race:147,racewai:186,rad:[87,92,94,98,101,102,121,125,126,128,133,139,143,191,193],radar:[27,172,173,190],radar_msg:173,radial:179,radian:[55,84,85,86,98,101,102,193],radii:[98,101],radio:186,radiu:[21,27,52,84,85,91,93,94,98,101,112,125,127,133,134,135,156,167,169,170,173,175],ragged:27,rai:[7,173],rais:[87,88,92,100,106,109,181],random:[86,157],randomli:[98,176],rang:[4,7,66,84,85,86,93,101,114,116,118,147,154,155,158,167,168,175,176,177,180,181,183,187,189,191],rangelay:176,ranger:173,rangesensorlay:154,rare:[154,156],raster:[176,187,189],rate:[9,12,18,19,78,81,83,84,85,86,92,108,109,114,118,153,155,158,160,167,175,183,184],ratecontrol:[18,20,21,22,23,24,89,161,184],rather:[19,21,23,24,27,86,91,93,98,133,147,153,154,155,156,158,165,167,174,176,181,188],ratio:[133,134,175,179],raw:[87,106,152,178,181,186,187,189],raycast:[111,114,118,167,176],raytrac:[114,118,155,173],raytrace_max_rang:[93,114,118,155,173],raytrace_min_rang:[93,114,118,155,173],raytrace_rang:155,rcl:[87,88,92,100,106,109,158],rcl_interfac:[156,172],rclcpp:[11,94,162,163,164,165],rclcpp_action:165,rclcpp_compon:177,rclcpp_error:[164,165],rclcpp_info:[160,164,165],rclcpp_lifecycl:[163,165],rclcpp_node:156,rclcpp_node_:156,rclcpp_warn:[161,165],rclpy:[26,156],reach:[0,14,18,19,22,92,98,126,128,131,132,162,163,167],react:[156,175],reaction:18,reactiv:[21,23,184],reactivefallback:[18,19,21,22,23,24,89,161],reactivesequ:[21,22,24],read:[6,8,18,27,84,85,115,148,155,156,167,173,181,186,187,189],readabl:175,reader:[171,193],readi:[22,146,147,150,151,156,162,175,176,181,183,187,189,191],readili:146,readm:[84,85,90,98,101,102,105,107,108,134,154,155,156,157,176],real:[4,9,12,27,85,92,108,150,172,173,174,175,179,184,186],realist:12,realiti:27,realli:[27,91,176,187],realtim:158,reason:[6,27,84,85,98,132,133,134,150,156,162,165,170,174,176,181,186,191],reattempt:[21,23,24],rebuild:181,rebuilt:147,recal:[19,173],recalcul:162,receiv:[18,19,26,27,44,47,50,54,79,84,85,92,102,105,108,115,117,154,156,157,158,160,163,165,167,172,173,174,176,184,186,193],recent:[9,52,151,176,183],recharg:[18,27],reckon:27,recogn:180,recomend:156,recommend:[1,2,3,4,5,6,7,9,10,12,27,84,85,96,98,101,103,104,147,150,151,158,163,169,170,172,173,174,175,176,178,183,185,186,188,190,191,192,193],recompil:[162,181],recomput:18,reconfigur:[13,17,155,156,169,177,186],reconnect:96,record:[150,186],recov:[18,86,96],recoveri:[2,17,21,22,23,24,29,30,55,58,76,87,88,89,152,153,154,157,160,161,165,167,178],recoveries_serv:[156,160],recovery_alpha_fast:86,recovery_alpha_slow:86,recovery_count:165,recovery_plugin:[154,156,160],recovery_serv:156,recoveryact:[18,21,22,23,24,89,161],recoveryfallback:[18,21,22,23,24,89,161],recoverynod:[18,19,21,22,23,24,89,161],recreat:147,rectangular:[91,170],rectifi:27,recurs:[103,104,133,134],red:178,redd:133,redesign:14,redistribut:150,reduc:[0,27,98,101,103,104,108,133,134,147,150,153,154,155,157,176,177,186],reduct:154,redund:154,reed:[91,133,134,155,156,167,169],reeds_shepp:[94,133],reedshepp:156,ref:[1,2,3,4,5,6,7,8,9,10,11,12,13],refactor:[150,153],refer:[3,18,27,60,62,78,85,87,88,92,93,101,103,105,110,113,116,146,147,148,153,154,156,157,160,161,162,163,164,165,169,170,171,172,173,174,175,180,184,186,187,189,191,192],referenc:[162,172,173,191],refin:[27,91,104,133,134,151,156],refinement_num:[103,104,133,134,157],reflect:[147,155,158,173,175],refus:98,regard:[0,19,156,165,175,176],regardless:[84,85,108,148,162,172,182],regener:98,regenerate_nois:98,regim:[98,176],region:[39,41,84,98,167],regist:[27,89,160,161,162,163,164,165,173,190],registerbuild:161,registr:190,registri:[146,147],regul:[28,152,155,156,163,167,169,176,193],regular:[27,29],regularli:169,regulated_linear_scaling_min_radiu:101,regulated_linear_scaling_min_spe:101,regulatedpurepursuitcontrol:[101,102],rehash:157,reimplement:[5,6],reinit:167,reiniti:167,reinitialize_global_loc:51,reinitializegloballoc:89,reject:[133,134,156,165,183,186],rel:[8,27,57,84,85,93,98,108,154,158,169,170,172,174,176,182,183,186],relat:[4,11,13,14,25,27,85,90,110,111,113,116,146,147,155,156,158,171,174,175,186],relationship:[98,174],relav:160,relax:147,releas:[26,153,154,168,190],relev:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,94,98,152,153,161,165,183,186],reli:[181,186],reliabl:[6,12,44,47,50,54,148,152,173,175],reloc:51,relwithdebinfo:182,remain:[13,18,19,20,27,91,98,122,147,148,153,154,155,156,158,160,161,162,163,164,180,193],remaind:27,remap:[31,32,33,34,35,36,37,41,42,43,46,155,156,172,173,177,178,181,182,183,184,186,191],remark:27,rememb:[14,101,145,147,174,175,186],remot:[147,148,160,161,181],remote_containers_ipc:147,remote_containers_socket:147,remov:[11,20,21,52,56,57,94,97,103,111,114,118,133,134,147,153,154,167,172,173,176,178,180,181,182,183,186,190,191,192,193],removepassedgo:[21,89,155,158],renam:[87,147,154,155,156],renavig:18,render:148,reopen:148,reorder:94,rep145:172,rep:[27,152,155,168,172,174,186],repeat:[25,98,146,162,174,175],repeatedli:[187,189],repetit:[157,175],replac:[4,5,10,11,88,91,153,156,157,158,160,162,164,165,176,178,180,183,186,188,190,191],replan:[17,19,20,21,23,52,78,83,89,119,133,134,154,155,176,184],replic:147,repo:[12,27,107,146,148,184,186,190],report:[12,86,98,150,155,157,161,173],repositori:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,101,146,147,148,152,160,162,163,164,168,170,172,173,175,176,187,189,190],repres:[10,12,18,27,98,101,133,152,155,163,168,172,173,175,181,183,186],represent:[10,93,133,169,173,174,186],reproduc:[146,147],repuls:98,repulsion_weight:98,reput:8,request:[11,14,18,20,26,27,87,88,92,94,97,98,99,100,102,106,132,133,134,147,148,150,154,155,156,157,158,160,161,165,167,176,177,178,181,188,189,192,193],requir:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,27,86,91,96,98,102,107,108,116,133,134,147,150,155,156,157,169,172,173,174,175,176,177,181,183,184,190,193],required_movement_angl:[125,157],required_movement_radiu:[92,95,101,102,125,127,193],rerun:147,resampl:[86,98],resample_interv:86,research:[9,14,27],resembl:19,reserv:[21,23,24,157,177,183],reset:[69,86,98,139,151,154,155,156,161,162,165,167],reset_dist:[38,39,155],reset_period:98,resiz:117,resolut:[26,93,98,118,132,133,134,155,162,167,169,170,173,185,187,189],resolv:[21,23,24,96,154,156,178,190],resour:164,resourc:[26,27,85,87,92,98,106,108,147,156,157,160,163,165,170,171,172,174,176,177,182,187,190],respawn:[96,176,191],respawn_delai:191,respect:[4,27,102,113,155,156,161,168,169,172,173,175,176,186,190,193],respond:[0,177],respons:[19,21,23,24,27,38,39,40,85,96,156,160,165,169,177],rest:[18,38,39,85,92,98,108,130,148,158,172,173,174,177,182,186],restart:147,restrict:[27,85,116,155,157,158,167,176,186,189],result:[9,19,26,27,56,57,79,85,87,88,91,92,94,98,100,101,103,104,106,107,109,150,152,154,155,160,161,162,165,167,176,177,179,180,183,191,192,193],resultstatu:160,resum:157,retain:[19,61,103,104,132,133,134],retick:19,retrain:4,retransit:156,retreiv:10,retri:[17,21,23,24,76,167],retriev:[163,164,165],retrofit:183,retrospect:156,retrospective_penalti:[133,134],retry_attempt_limit:98,retryuntilsuccesful:22,retryuntilsuccess:22,retryuntilsucessful:22,retun:[98,156,176],reus:[27,147,160,175,177],revers:[91,98,101,105,108,133,134,156,158,177,189],reverse_penalti:[133,134],reversing_en:91,revert:181,review:[0,13,88,147,148,150,165,176],revisit:[148,157],rework:152,rewrit:158,rewrittenyaml:[155,187,189],rfid:26,rgb:173,rgba:175,rgbd:9,rich:27,right:[27,98,107,108,133,134,150,151,156,172,174,179,180,182,186],right_joint:172,right_wheel_est_vel:172,righthand:130,rigid:[175,176],rise:91,roam:170,robbin:77,robin:[19,167],robocup:184,robot:[1,2,4,5,6,7,8,9,10,12,13,14,18,19,20,21,22,23,24,25,26,30,38,39,45,51,52,56,57,60,62,68,78,80,83,84,85,86,87,88,90,91,92,93,94,98,101,102,105,106,108,109,110,112,113,114,116,118,125,126,127,128,129,131,132,133,134,135,136,137,138,139,140,142,143,144,148,151,152,153,154,155,157,162,163,164,165,167,169,173,174,177,178,180,181,182,184,185,186,187,189,190,191,192,193,194],robot_base_fram:[52,60,62,78,87,88,93,103,104,106,160,161,162,165,172,173,178],robot_descript:[172,175],robot_fram:57,robot_loc:[15,27,109,172,174,183,186],robot_localization_nod:172,robot_model_typ:[86,156],robot_nam:176,robot_navig:26,robot_radiu:[27,93,162,170,173,176],robot_sdf:176,robot_state_publish:[173,174,175],robot_state_publisher_nod:[172,175],robot_width:94,robotech:91,roboticist:27,robotmodel1:175,robotmodel:175,robust:[4,6,27,192],rocker:148,role:[14,27,161,165,169,170,181],roll:[87,93,97,98,145,147,168,172,176,183,186,192],rolling_window:[93,173,186],room:[10,98,176,185,187,189],root:[17,18,19,20,21,22,23,24,25,89,146,147,148,156,160,161,163,164,165,172,173,175,184,192],root_kei:[187,189],ros1:[152,154,155,173],ros2:[145,151,156,160,162,163,164,165,170,172,173,174,175,179,180,181,182,183,184,185,186,187,188,189,190,191],ros2_control:172,ros:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],ros__paramet:[60,62,84,85,86,87,88,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,108,109,110,111,113,116,132,133,134,154,155,158,160,161,163,164,165,169,172,173,178,180,186,187,189,190,191,193],ros_distro:146,ros_w:146,roscon:[1,188,190],rosdep:[145,146,147],rosdistro:145,rosout:172,rot_stopped_veloc:128,rotat:[26,27,28,55,85,86,87,91,98,101,108,121,125,126,128,132,134,143,157,158,163,167,168,169,172,174,175,186,191,194],rotate_to_heading_angular_vel:[101,102,193],rotate_to_heading_min_angl:101,rotatetogo:95,rotatetogoalcrit:95,rotation_penalti:134,rotational_acc_lim:[87,160],rotationshimcontrol:[102,193],rough:[101,102,156,175,176,193],roughli:[98,105,151],round:[19,77,85,167,171],roundrobin:[18,21,22,23,24,89],rout:[3,10,26,27,41,94,98,133,165,168,176,177],route_error_code_id:177,route_id:177,route_msg:177,route_serv:177,route_tim:177,routeserv:177,row:94,rowsareswath:94,rpp:[169,176,193],rpy:[173,175,186],rsj:152,rst:167,rtk:186,rtprio:[85,92,108,158],ruffin:[14,147,152],ruffsl:14,rule:[10,27,163,164,174],run:[0,3,4,7,9,14,19,26,27,75,78,81,83,86,87,88,92,94,96,97,98,100,105,106,109,130,133,134,145,146,147,148,150,154,155,156,158,167,169,171,174,176,177,179,181,182,183,185,186,188,191,192],runarg:147,runtim:[27,155,156,160,161,162,163,164,165,186,190],rviz2:[165,175,185],rviz:[151,162,163,164,165,171,172,176,180,183,186,188,189,192],rviz_common:175,rviz_config_fil:176,rviz_default_plugin:175,rviz_nod:[172,175],rvizconfig:175,ryzhikov:167,safe:[9,13,27,101,146,155,160,161,169,173,174,176],safer:9,safeti:[0,1,27,85,90,96,153,154,155,167,168,176,187,188,191],sai:[11,18,19,27,150,181],said:[169,186],sake:18,salt:[157,176,180],sam_bot:[170,172,173,175],sam_bot_descript:[170,172,173,175],sambot:170,same:[11,18,26,27,41,61,63,84,85,86,88,91,98,101,108,132,133,134,147,148,150,151,152,153,154,156,157,158,160,162,165,173,175,176,177,181,182,183,186,187,189,190,191,193],sampl:[6,27,98,102,120,130,157,158,169,170,172,173,176,184,186],samsung:14,san:[14,183],sandbox:188,saniti:186,sarthak:167,satellit:186,satisfact:98,satisfi:172,sausag:148,save:[86,97,130,133,134,154,155,156,167,170,175,176,179,184,186,187,188,189,192],save_images_dir:130,save_map:154,save_map_timeout:[97,155],save_pose_r:86,saver:[28,110,113,116,155,187,189],savitzki:[28,167],savitzky_golay_smooth:103,savitzkygolaysmooth:103,scalabl:27,scale:[9,27,95,98,101,103,119,133,135,136,137,138,139,140,141,142,143,144,155,167,174,175,176,187,189,191],scale_veloc:108,scaling_spe:119,scan:[6,9,26,84,85,86,93,167,173,174,191],scan_top:[86,173],scanner:[6,84,85,114,118,173,191],scenario:[18,22,169,191],scene:[27,98,153],schedul:[85,92,108,158],schema:[146,147],scheme:[8,173],school:27,scope:[4,147,158,172,173,183,184,191],score:[94,98,119,135,136,137,138,140,141,142,158,169,176],scratch:147,screen:[156,160,172,173,175,177,181,182,187,189,191,192],script:[97,147,157,158,167,187,189,191],sdf:[156,172,173],sdk:183,sdl:153,se2:[98,113,133,134,152,156,167,176],search:[27,57,98,101,102,105,119,132,133,134,145,155,156,158,169,176,193],sec:[83,161,188],secant:186,seccomp:147,second:[9,18,19,21,23,24,27,29,30,45,53,55,69,70,75,76,80,85,87,88,92,96,97,98,100,102,106,109,129,130,132,133,134,155,156,158,161,167,172,173,174,177,179,180,186,187,189],section:[17,18,27,85,91,98,149,150,152,156,158,162,167,169,170,171,172,173,174,175,176,177,180,181,183,189],secur:[26,27,85,92,108,147,149,158],see:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,18,19,22,27,29,30,41,42,43,45,46,53,55,67,84,85,88,90,91,95,98,101,102,105,107,108,114,118,134,145,146,150,151,152,154,155,156,157,158,162,163,164,165,167,168,169,170,172,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,189,190,192,193],seek:7,seem:98,seen:[17,22,105,134,156,161,162,172,177,192],segment:[91,98,103,107,147,169,170,173,178,180],select:[2,3,5,7,17,27,44,47,50,54,84,85,86,98,99,102,107,110,111,112,113,114,115,116,117,118,132,133,134,147,148,155,157,161,162,167,170,171,173,175,178,180,181,182,184,187,189,192,193],selected_control:44,selected_goal_check:47,selected_plann:50,selected_smooth:54,selector:[21,23,24,167],self:[146,148],self_client_:165,semant:[0,26,93,152,155,174,177,186],semi:[87,88,92,100,106,109],send:[0,9,26,92,93,94,101,108,156,158,160,161,165,184,186],send_goal:160,send_messag:160,send_sm:160,sendsm:160,senior:150,sens:[174,183,186,190,192],sensibl:113,sensit:[6,85,92,108,110,133,157,158],sensor:[1,5,7,9,21,23,24,27,84,85,90,93,111,114,118,147,152,154,155,157,167,169,170,171,172,174,175,176,177,180,183,186,190,191],sensor_driv:177,sensor_fram:[114,118,175],sensor_msg:[65,66,85,172],sensorplugin:172,sent:[64,108,156,157,158,160,165,184],sentin:165,separ:[27,84,85,93,98,113,147,152,155,156,158,162,172,174,177,181,182,187,188,192],separet:158,seper:[178,181],septemb:[26,183],sequenc:[18,19,20,21,22,23,24,25,89,98,147,157,167,172,177,178,184],sequencestar:[22,161],sequenti:152,seri:[170,172,181],serial:183,seriou:[176,181],serious:150,serv:[18,22,152,156,173],server:[10,11,13,17,18,19,22,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,53,54,55,58,72,73,74,80,85,86,88,93,95,96,98,103,104,108,109,110,113,116,119,120,121,122,123,124,125,126,127,128,135,136,137,138,139,142,143,144,145,151,152,153,155,160,161,162,163,164,165,167,168,172,176,178,181,182,186,190,191,192,193,194],server_nam:[29,30,31,32,33,34,35,36,37,41,42,43,45,46,48,49,55,58,155],server_timeout:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,51,55,58,67,88,155],servic:[19,27,31,32,33,34,35,36,37,38,39,40,51,86,88,97,101,147,148,154,155,157,160,167,169,172,179,186],service_nam:[18,21,22,23,24,31,32,33,34,35,36,37,38,39,40,51,89,161],servicet:156,session:[132,133,134,147,181],set:[1,2,3,9,10,13,17,21,23,24,26,27,29,30,41,42,43,45,46,53,55,57,59,66,84,85,86,91,92,93,94,96,97,98,99,101,105,107,108,109,110,114,116,117,118,119,132,133,134,145,146,147,148,150,151,152,154,155,156,157,158,160,161,162,163,164,165,167,171,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],set_angl:94,set_camera_info:179,set_initial_pos:86,set_pos:172,setcost:26,setcostmap:26,setinitialpos:[26,156],setplan:163,setspeedlimit:163,setup:[2,27,145,146,147,148,151,158,162,170,173,174,175,176,177,181,183,187,188,189,191],sever:[51,85,89,90,98,105,147,150,155,186],shadow:185,shape:[27,84,85,93,105,152,157,169,170,171,175,176,187,189,191],share:[11,27,85,87,88,106,132,147,151,156,160,162,163,164,165,172,173,175,176,185,193],shared_ptr:[156,160,163,165],sharedptr:[156,165],sharp:[98,158,176],sharper:101,sheep:[133,134,156],shelf:26,shell:147,shelv:26,shepp:[91,133,155,167,169],shift:[147,148],shim:[28,167,168,176,194],ship:[16,26],shoot:27,shop:183,short_circuit_trajectory_evalu:[95,119],shortcut:[101,133,134,156,160,162,163,164,165],shorten:157,shorten_transformed_plan:[119,157],shorter:[22,56,57,133,134,167,175,184],shortest:[27,169],should:[1,2,3,6,9,11,17,18,22,27,41,72,73,74,76,83,84,85,87,88,91,92,93,97,98,100,101,106,108,109,111,114,116,118,133,134,148,150,151,153,154,155,156,157,158,160,161,162,163,164,165,170,172,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,191,192,193],shouldn:98,shovel:27,show:[2,26,116,134,148,151,156,160,161,162,163,164,165,169,170,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191],showcas:186,shown:[13,18,26,98,150,151,155,161,165,169,170,172,173,177,178,184,186,189,191,192],shrijit:152,shut:[26,27,177],shutdown:[27,156,177],shutter:183,shuttingdown:177,sid:160,side:[25,38,39,93,98,130,147,173,175,177,180,182,192],sidebar:[150,179,182],siemen:192,sig:181,sight:[103,169,186],sigma_hit:86,sign:[0,108,150],signal:[9,103,167,182,186],signatur:[161,165],signific:[8,9,98,176,186],significantli:[7,9,17,22,23,24,80,98,102,133,156,158,167,176,186,193],silent:155,sim_tim:[95,123,124],simiar:174,similar:[7,9,10,19,21,23,26,27,84,97,98,105,146,148,155,156,161,169,172,173,175,176,178,181,183,186,190,192,193],similarli:[21,23,84,90,158,172],simpl:[3,27,28,103,111,133,134,148,150,153,160,161,162,164,167,169,170,174,175,176,178,181,184,186,188,192,193],simple_smooth:[53,104,106,178],simplegoalcheck:[46,92,95,101,102,119,155,167,193],simpleprogresscheck:[92,95,101,102,157,167,193],simpler:[133,174,175],simplesmooth:[54,104,106,178],simplest:161,simpli:[17,98,133,147,150,155,156,160,161,172,175,176,181,187,189,190,192],simplic:187,simplifi:[6,151,154,161,163,165,181],simul:[1,2,3,4,5,6,7,9,10,11,12,13,85,88,98,102,123,124,145,151,158,160,162,163,164,165,170,171,175,176,181,182,185,186,187,188,189,190],simulate_ahead_tim:[87,102,160,193],simulation_time_step:[85,87],simultan:[147,162,173,187,189],sinc:[6,27,41,91,94,98,101,102,104,113,133,134,155,156,158,162,165,169,170,171,172,173,174,175,176,177,178,181,183,186,187,189,191,192,193],singh:[101,152,167],singl:[11,19,21,23,24,26,27,92,97,98,109,133,134,150,153,154,155,156,161,162,164,167,172,173,174,175,176,177,178,181,182,183,186,190],singletrigg:[89,155],singular:176,sister:155,sit:9,situat:[1,10,18,21,23,24,27,85,101,151,152,155,156,167,170,173,176,178,181,182,183],size:[26,27,38,39,94,117,133,134,156,162,168,169,170,172,173,175,176,179,180,183,186,187,189,190],skew:179,skid:[155,169,183],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,181],skillset:7,skinni:176,skip:[86,94,98,160,172],skirt:156,slack:[0,14,27,150],slam:[6,15,93,117,152,153,154,173,174,176,181,183,185,194],slam_toolbox:[15,146,181,188],sleep:[85,131,161],slide:175,slider:[175,187],slight:103,slightli:[98,103,108,132,133],slop:179,slow:[85,86,98,101,116,143,155,157,158,176,181,189,191],slowdown:[85,191],slowdown_ratio:[85,191],slower:[84,85,180],slowing_factor:[95,143],slowli:98,smac:[28,91,98,101,102,113,152,155,168,169,170,193],smac_plann:101,smacplann:167,smacplanner2d:[105,132,155,167],smacplannerhybrid:[105,133,156,167],smacplannerlattic:[105,134,167],small:[98,108,133,154,157,165,167,168,170,172,175,176,180,183,185,186,193],smaller:[13,18,27,101,111,133,134,156,183,187,189],smart:[27,110],smooth:[20,26,27,53,83,91,98,102,103,104,106,108,132,133,134,152,155,156,157,158,167,172,176,178,186,191,193],smooth_path:[133,134],smoothed_path:[26,53,178],smoothed_path_in_collis:[74,157],smoother:[28,53,54,74,132,133,134,152,158,165,168,169,177,191,194],smoother_error_cod:[74,88,178],smoother_id:[26,53,178],smoother_plugin:[91,103,104,106,178],smoother_selector:54,smoother_serv:[91,103,104,106,177,178],smootherselector:89,smoothing_complet:53,smoothing_dur:53,smoothing_duration_us:53,smoothing_frequ:108,smoothing_path_error_cod:53,smoothli:[98,176],smoothpath:[26,89,91,156,178],sms:160,snake:94,snippet:[18,160,163,164,165,170,172,173,175,177,181],snuff:158,soc:4,soccer:[27,186],socket:148,soft:[22,85,92,98,108],soften:103,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,101,150,157,173,176,177,181],sole:[158,192],solut:[27,87,88,92,98,100,106,109,133,134,176,180,183],solv:[22,145,164,181],solver:[91,167],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,54,84,87,88,92,98,100,103,105,106,108,109,113,133,147,150,153,155,156,158,161,163,164,165,169,170,172,173,174,175,176,180,181,183,184,186,187,191,192],someon:[11,14],someth:[0,18,19,26,150,156,172,174,181,186,187],sometim:[18,150,176,192],somewhat:[133,176,193],somewher:189,sonar:[27,85,115,157,173,176,190,191],sonoma:186,soon:27,sooner:187,sound:[84,158],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,108,109,114,118,145,147,149,150,151,152,156,160,161,162,163,164,165,170,171,172,173,174,175,179,181,183,185,186,187,188,189,190,191],source_fil:[187,189],source_timeout:[84,85,191],south:186,space:[1,4,10,20,27,84,85,86,93,97,98,99,101,107,110,114,117,118,132,133,134,147,148,155,156,167,169,172,176,180,185,187],span:[14,152,186,191],sparingli:98,spars:[26,27,167,176,190],sparse_normal_choleski:91,spatial:[27,98,155],spatio:[167,190],spatio_temporal_voxel_lay:190,spatiotemporalvoxellay:[176,190],spawn:[147,170,172,173],spawn_ent:[156,172],speak:[133,182],special:[27,80,84,85,92,94,150,157,161,162,192],specif:[2,3,6,11,17,18,21,22,23,24,26,27,30,45,89,93,98,101,134,147,148,153,154,155,156,157,158,161,163,164,165,169,172,173,174,176,178,179,181,187,188,192,193],specifi:[18,21,22,23,24,26,41,48,49,57,66,76,84,85,88,93,97,98,114,118,130,131,133,134,146,147,148,154,155,156,157,158,161,162,163,164,167,169,172,173,174,176,179,182,186,191],speed:[2,7,9,19,25,26,27,30,45,83,85,87,91,92,93,97,98,101,108,113,121,132,133,134,146,147,155,156,158,163,165,167,169,176,183,186,191,194],speed_filt:[93,116,189],speed_filter_mask:189,speed_limit:[92,116,189],speed_limit_top:[92,116,189],speed_mask:189,speed_param:189,speedcontrol:[18,89,154],speedfilt:[93,116,155,176,189],spend:18,spent:182,sphere:[170,173,175],sphere_inertia:175,spheric:[175,186],spherical_coordin:186,sphinx_doc:167,spike:[133,134,156],spin:[11,18,19,21,22,23,24,25,26,27,36,89,144,154,155,156,157,160,161,167],spin_dist:[18,21,22,23,24,25,26,55,89,161],spin_error_cod:55,spinner:11,spiral:[94,156,176],spite:172,spline:3,split:[154,186],splitter:175,sponsor:14,spot:[21,23,24,134,151,160],squar:[25,38,39,84,85,93,158,179],squash:118,src:[145,146,147,162,172,173,175,181,187,189],ssh:[147,148,181],stabil:[153,154,155,156,157,158],stabl:[101,146,147,155],stabliti:151,stack:[0,3,4,6,7,8,9,11,12,14,15,26,27,78,81,83,92,96,97,100,150,152,153,156,157,163,168,169,173,176,177,181,182,186,192],stage:[27,93,147,163],stai:[98,113,133,169,176,184],stale:[147,155],stall:108,stamp:[130,163,164,188],stand:[85,156],standalon:[111,157,167,180,186,187,189],standard:[2,6,10,86,98,150,173,174,179,186,187,189,192],standardtrajectorygener:[95,119],star:[28,169,176],start:[4,5,12,19,20,21,23,24,26,27,42,43,57,84,85,91,98,101,102,118,133,149,150,152,154,155,156,160,162,163,164,165,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,189,190,191,192,193],start_controller_server_nod:182,start_costmap_filter_info_server_cmd:[187,189],start_lifecycle_manager_cmd:[187,189],start_map_server_cmd:[187,189],start_sync_slam_toolbox_nod:181,start_time_:165,startup:[5,27,96,145,147,151,154,177,179,187,189],state:[3,15,19,21,23,24,26,61,85,91,92,93,95,96,98,101,102,105,108,110,126,128,132,151,152,154,155,156,160,161,163,164,165,167,169,170,172,173,174,176,177,186,188,189,192,193],state_top:[85,157],statement:150,static_lay:[93,110,113,116,162,173,180,186,187,189,190],static_transform_publish:[170,174],staticlay:[93,173,176],station:[27,169],statist:[4,9,182],statu:[17,27,150,152,156,160,161,187],status1:175,status:[26,165],std:[59,154,156,160,161,163,164,165,181],std_msg:[110,129,172],stddev:[172,173,186],stdin:181,steadi:158,steep:107,steeper:107,steer:[91,132,156,173,176,183],step:[19,27,85,87,94,98,134,173,175,181,182,183,191],step_siz:26,stereo:[85,179,183],stereolab:183,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,98,152,167,181,183],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,188,190],steven:152,sticki:1,still:[18,19,26,96,101,108,113,145,147,148,155,156,157,158,172,173,175,176,181,183,186,187],stl:181,stl_vector:181,stochast:98,stop:[9,20,27,75,85,90,96,98,108,109,119,128,143,154,155,157,158,175,183,191],stop_on_failur:[109,153,155],stop_pub_timeout:[85,191],stoppedgoalcheck:[92,167],storag:[147,165],store:[86,93,114,118,147,152,157,162,163,165,173,174,182,186],stori:10,strace:147,strafe_theta:142,strafe_x:142,straight:[133,134,164,175,176,178],straightforward:173,strategi:[150,186],stream:156,streamlin:[146,148],stretch:148,strictli:[6,134,157],stride:8,string:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,57,58,60,62,71,78,79,84,85,86,87,88,91,92,93,94,96,97,98,100,102,106,108,109,110,113,114,115,116,117,118,119,129,130,133,134,136,137,140,141,154,157,158,160,161,162,163,164,165,172,177,190],strive:[14,150],stroke:[2,171],strongli:27,structur:[6,8,18,27,152,157,158,165,169,174,175,177,186,189,190,192],stuck:[1,18,21,23,24,27,29,30,45,55,68,156,167,176],student:[7,150],studio:148,stutter:176,stvl:194,stvl_layer:[93,190],style:[21,23,24,176,190],sub:[0,21,23,24,85,156,158,191],subcommand:147,subfield:183,subject:[27,98,172],submit:[13,150,167],suboptim:[98,176,183],subpoli:85,subproject:13,subscrib:[27,44,47,50,54,65,66,79,85,86,92,115,117,155,158,172,173,184,186],subscribe_to_upd:[93,117],subscript:[79,84,85,155,158,165,167,172,177],subsect:[147,173],subsequ:[19,27,86,147,167],subset:182,subsiqu:[133,134,183],substanti:[1,98,133,150,153,176],substitut:[88,175,184,187,189],subtleti:165,subtli:156,subtre:[17,19,21,22,23,24,27,38,39,40,89,161,167],succe:[18,19,75,76,167],succeed:[26,82,156,160,164],success:[14,18,19,22,27,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,76,98,155,156,157,158,160,161,167,175,180,186,193],successfulli:[1,18,27,156,160,165,172,174,175,177,184],successor:[98,152,157],sucessfulli:174,sudo:[146,151,172,173,175,179,182,186,188,190],suffici:[4,18,27,98,134,143,165,180,182,183],suffix:182,suggest:[19,91,98,169,174,175],suit:[0,147],suitabl:[91,102,156,167,169,174,176,193],sum:[86,135,136,137,138,140,141,169,175],sum_scor:[135,138],summar:[169,174,176],summer:[5,11],superior:157,suppli:[11,27,78,81,83,88],support:[2,6,13,14,26,27,44,47,50,54,84,101,105,145,147,148,152,153,154,157,167,169,173,175,176,180,187,189,190,192],suppos:174,sure:[1,2,7,12,26,88,98,114,118,145,147,150,155,158,162,165,167,170,172,173,176,179,180,181,183,185,186,187,188,189,190,191],surfac:[27,152,186],surface_model:186,surpris:193,surround:169,survei:152,susbcrib:130,sustain:27,swap:[156,157],swath:[41,94],sweep:[175,176],symbol:181,symlink:[146,162,187,189],symmetr:158,symmetri:156,sync:192,sync_slam_toolbox_nod:181,synchron:[27,183],syntax:[147,158,175,181],sysdep:181,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,85,86,92,96,98,108,146,147,148,150,151,152,153,156,158,165,169,173,174,175,176,177,178,179,181,182,183,185,191],systemat:177,systemdefaultsqo:165,sysv:181,tab:[145,170,173],tabl:[156,162,163,165,171,176,177],tackl:[170,171],tag:[146,147,156,161,172,173,175],tailor:169,take:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,80,84,85,86,87,88,92,94,96,98,100,102,103,104,106,109,117,130,132,133,147,150,151,153,155,156,157,158,160,161,163,164,165,167,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,189,193],taken:[4,62,76,84,85,91,98,116,130,155,162,165,187,189],talk:[1,147,152,172,174,181,188,190],talker:145,tangent:[4,179,186],tangenti:179,tar:179,target:[6,98,101,116,147,148,154,155,158,169,175,181,184,185,189,192],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,52,79,85,88,90,94,98,102,109,150,152,153,155,157,160,161,165,169,170,171,173,176,178,183,184,186,192,193,194],taskexecutor:26,taskresult:[26,156],tb3:158,tb3_gp:186,tb3_simulation_launch:[151,160,162,163,164,165,176,180,181,184,187,188,189,191],tbb:7,tcp:148,team:[14,148,184],tear:108,teardown:[27,169],teb:[3,98,153,157,167,169,176,193],teb_local_plann:154,teblocalplann:154,technic:[8,21,23,24,150,160,162,163,164,165,187],techniqu:[3,4,6,27,85,103,104,105,155,173,176,183,186],technolog:[8,14,152,183,186],tediou:175,teleop:[0,26,29,87,167,186],teleop_twist_keyboard:186,teleoper:186,telepres:1,tell:[27,150,158,160,161,162,172,181,186],temperatur:98,templat:[105,146,150,155,161,165,171,175,181],tempor:[167,176,190],temporari:[21,22,23,24,87,88,92,100,106,109,183,187,189],tend:193,term:[94,98,150,158,165,173,174,183,187],termin:[91,104,132,133,134,145,151,154,160,170,172,173,179,181,182,184,185,186,188],terminatependinggo:165,test:[0,3,4,6,87,98,134,147,150,158,168,172,179,184,188,190,192],text:[160,162,190],tf1:175,tf2:[27,154,171,172,174,175,176],tf2_echo:[172,174],tf2_msg:172,tf2_ro:[163,170,172,174],tf2_tool:173,tf_:[163,164],tf_broadcast:86,tf_static:156,tfmessag:172,than:[19,21,23,24,27,56,57,62,66,80,85,86,87,88,92,93,94,96,98,100,101,102,106,108,109,110,111,133,134,147,154,155,156,157,158,163,165,167,174,176,180,181,182,183,184,186,187,188,191,193],thank:14,thei:[0,7,18,19,21,23,24,27,84,85,88,94,96,98,105,144,147,148,150,152,154,155,156,157,158,160,161,163,164,165,169,171,172,173,174,175,176,177,181,182,186,187,191,192],theinput:172,them:[4,7,21,26,27,84,92,94,98,109,113,114,118,134,147,148,150,152,153,155,156,157,158,160,161,162,163,164,170,173,174,175,176,177,178,181,182,183,185,186,187,188,189,191,192,193],themselv:[165,192],theoret:98,theori:98,therebi:150,therefor:[19,22,84,98,175,176,177,181,186,187,189,191,192],theta:[26,28,102,103,108,155,167,169,176,193],theta_max:[85,191],theta_min:[85,191],theta_scal:142,thetastarplann:[107,167],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,47,50,52,54,55,58,61,72,73,74,80,82,84,85,86,87,88,89,91,92,93,94,96,97,98,99,100,101,102,103,104,106,107,108,109,110,111,112,113,114,115,116,117,118,132,133,134,135,147,148,149,150,151,152,153,154,155,156,157,158,160,161,162,163,164,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],thing:[13,27,148,156,157,162,163,164,172,175,176,181,182,189],think:[0,8,27,176],third:[75,163,187,189],those:[9,14,27,103,147,156,169,173,175,176,177,178,181],though:[19,21,98,134,176,177,183,186,187,189,191],thought:[27,156,161],thrash:183,thread:[7,11,13,26,27,85,92,98,108,158,181],three:[25,27,105,157,174,176,177,186],threshhold:97,threshold:[62,85,92,97,98,101,102,110,139,156,167,183,185,187,189,193],threshold_to_consid:[98,158],throttl:[81,154,167],through:[1,9,17,18,19,22,23,24,26,27,28,41,42,96,98,107,114,118,133,134,147,150,151,152,154,155,156,157,158,162,167,169,171,172,173,174,175,176,177,181,182,183,186,187,188,189,190,193],throughout:[2,61,147,153,156,175,177,183],thrown:156,thu:[84,85,91,98,107,108,169,172,173,182,183,186],thusli:[170,176,193],tick:[18,19,21,22,23,24,27,61,75,78,81,82,83,156,161,167],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,27,145,150,154,155,156,176,181,192],tie:4,tied:[27,134],tight:[102,134,169,176,193],tighter:176,tightli:183,tile:186,till:75,tilt:179,time:[0,1,3,4,6,7,8,9,11,14,18,19,20,21,22,23,24,25,26,27,29,30,41,45,53,55,57,58,70,75,76,84,85,86,87,88,92,93,98,101,102,103,104,105,108,110,113,115,116,123,124,125,127,129,130,131,132,133,134,143,146,147,148,150,153,154,156,161,162,165,167,168,169,170,172,174,176,177,178,180,181,182,183,184,185,186,187,189,190,191,192,193],time_allow:[25,26,29,30,45,55,87,156],time_before_collis:85,time_granular:124,time_step:98,timedbehavior:160,timeexpir:89,timeexpiredcondit:154,timelin:150,timeout:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,55,58,73,74,85,87,88,92,94,96,97,100,106,108,109,129,154,160,161,191],timer:[69,158,167,173],timestamp:[26,130,158,172],timestep:98,timezon:150,tini:103,tip:[171,176,187],tireless:14,titl:152,tmp:[130,147,179],to_entri:147,to_numb:160,togeth:[19,27,94,172,174,183,186],toggle_filt:157,token:160,tol:167,toler:[18,27,57,62,87,88,91,93,98,99,101,102,104,106,117,119,126,128,132,133,134,143,155,156,158,164,167,178,185,193],tom:15,ton:181,too:[18,98,107,133,134,155,156,158,176,178],took:107,tool:[2,4,15,27,145,146,147,148,150,152,154,155,165,171,173,174,175,181,182,186,187],toolbar:184,toolbox:[27,152,153,173,176,181,188],top:[5,7,11,18,93,160,162,163,164,165,174,178,179,180,182,187,189,192],topic:[0,19,20,21,23,24,27,44,47,50,54,65,66,79,84,85,86,87,88,90,92,93,97,106,108,110,113,114,115,116,117,118,119,129,130,133,134,150,153,154,155,156,157,158,165,167,170,171,172,173,174,175,176,177,178,179,182,183,184,185,186,187,188,189,190,191],topic_nam:[44,47,50,54,97,187,189],torqu:108,total:[27,30,98,132,133,134,180],total_number_of_loop:164,touch:138,toward:[20,68,84,85,91,98,102,133,134,156,158,164,167,176,179,185,186,193],trace:181,track:[6,26,27,93,98,101,102,150,152,156,157,158,163,165,167,176,178,181,183,193],track_unknown_spac:[93,173,190],tracker:[0,98],trackingrout:26,tractabl:154,tractor:186,trade:[98,193],tradeoff:132,traffic:[153,167],trait:[158,176],trajectori:[3,4,10,85,90,108,119,122,124,135,136,137,138,140,141,142,155,157,158,164,169,170,176],trajectory_generator_nam:119,trajectory_point_step:98,trajectory_step:98,trajectoryvisu:98,tranform:173,trans_stopped_veloc:[95,128,143],transfer:5,transform:[5,15,27,71,84,85,86,87,88,93,98,101,106,110,113,116,119,145,151,152,154,155,156,163,167,170,171,172,173,175,176,183,187,188],transform_timeout:[87,103,104,106,160,178],transform_toler:[57,60,62,84,85,86,87,88,93,95,98,101,106,110,113,116,117,119,163,165,190,191],transform_tolerance_:163,transformavail:89,transformglobalplan:163,transit:[27,96,103,154,156,165,176,177,178,182,193],translat:[30,45,86,101,121,125,155,157,167,172,174,176],translation_backward:[85,191],translation_forward:[85,191],transpar:150,transport:147,transvers:174,travel:[19,27,45,60,78,98,132,133,134,156,167,172,173],travers:[25,27,98,112,132,133,134,156,158,174],treat:[93,190],tree:[1,2,11,20,21,22,23,24,25,28,29,30,48,49,55,58,60,62,75,76,77,78,79,80,81,82,83,145,151,152,153,156,158,162,165,166,169,173,174,175,177,178,183,186,194],treenod:192,treenodesmodel:192,trend:[133,134],tri:[27,154,163],triangl:[84,85],triangular:115,trick:[171,181],trig:156,trigger:[11,18,19,21,23,24,27,51,78,80,82,84,85,98,101,102,110,147,154,155,156,157,167,177,178,191,193],trilater:186,trim:57,trinari:[187,189],trinary_costmap:93,trivial:[7,27,150,157,160,191,192],troubleshoot:146,truli:[11,176],truncat:[20,56,57,91,167],truncated_path:[20,56,184],truncatepath:[20,89,154,184],truncatepathloc:[89,91],trust:[11,148,152,183,186],trustworthi:186,trytoresolvesmoothererrorcod:178,tsc:150,tudela:167,tunabl:28,tune:[1,9,25,97,98,102,107,133,156,171,183,186,187,189,191,193],tunnel:148,turn:[25,41,91,94,98,101,108,110,133,134,147,155,156,157,158,167,169,175,176,178,180,181,186,193],turtl:97,turtlebot3:[146,151,160,161,162,163,164,165,178,180,185,187,188,189],turtlebot3_bringup:[185,188],turtlebot3_gazebo:151,turtlebot3_model:[151,185,188],turtlebot3_world:[97,151,187,189],turtlebot:[151,186,194],tutori:[3,8,15,18,84,85,88,89,155,157,158,167,168,169,170,171,172,173,174,175,176,177,181,182,183,191,192,193],tutorials_w:[187,189],tweak:147,twilio:160,twirling_cost_pow:98,twirling_cost_weight:98,twirlingcrit:[95,98],twist:[0,29,85,87,92,98,108,158,163,172,186],twistamp:168,twiststamp:[0,85,87,92,108,163],twistwithcovari:172,twistwithcovariancestamp:172,two:[3,18,19,27,76,84,85,91,99,105,107,132,147,155,156,157,160,163,164,165,169,172,173,174,175,177,180,182,183,186,189,190,191],two_d_mod:[172,183,186],txt:[160,162,163,164,165,172,173,175,179,181,182],type:[8,17,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,147,148,151,152,154,155,156,160,161,162,163,164,165,167,169,172,173,175,176,177,178,180,181,183,184,186,187,189,190,191,192,193],typenam:[156,165],typic:[9,18,19,27,84,85,133,134,150,156,163,170,172,174,176,180,183,187,188,189,193],uav:183,ubuntu:190,udrf:2,uint16:[29,30,41,42,43,45,46,48,49,53,55,177],uint8:26,ukf:183,ukf_localization_nod:172,ukf_nod:172,ultim:22,unabl:[0,132,156],unaccept:[84,85,180],unaffect:147,unchang:147,unclear:27,uncom:[91,147],unconfigur:[27,177],undeclar:186,under:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,88,114,118,147,148,150,154,155,156,157,160,161,167,169,170,172,173,175,178,181,183,186,190],underlai:147,underli:[27,190],understand:[11,21,23,24,27,107,150,165,180,181,182,186,187,190],understood:187,undesir:187,unfair:8,unfamiliar:[11,27,183],unfilt:176,unfold:189,unid:183,unifi:175,uniform:158,unintend:147,uniqu:[21,23,24,27,85,147,152,154,155,158,160,161,165],unique_tb3_simulation_launch:158,unit:[27,87,88,92,94,96,100,106,109,150,168,174],univers:[5,174],unix:181,unknown:[27,72,73,74,93,99,107,112,118,132,133,134,157,177,187],unknown_cost_valu:93,unknown_threshold:[93,118,190],unless:[18,19,96,101,134,150],unlesscondit:[172,175],unlik:[18,84,160,180],unmodifi:147,unnecessari:[98,180],unord:157,unpredict:189,unreach:[132,133,134],unrespons:177,unsaf:[133,134,156],unscent:172,unsign:[59,72,73,74,162],unsmooth:178,unsmoothed_path:[53,178],unspecifi:[85,172],unsuit:150,unsynchron:179,untick:19,until:[18,19,20,26,27,75,85,102,119,133,134,145,147,155,163,165,167,172,181,184,186,190],untouch:[154,163,191],unus:98,unwant:[156,189],unzip:179,updat:[6,7,11,12,18,19,20,27,61,69,79,86,93,105,113,117,147,150,153,156,157,158,160,161,162,163,165,167,170,172,174,176,180,183,184,186,188,189,192],update_footprint_en:190,update_frequ:[93,173],update_min_a:86,update_min_d:86,update_r:[172,173,186],updatebound:162,updatecontentcommand:147,updatecost:162,updated_go:[20,79,184],updatego:154,updater:173,updatewithaddit:162,updatewithmax:162,updatewithoverwrit:162,updatewithtrueoverwrit:162,upgrad:[147,154],upon:[0,3,18,19,76,150,156,164,175],upper:101,ups:98,upsampl:91,urdf:[2,27,151,170,171,174,176,183,188],urdf_config:175,usag:[11,26,110,147,174,175,177,186,191],usb:[147,183],use:[0,1,3,4,8,9,10,11,13,17,19,20,21,22,23,24,26,27,41,42,43,46,53,66,79,84,85,86,87,88,91,92,93,94,98,99,100,101,102,103,104,106,108,113,114,118,119,133,134,135,145,147,149,150,151,152,153,154,155,156,157,160,161,162,163,164,165,169,170,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],use_approach_linear_velocity_sc:156,use_astar:[99,155,164],use_collision_detect:101,use_composit:[156,176,181,182],use_cost_regulated_linear_velocity_sc:101,use_final_approach_orient:[99,107,132],use_fixed_curvature_lookahead:[101,157],use_maximum:93,use_namespac:176,use_odometry_yaw:186,use_path_orient:[98,158],use_quadratic_cost_penalti:[133,158],use_rclcpp_nod:156,use_realtime_prior:[85,92,108,158],use_regulated_linear_velocity_sc:101,use_respawn:[156,176,191],use_robot_state_pub:176,use_rotate_to_head:101,use_rviz:[176,186],use_sim:185,use_sim_tim:[88,91,92,93,95,101,102,107,132,133,134,158,160,161,162,164,165,170,172,173,176,181,182,185,187,189,190,191,193],use_simul:176,use_start:[26,155],use_velocity_scaled_lookahead_dist:101,used:[0,1,5,13,14,15,17,18,19,21,22,23,24,25,26,27,29,30,42,43,44,47,50,52,53,54,55,57,58,66,77,78,81,83,85,86,87,88,91,92,93,97,98,100,105,106,109,114,116,118,133,134,146,147,148,152,153,154,155,156,157,158,160,161,162,163,164,165,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,187,189,191,192],useful:[0,17,19,20,21,23,24,27,79,85,86,98,103,147,148,155,156,158,161,170,172,173,174,175,176,177,182,183,184,187,189,190,192],useless:18,user:[1,2,3,7,9,14,17,21,22,23,24,26,27,28,41,76,80,84,85,86,104,109,115,129,133,147,148,150,152,154,155,156,157,158,165,167,171,173,176,177,181,182,183,186,188,190,191,193],userenvprob:147,usernam:[85,92,108,158],userspac:[85,92,108,158],uses:[5,6,19,27,48,49,84,85,86,87,91,92,93,98,99,103,105,108,114,118,145,152,153,154,157,158,160,161,167,169,172,173,174,175,176,179,185,186,190],usign:94,using:[4,5,6,7,8,9,10,13,14,16,17,18,20,21,23,24,25,26,27,31,32,33,34,35,36,37,41,42,43,46,51,85,86,88,89,90,91,93,94,95,97,98,101,103,104,105,107,109,113,130,133,134,145,146,147,148,151,152,154,155,156,157,158,160,161,162,163,164,165,167,169,170,174,176,177,178,179,181,182,183,184,185,186,188,189,190,191,192,193],usr:[181,190],usual:[19,27,44,47,50,105,147,155,162,172,174,177,181,182,186,187],util:[21,22,23,24,27,41,94,98,134,147,152,155,156,157,158,161,169,170,172,175,182,187,189,190],utm:[94,186],valgrind:[181,182],valid:[27,67,84,85,86,91,94,110,113,114,116,118,133,134,152,157,165,167,173,176,186],valu:[44,47,50,54,66,84,85,86,87,88,91,92,93,97,98,100,101,104,106,107,109,110,114,115,116,118,132,133,134,147,150,155,156,157,158,160,161,162,163,164,165,167,170,172,173,174,175,176,178,180,181,185,186,187,189,191,192,193],valuabl:[7,11,150],vargovcik:167,vari:[98,101],variabl:[13,17,41,42,43,46,48,49,53,62,80,86,88,115,145,146,147,151,158,160,161,163,164,173,178,187,189,190,192],variant:[3,6,27,98,101,155,167,169],variat:[101,155,165,167,169,172],varient:155,varieti:[27,160],variou:[5,27,87,98,106,146,147,156,157,167,168,172,174,175],vast:[156,160],vcstool:146,vector:[21,27,41,42,48,52,84,85,87,88,92,93,94,96,98,99,100,103,106,107,108,113,114,115,118,119,132,156,157,158,162,164,165,170,176,181,187,189,190],vectorcrash:181,vectorobject:176,vehicl:[1,4,98,105,133,134,152,155,167,169],vel_poli:85,veloc:[1,4,9,13,28,83,84,85,87,90,92,98,101,102,116,120,121,128,139,142,143,152,155,158,160,163,167,168,169,172,176,191,193],velocity_polygon:[85,191],velocity_polygon_stop:[85,191],velocity_smooth:[108,191],velocity_timeout:108,velocitypolgon:158,velocitypolygonstop:[85,191],velocitysmooth:[157,191],vendor:173,verb:147,verbos:[172,173,176],veri:[6,7,11,14,16,17,21,23,27,98,103,133,150,156,158,168,170,174,175,176,183,193],verifi:[4,27,138,148,172,173,175,186],version:[23,24,27,91,119,145,146,148,151,155,163,173,175],vertex:[84,85,179],vertic:[111,186,191],vertical_fov_angl:190,via:[13,19,20,21,23,24,27,41,44,47,50,64,84,85,86,90,105,146,147,148,150,152,156,157,158,160,165,167,174,176,177,178,182,188,190,192],viabl:165,viapoint:[52,167],vicin:172,video:[22,147,162,183,184,185,190,192],view:[84,85,151,156,175,179,183,190,191,192],view_fram:173,vigil:148,vio:[27,168,172,174,194],violat:19,virtual:[20,85,98,156,160,161,162,163,164,165,172,175],visibl:[160,161,163,164,165,175],vision:[27,91,173,183],vision_msg:173,visit:[1,27,133,134,150,186],visual:[2,84,85,88,89,147,148,152,156,158,172,176,178,182,183,186,188,189,190,191],visualis:157,visualization_mark:173,viz_expans:158,vocabulari:19,volatil:175,voltag:66,volum:147,volumet:190,volumetr:167,vornoi:3,voxel:[7,93,157,167,173,180,190],voxel_decai:190,voxel_grid:[173,190],voxel_lay:[93,111,113,155,162,170,173,180,187],voxel_marked_cloud:155,voxel_min_point:190,voxel_s:190,voxel_unknown_cloud:155,voxellay:[93,173,176],vpitch:[172,183],vroll:[172,183],vscode:147,vslam:152,vslamcomparison2021:152,vtheta_sampl:[95,120],vx_max:98,vx_min:98,vx_sampl:[95,120],vx_std:98,vy_max:98,vy_sampl:[95,120],vy_std:98,vyaw:[172,183],w_cost:91,w_cost_cusp_multipli:91,w_curv:91,w_data:[104,132,133,134],w_dist:91,w_euc_cost:107,w_heuristic_cost:107,w_smooth:[91,104,132,133,134],w_traversal_cost:107,waffl:[151,185,186,188],wai:[2,9,18,21,23,24,27,80,88,96,98,109,111,133,134,144,146,155,156,157,158,170,174,176,177,178,181,186,188,190,193],wait:[13,18,19,21,22,23,24,26,27,37,86,87,88,89,93,109,129,131,148,151,153,156,160,161,167,173,177],wait_act:161,wait_at_waypoint:[109,155],wait_dur:[18,21,22,23,24,58,89,161],wait_for_action_serv:88,wait_for_datum:186,wait_for_service_timeout:88,wait_serv:58,waitact:161,waitatwaypoint:[109,155,167],waituntilnav2act:[26,156],wake:98,walk:[18,19,27,147,183,186],walkthrough:17,wall:[158,176],wallac:[14,152,167],want:[21,23,24,26,27,84,98,147,155,158,160,161,162,163,164,165,172,174,175,176,177,178,181,182,183,185,186,188,192],warehous:[26,27,170,176,187],warn:[84,100,115,133,134,154,191],was_complet:53,watch:151,watchdog:[9,96,139,152,154],water:19,wavefront:[99,156],waypoint:[26,28,129,130,131,152,153,155,156,177],waypoint_follow:[96,109,155,158,177],waypoint_imag:130,waypoint_pause_dur:[109,131,155],waypoint_task_executor:[129,130,131],waypoint_task_executor_plugin:[109,155],waypoint_task_executor_plugin_id:[129,130,131],waypointfollow:156,waypointtaskexecutor:155,weak:163,weakptr:[163,165],wear:108,web:[8,148],websit:[15,18,158],weigh:[135,136,137,138,139,140,141,142,143,144],weight1:91,weight2:91,weight:[27,57,86,91,98,104,107,132,133,134,142,154,156,158,176,183,187],welcom:150,well:[0,1,4,6,14,18,19,21,23,24,26,92,97,98,136,140,141,147,154,155,156,158,169,173,174,176,178,179,180,181,183,186,187,189,190,192],went:[176,186],were:[11,14,18,27,87,153,154,155,156,157,158,174,175,176,177,187,189,191],wgs84:186,what:[2,6,19,27,98,119,149,150,156,168,172,173,174,175,177,178,185,186],whatev:162,wheel:[27,172,174,175,183,186],wheel_diamet:172,wheel_radiu:[172,175],wheel_separ:172,wheel_width:175,wheel_xoff:175,wheel_ygap:[172,175],wheel_zoff:175,when:[11,18,19,20,21,23,27,41,57,60,64,66,70,78,80,81,83,84,85,86,87,92,93,94,96,98,100,101,102,107,108,109,110,113,116,130,133,134,139,143,145,147,148,150,152,154,155,156,160,161,162,163,164,165,167,169,170,172,173,174,175,176,177,179,180,181,182,183,184,186,187,189,191,192,193],whenev:[147,148,156,185,188],where:[1,6,10,13,17,19,22,26,27,84,85,98,104,110,116,118,130,134,135,146,147,150,151,154,155,156,158,161,162,163,164,165,167,170,172,173,174,175,176,177,182,185,186,187,189,191],wherea:[9,41,98,133,157,176,177],wherein:[169,170],whether:[41,53,84,85,86,87,91,92,93,94,96,98,99,101,103,104,107,108,109,110,111,112,113,114,115,116,117,118,119,122,124,125,126,127,128,129,130,131,132,133,134,135,138,150,153,155,160,162,163,167,172,173,175,176],which:[3,9,18,19,22,24,26,27,28,29,30,41,42,43,45,46,48,49,55,56,57,58,78,79,81,83,84,85,86,87,88,91,92,93,96,97,98,100,101,105,106,108,109,110,111,113,115,116,147,153,155,156,157,158,160,161,162,163,164,165,169,170,171,172,173,174,175,176,177,178,179,180,183,184,185,186,187,188,189,191,192],whilst:175,whip:[176,193],white:[14,147,152,180,187],whiter:187,whitespac:175,who:[98,150,158,165,176,184],whole:[18,57,150,158,162,173,179,189,191],whose:[91,173],why:[149,181],wide:[4,18,27,133,158,160,176,183],wider:176,widest:147,widget:175,width:[26,93,94,98,101,162,173,176,186],wiki:175,wilcox:[14,167],wild:14,willing:176,window:[95,133,134,156,162,169,170,172,173,174,175,176,179,180,181,182,186,192],wisdom:176,wise:[27,98,165,176],wish:[0,22,59,85,94,113,155,156,177,178],within:[10,18,19,21,27,59,84,85,86,87,88,90,92,94,98,100,102,106,109,112,114,118,132,133,134,147,148,150,156,157,158,162,165,167,172,173,175,176,177,182,190,191,192,193],withing:156,without:[1,4,14,27,57,84,85,91,92,98,103,111,113,133,147,148,154,155,156,158,162,165,170,171,173,176,181,183,184,186,187,188,193],wizard:14,wobbl:[98,133],won:[38,98,155,158,160,161,163,164,165,170,175,180,186,187],word:[148,157,163,164,174,180,187],work:[0,1,4,5,6,7,8,9,11,12,13,14,15,16,27,84,89,90,98,101,147,150,151,152,156,157,158,160,161,162,163,164,165,169,170,172,173,174,175,176,178,181,182,183,186,187,189,190,191],workaround:[87,88,92,100,106,109],workflow:[27,147,148],workspac:[145,146,147,148,162,175,179,181,182,184,186,188,190,192],world:[8,9,26,27,147,151,152,160,172,173,174,176,180,184,187,188,189,190],world_fram:[172,183,186],world_path:173,worldtomapvalid:26,worldwid:152,worri:[21,23,24,27,148,176,181],worst:12,worth:[21,23,27,98,176,180],would:[0,1,6,8,14,19,22,27,85,97,101,107,132,133,134,147,148,150,155,156,158,160,161,163,164,165,167,172,174,175,176,178,181,182,183,186,187,188,189,190,193],wouldacontrollerrecoveryhelp:[89,157],wouldaplannerrecoveryhelp:[89,157],wouldasmootherrecoveryhelp:[89,157,178],wouldn:[9,176],wrap:[18,26,27],wrapper:[27,160,161,181,183],write:[154,157,158,166,167,169,172,176,177,192],written:[6,27,158,160,162,163,164,165,173,180,186,187,189,191,192],wrong:186,wz_max:98,wz_std:98,x11:[147,148],x86_64:[181,190],x_increment:164,x_only_threshold:139,x_pose:176,x_reflect:175,xacro:[172,175],xml:[1,2,17,18,27,28,48,49,88,152,154,156,158,160,161,162,163,164,165,172,175,177,184,192],xml_tag_nam:161,xmln:175,xterm:[181,182],xvf:179,xxx:182,xy_goal_toler:[92,95,101,102,126,128,143,155,193],xytheta:95,xyz:[172,173,175,186],y_increment:164,y_pose:176,y_reflect:175,yai:183,yaml:[26,84,85,97,155,156,160,161,162,163,164,165,169,170,172,176,177,178,179,180,181,182,183,185,186,187,189,190,191,193],yaml_filenam:[97,157,187,189],yaw:[86,172,176,183,186,187,189],yaw_goal_toler:[92,95,101,102,126,128,155,193],yaw_offset:186,yeah:183,year:[6,14,152],yes:181,yet:[6,19,26,98,147,156,158,174,176,186],yolact:4,yolo3d:4,you:[0,4,5,6,10,11,12,13,14,17,20,26,27,41,59,85,86,88,91,92,94,97,98,101,105,107,108,113,133,134,135,145,146,147,148,150,151,152,155,156,157,158,160,161,162,163,164,165,167,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],your:[3,4,5,6,8,9,10,11,12,13,14,17,18,26,27,85,96,97,98,101,102,105,107,108,133,134,145,146,147,148,150,151,152,154,155,156,157,158,160,162,163,164,165,167,169,170,171,173,174,175,176,177,179,181,182,183,184,186,187,188,189,190,191,192,193],your_map:185,your_params_fil:[160,163,164,165],yourself:[150,156,178],youtub:183,yuk:13,z_hit:86,z_max:86,z_pose:176,z_rand:86,z_resolut:[93,118,173],z_short:86,z_voxel:[93,118,173],zag:[133,183],zed2:183,zed2i:183,zed_wrapp:183,zedx:183,zedxm:183,zero:[85,108,115,116,131,156,161,179,186,187,189],zero_altitud:186,zig:[133,183],zmq:156,zone:[9,27,84,85,91,94,97,113,133,134,155,156,167,173,176,186,189,191,194],zurich:5},titles:["Projects 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 Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","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":156,"default":[87,92,93,100,109,155,157,158],"export":[160,161,162,163,164,165],"long":157,"new":[3,153,154,155,156,157,158,160,161,162,163,164,165,177],"static":[117,174],"while":188,Added:[155,156,157,158],Adding:[172,173,175,177,178,192],And:24,For:158,GPS:[158,186],Into:183,Near:22,ROS:[5,11,27,93,157,181,182,183],The:[158,175],Use:156,Uses:[157,158],Using:[16,147,183,186,190,191,193],With:[18,24],about:14,academ:27,access:[157,158],ackermann:98,action:[19,27,89,154,155,156,158],activ:158,add:[158,161],added:158,addit:158,advanc:12,algorithm:169,align:98,allow:[157,158],amcl:[86,156],analog:2,angl:[98,158],api:[26,156,157,158],appli:157,approach:[156,158],architectur:153,areerrorcodespres:59,assist:[1,2,156],assistedteleop:[29,87],attribut:155,augment:183,automat:181,avail:158,backtrac:181,backup:[30,87,155],base:158,baseobstaclecrit:135,becom:24,behavior:[17,18,27,87,88,89,154,155,156,157,158,160,161,167,176,184,192],being:156,benchmark:157,binari:[110,146],block:158,bond:27,both:157,brand:8,bringup:[158,181,182],btactionserv:158,btservicenod:156,build:[145,146,147,170,172,173,175],cach:176,calibr:[25,179],camera:[179,183],cancel:156,cancelassistedteleop:31,cancelbackup:32,cancelcontrol:33,cancelcoverag:34,canceldriveonhead:35,cancelspin:36,cancelwait:37,capabl:154,certif:150,chang:[153,155,156,157,158],check:157,checker:[26,155,156,157,167],citat:152,cleararea:156,clearcostmaparoundrobot:[38,155],clearcostmapexceptregion:[39,155],clearentirecostmap:40,click:184,clock:158,code:[157,158,177],collis:[26,84,85,90,157,158,191],command:[26,156,157,158],common:[145,173],composit:[156,177],computecoveragepath:41,computepaththroughpos:[42,155],computepathtopos:[43,155],concept:27,conclus:[169,170,172,173,174,175,177,186],condit:[19,89],config:161,configur:[2,13,28,155,169,170,172,173,187,189,191,193],consist:24,constant:156,constrain:[91,156],constraint:98,constructor:157,contact:14,contain:[146,147,148],control:[3,19,27,89,92,95,98,102,119,155,156,157,163,167,169,176,193],controllerselector:44,controllerserv:155,convert:13,corner:156,cost:[98,158],costmap2d:[93,155,162,176,190],costmap:[26,27,93,97,98,154,155,157,158,167,173,187,189,190],costmap_2d_nod:157,costmaplay:156,costmapupd:158,could:158,coverag:94,crash:181,creat:[2,3,147,160,161,163,164,165,184],critic:[95,98,158],current_:155,curv:157,custom:[161,192],dash:153,dco:150,debug:158,deceler:157,decor:[19,89],demo:[26,172,174,191,193],denois:[111,157,180],depend:145,depreci:158,descript:[105,173],detail:18,detect:156,detector:[84,158],determin:11,dev:[147,148],develop:[146,149,150],direction:158,disabl:158,distanc:[156,157],distancecontrol:78,distancetravel:60,distribut:146,docker:146,doxygen:146,driveonhead:[45,87],drop:156,durat:158,dwb:[95,119,157],dynam:[4,20,156,158,184],each:154,ecosystem:13,edit:192,eloqu:[153,154],enabl:[158,162,180,187,189],enumer:158,enviro:185,environ:175,environment:[5,27],error:[157,158,177],estim:[27,183],euclidean:156,exampl:[26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,108,109,110,111,113,116,132,133,134,151,169],except:156,execut:[191,193],executor:[156,167],expand:157,expos:158,extend:156,extern:190,fail:158,failur:[145,157],failure_toler:155,familiar:178,featur:[84,85,158],feedback:[155,157],field:176,file:[157,158,160,163,164,165,172,173,181,182],filter:[27,93,97,110,113,116,154,155,157,167,180,187,189],first:171,fix:156,follow:[20,27,98,109,158,184,186],followpath:[46,155],followpoint:154,footprint:[26,27,170,176],form:27,format:158,forward:[98,157],foxi:[154,155],frame:158,framework:12,from:[157,158,181,182],full:158,fuse:183,galact:[155,156],gazebo:[156,172,173,186],gener:[98,146,154,194],get:[148,150,151,181,188],give:157,global:[27,158,183,186],globallyupdatedgo:61,goal:[22,98,155,156,157,158,167,185],goal_checker_id:155,goalaligncrit:136,goalcheckerselector:47,goaldistcrit:137,goalreach:62,goalupd:63,goalupdat:79,golai:[103,157],gradientlay:162,grid:5,groot:[155,156,192],guid:[28,145,147,149,159,171,176],halttre:158,handl:158,handler:98,help:146,heurist:176,horizon:98,how:[148,180],humbl:[156,157,168],hybrid:[133,158],ignor:156,imag:[146,147,173],improv:[6,156],includ:[156,157],induc:180,inflat:[98,112,176],info:[97,187,189],inform:155,initi:185,initialposereceiv:64,input:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],inputatwaypoint:129,instal:[146,151,190],integr:[4,10,98,157],interact:[186,192],interfac:[155,188],interpret:182,introduc:158,introduct:[19,158,170,172,173,174],invalid:[24,156],invert:156,involv:150,iron:[157,158,168],isbatterycharg:65,isbatterychargingcondit:157,isbatterylow:66,ispathvalid:67,isstuck:68,issu:145,iter:120,jazzi:[158,168],keepout:[113,187],kinemat:[121,156],larg:181,laserscan:173,lattic:134,launch:[155,156,157,158,172,173,175,176,181,182,185,188,190],layer:[27,98,111,112,114,117,118,154,157,158,167,180],librari:[158,161],licens:150,lifecycl:[27,96,147,156,177],limit:[156,157,189],limitedaccelgener:123,live:156,load:157,local:[6,27,172,173,183,186],locat:185,log:186,logic:156,lookahead:157,loop:157,love:176,major:156,make:162,manag:[96,156],map:[5,97,154,157,173,188],map_serv:157,mark:155,mask:[187,189],mechan:158,messag:[154,173],migrat:159,model:[5,98,156,157],modifi:[178,190],monitor:[85,90,156,157,158,191],more:157,motion:[98,156],move:158,moveit:2,mppi:[98,158],msg:158,multi:158,multipl:[156,157],multithread:7,name:[157,158,160,161,163,164,165],namespac:158,nativ:158,nav2:[17,19,27,145,152,155,156,157,173,176,177,180,181,182,184,185,187,189,191],nav2_collision_monitor:158,nav2_cor:156,nav2_costmap_2d:173,navfn:[99,155,156],navig:[4,7,8,9,12,18,21,22,23,24,27,88,151,154,156,157,165,167,169,185,186,187,188,189],navigatethroughpos:[48,155],navigatetopos:[49,155],navigation2:[153,174,188,190],navsat:186,node:[9,11,19,27,84,85,89,90,155,156,157,158,167,173,177,178,181,182,192],nois:180,note:98,object:184,observ:[84,85],obstacl:[4,22,98,114,155,158,176,180],obstaclefootprintcrit:138,obtain:158,odometri:[25,27,172,183,186],offer:176,offset:98,onli:156,opennav_coverag:158,option:[158,176],orient:156,origin:150,oscillationcrit:139,other:[27,176],ouput:[56,57],our:152,out:183,output:[30,41,42,43,44,45,46,47,48,49,50,52,53,54,55],overview:[18,26,27,152,160,161,162,163,164,165,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193],packag:153,page:176,panel:[155,157],param:[156,158,160,163,164,165],paramet:[60,62,79,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,155,156,157,158,190],parameteriz:157,particl:154,pass:[160,163,164,165],path:[24,98,156,157,158],pathaligncrit:140,pathdistcrit:141,pathexpiringtim:69,pathlongeronapproach:[80,156],paus:22,photoatwaypoint:130,physic:[175,185],pipelinesequ:[19,75],place:176,planner:[3,27,99,100,105,107,132,133,134,155,156,157,158,161,164,167,169,176],plannerselector:50,plugin:[3,87,89,92,93,95,100,105,109,153,154,155,156,157,158,160,161,162,163,164,165,166,167,169,172,173,176,178,190],point:[20,158,184],pointcloud2:[155,173],pointcloud:155,polygon:[84,85,158],port:[5,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],pose:[18,21,22,23,24,157,185],poseprogresscheck:[125,157],posit:27,potenti:176,predict:[98,157],prefer:98,preferforwardcrit:142,preliminari:[181,182],prepar:[187,189,191],prerequisit:[18,148,172],primari:193,process:[150,156],profil:182,program:0,progress:167,progress_checker_plugin:157,project:[0,15,152,158,181],properti:175,provid:[90,92,105,109],prune:157,publish:[122,157,174,175,187,189],pure:[101,163],pursuit:[101,163],python:[156,157],radiu:176,rai:155,rang:[115,173],rate:156,ratecontrol:81,real:158,rebuild:147,recoveri:[18,19,27,155,156],recoverynod:76,recurs:157,reduc:[11,156],refactor:156,refin:157,regul:[101,157],regulatedpurepursuitcontrol:155,reinitializegloballoc:51,relat:[15,152],releas:146,remov:[155,156,157,158],removepassedgo:52,renam:157,replan:[18,24,156],report:145,represent:27,requir:[158,160,161,162,163,164,165,178,179,180,185,186,187,188,189,191],resourc:158,respawn:156,result:[156,158,182],revers:157,rewrittenyaml:158,roadmap:168,robot:[16,27,156,158,170,171,172,175,176,183,188],roll:146,rotat:[102,156,176,193],rotatetogoalcrit:143,roundrobin:[19,77],rpp:[156,157,158],run:[13,151,157,160,161,162,163,164,165,170,172,173,180,184,187,189],rviz:[155,157,170,173,175,184,185,190],safeti:[9,157],save:157,saver:97,savitzki:[103,157],scale:156,secur:148,select:[154,169,176],semant:10,send:185,sensor:[115,173],sensor_msg:[155,173],server:[27,87,91,92,94,97,100,106,154,156,157,158,169,177,187,189],servic:[152,156],set:[169,170,172,173,174,175,183],setup:[171,172,184,185,186,190],share:158,shim:[102,156,193],shortcut:158,simpl:[26,104,156,157,158],simplegoalcheck:126,simpleprogresscheck:127,simplif:188,simul:[172,173,184],singletrigg:82,size:98,slam:[27,188],slam_toolbox:173,smac:[105,132,133,134,156,157,158,176],smacplann:155,smacplanner2d:156,smacplannerhybrid:157,small:156,smoother:[27,91,103,104,106,108,156,157,167,178],smootherselector:[54,157],smoothpath:53,soft:158,solut:158,sourc:[84,85,146,158],source_timeout:158,spawn:156,specif:19,specifi:178,speed:[116,157,189],speedcontrol:83,spin:[55,87],sponsor:152,stabl:157,stack:[158,180,187,189,191],standard:[27,155],standardtrajectorygener:124,star:107,start:[147,148,151,157,188],state:[27,134,157,175,183],step:[160,161,162,163,164,165,178,179,180,184,185,186,187,188,189,190],stoppedgoalcheck:128,straightlin:164,student:0,stvl:190,substitut:158,subtre:[18,158],summari:169,summer:0,support:[155,156],system:[172,186],task:[156,167,177],teleop:[1,156],termin:147,test:[12,157,183,186],theta:[107,156],thetastarplann:155,through:[21,160,163,164,165],time:[13,155,157,158,171],timeexpir:70,timeout:[156,157,158],toler:157,trace:155,trajectori:[95,98],transform:[158,174,186],transformavail:71,tree:[17,18,27,88,89,154,155,157,161,167,184,192],troubleshoot:145,truncatepath:56,truncatepathloc:[57,156],tune:176,turtlebot:185,tutori:[160,161,162,163,164,165,166,178,179,180,184,185,186,187,188,189,190,194],twirl:98,twirlingcrit:144,twist:13,twiststamp:[13,158],type:[157,158],unit:155,updat:[154,155],urdf:[172,173,175],usag:155,use:[148,158],use_final_approach_orient:156,use_interpol:158,use_sim_tim:157,user:98,using:[172,173,175],variabl:185,veloc:[108,156,157],velocitypolygon:[85,158,191],verif:[170,172,173],vio:183,visual:[98,170,173,175,192],viz_expans:157,voxel:[118,158],vslam:183,wait:58,wait_act:158,waitatwaypoint:131,walkthrough:18,watchdog:158,waypoint:[27,109,157,158,167,186],websit:8,what:[148,193],when:[157,158],why:148,wisdom:98,word:98,work:[148,154,180,188],world:186,wouldacontrollerrecoveryhelp:72,wouldaplannerrecoveryhelp:73,wouldasmootherrecoveryhelp:74,write:[160,161,162,163,164,165,175],xml:[89,155,178],xytheta:120,yaml:[157,158],your:[161,172,178,185],zed:183,zone:187}})
\ No newline at end of file
+Search.setIndex({docnames:["2021summerOfCode/Summer_2021_Student_Program","2021summerOfCode/projects/assisted_teleop","2021summerOfCode/projects/create_configuration_assistant","2021summerOfCode/projects/create_plugins","2021summerOfCode/projects/dynamic","2021summerOfCode/projects/grid_maps","2021summerOfCode/projects/localization","2021summerOfCode/projects/multithreading","2021summerOfCode/projects/navigation_rebranding","2021summerOfCode/projects/safety_node","2021summerOfCode/projects/semantics","2021summerOfCode/projects/spinners","2021summerOfCode/projects/testing","2021summerOfCode/projects/twist_n_config","about/index","about/related_projects","about/robots","behavior_trees/index","behavior_trees/overview/detailed_behavior_tree_walkthrough","behavior_trees/overview/nav2_specific_nodes","behavior_trees/trees/follow_point","behavior_trees/trees/nav_through_poses_recovery","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle","behavior_trees/trees/nav_to_pose_recovery","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid","behavior_trees/trees/odometry_calibration","commander_api/index","concepts/index","configuration/index","configuration/packages/bt-plugins/actions/AssistedTeleop","configuration/packages/bt-plugins/actions/BackUp","configuration/packages/bt-plugins/actions/CancelAssistedTeleop","configuration/packages/bt-plugins/actions/CancelBackUp","configuration/packages/bt-plugins/actions/CancelControl","configuration/packages/bt-plugins/actions/CancelCoverage","configuration/packages/bt-plugins/actions/CancelDriveOnHeading","configuration/packages/bt-plugins/actions/CancelSpin","configuration/packages/bt-plugins/actions/CancelWait","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion","configuration/packages/bt-plugins/actions/ClearEntireCostmap","configuration/packages/bt-plugins/actions/ComputeCoveragePath","configuration/packages/bt-plugins/actions/ComputePathThroughPoses","configuration/packages/bt-plugins/actions/ComputePathToPose","configuration/packages/bt-plugins/actions/ControllerSelector","configuration/packages/bt-plugins/actions/DriveOnHeading","configuration/packages/bt-plugins/actions/FollowPath","configuration/packages/bt-plugins/actions/GoalCheckerSelector","configuration/packages/bt-plugins/actions/NavigateThroughPoses","configuration/packages/bt-plugins/actions/NavigateToPose","configuration/packages/bt-plugins/actions/PlannerSelector","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization","configuration/packages/bt-plugins/actions/RemovePassedGoals","configuration/packages/bt-plugins/actions/Smooth","configuration/packages/bt-plugins/actions/SmootherSelector","configuration/packages/bt-plugins/actions/Spin","configuration/packages/bt-plugins/actions/TruncatePath","configuration/packages/bt-plugins/actions/TruncatePathLocal","configuration/packages/bt-plugins/actions/Wait","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent","configuration/packages/bt-plugins/conditions/DistanceTraveled","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal","configuration/packages/bt-plugins/conditions/GoalReached","configuration/packages/bt-plugins/conditions/GoalUpdated","configuration/packages/bt-plugins/conditions/InitialPoseReceived","configuration/packages/bt-plugins/conditions/IsBatteryCharging","configuration/packages/bt-plugins/conditions/IsBatteryLow","configuration/packages/bt-plugins/conditions/IsPathValid","configuration/packages/bt-plugins/conditions/IsStuck","configuration/packages/bt-plugins/conditions/PathExpiringTimer","configuration/packages/bt-plugins/conditions/TimeExpired","configuration/packages/bt-plugins/conditions/TransformAvailable","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp","configuration/packages/bt-plugins/controls/PipelineSequence","configuration/packages/bt-plugins/controls/RecoveryNode","configuration/packages/bt-plugins/controls/RoundRobin","configuration/packages/bt-plugins/decorators/DistanceController","configuration/packages/bt-plugins/decorators/GoalUpdater","configuration/packages/bt-plugins/decorators/PathLongerOnApproach","configuration/packages/bt-plugins/decorators/RateController","configuration/packages/bt-plugins/decorators/SingleTrigger","configuration/packages/bt-plugins/decorators/SpeedController","configuration/packages/collision_monitor/configuring-collision-detector-node","configuration/packages/collision_monitor/configuring-collision-monitor-node","configuration/packages/configuring-amcl","configuration/packages/configuring-behavior-server","configuration/packages/configuring-bt-navigator","configuration/packages/configuring-bt-xml","configuration/packages/configuring-collision-monitor","configuration/packages/configuring-constrained-smoother","configuration/packages/configuring-controller-server","configuration/packages/configuring-costmaps","configuration/packages/configuring-coverage-server","configuration/packages/configuring-dwb-controller","configuration/packages/configuring-graceful-motion-controller","configuration/packages/configuring-lifecycle","configuration/packages/configuring-map-server","configuration/packages/configuring-mppic","configuration/packages/configuring-navfn","configuration/packages/configuring-planner-server","configuration/packages/configuring-regulated-pp","configuration/packages/configuring-rotation-shim-controller","configuration/packages/configuring-savitzky-golay-smoother","configuration/packages/configuring-simple-smoother","configuration/packages/configuring-smac-planner","configuration/packages/configuring-smoother-server","configuration/packages/configuring-thetastar","configuration/packages/configuring-velocity-smoother","configuration/packages/configuring-waypoint-follower","configuration/packages/costmap-plugins/binary_filter","configuration/packages/costmap-plugins/denoise","configuration/packages/costmap-plugins/inflation","configuration/packages/costmap-plugins/keepout_filter","configuration/packages/costmap-plugins/obstacle","configuration/packages/costmap-plugins/range","configuration/packages/costmap-plugins/speed_filter","configuration/packages/costmap-plugins/static","configuration/packages/costmap-plugins/voxel","configuration/packages/dwb-params/controller","configuration/packages/dwb-params/iterator","configuration/packages/dwb-params/kinematic","configuration/packages/dwb-params/visualization","configuration/packages/dwb-plugins/limited_accel_generator","configuration/packages/dwb-plugins/standard_traj_generator","configuration/packages/nav2_controller-plugins/pose_progress_checker","configuration/packages/nav2_controller-plugins/simple_goal_checker","configuration/packages/nav2_controller-plugins/simple_progress_checker","configuration/packages/nav2_controller-plugins/stopped_goal_checker","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint","configuration/packages/smac/configuring-smac-2d","configuration/packages/smac/configuring-smac-hybrid","configuration/packages/smac/configuring-smac-lattice","configuration/packages/trajectory_critics/base_obstacle","configuration/packages/trajectory_critics/goal_align","configuration/packages/trajectory_critics/goal_dist","configuration/packages/trajectory_critics/obstacle_footprint","configuration/packages/trajectory_critics/oscillation","configuration/packages/trajectory_critics/path_align","configuration/packages/trajectory_critics/path_dist","configuration/packages/trajectory_critics/prefer_forward","configuration/packages/trajectory_critics/rotate_to_goal","configuration/packages/trajectory_critics/twirling","development_guides/build_docs/build_troubleshooting_guide","development_guides/build_docs/index","development_guides/devcontainer_docs/devcontainer_guide","development_guides/devcontainer_docs/index","development_guides/index","development_guides/involvement_docs/index","getting_started/index","index","migration/Dashing","migration/Eloquent","migration/Foxy","migration/Galactic","migration/Humble","migration/Iron","migration/index","plugin_tutorials/docs/writing_new_behavior_plugin","plugin_tutorials/docs/writing_new_bt_plugin","plugin_tutorials/docs/writing_new_costmap2d_plugin","plugin_tutorials/docs/writing_new_nav2controller_plugin","plugin_tutorials/docs/writing_new_nav2planner_plugin","plugin_tutorials/docs/writing_new_navigator_plugin","plugin_tutorials/index","plugins/index","roadmap/roadmap","setup_guides/algorithm/select_algorithm","setup_guides/footprint/setup_footprint","setup_guides/index","setup_guides/odom/setup_odom","setup_guides/sensors/setup_sensors","setup_guides/transformation/setup_transforms","setup_guides/urdf/setup_urdf","tuning/index","tutorials/docs/adding_a_nav2_task_server","tutorials/docs/adding_smoother","tutorials/docs/camera_calibration","tutorials/docs/filtering_of_noise-induced_obstacles","tutorials/docs/get_backtrace","tutorials/docs/get_profile","tutorials/docs/integrating_vio","tutorials/docs/navigation2_dynamic_point_following","tutorials/docs/navigation2_on_real_turtlebot3","tutorials/docs/navigation2_with_gps","tutorials/docs/navigation2_with_keepout_filter","tutorials/docs/navigation2_with_slam","tutorials/docs/navigation2_with_speed_filter","tutorials/docs/navigation2_with_stvl","tutorials/docs/using_collision_monitor","tutorials/docs/using_groot","tutorials/docs/using_shim_controller","tutorials/index"],envversion:{"sphinx.domains.c":2,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":3,"sphinx.domains.index":1,"sphinx.domains.javascript":2,"sphinx.domains.math":2,"sphinx.domains.python":2,"sphinx.domains.rst":2,"sphinx.domains.std":2,sphinx:56},filenames:["2021summerOfCode/Summer_2021_Student_Program.rst","2021summerOfCode/projects/assisted_teleop.rst","2021summerOfCode/projects/create_configuration_assistant.rst","2021summerOfCode/projects/create_plugins.rst","2021summerOfCode/projects/dynamic.rst","2021summerOfCode/projects/grid_maps.rst","2021summerOfCode/projects/localization.rst","2021summerOfCode/projects/multithreading.rst","2021summerOfCode/projects/navigation_rebranding.rst","2021summerOfCode/projects/safety_node.rst","2021summerOfCode/projects/semantics.rst","2021summerOfCode/projects/spinners.rst","2021summerOfCode/projects/testing.rst","2021summerOfCode/projects/twist_n_config.rst","about/index.rst","about/related_projects.rst","about/robots.rst","behavior_trees/index.rst","behavior_trees/overview/detailed_behavior_tree_walkthrough.rst","behavior_trees/overview/nav2_specific_nodes.rst","behavior_trees/trees/follow_point.rst","behavior_trees/trees/nav_through_poses_recovery.rst","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst","behavior_trees/trees/nav_to_pose_recovery.rst","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst","behavior_trees/trees/odometry_calibration.rst","commander_api/index.rst","concepts/index.rst","configuration/index.rst","configuration/packages/bt-plugins/actions/AssistedTeleop.rst","configuration/packages/bt-plugins/actions/BackUp.rst","configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst","configuration/packages/bt-plugins/actions/CancelBackUp.rst","configuration/packages/bt-plugins/actions/CancelControl.rst","configuration/packages/bt-plugins/actions/CancelCoverage.rst","configuration/packages/bt-plugins/actions/CancelDriveOnHeading.rst","configuration/packages/bt-plugins/actions/CancelSpin.rst","configuration/packages/bt-plugins/actions/CancelWait.rst","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.rst","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.rst","configuration/packages/bt-plugins/actions/ClearEntireCostmap.rst","configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst","configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst","configuration/packages/bt-plugins/actions/ComputePathToPose.rst","configuration/packages/bt-plugins/actions/ControllerSelector.rst","configuration/packages/bt-plugins/actions/DriveOnHeading.rst","configuration/packages/bt-plugins/actions/FollowPath.rst","configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst","configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst","configuration/packages/bt-plugins/actions/NavigateToPose.rst","configuration/packages/bt-plugins/actions/PlannerSelector.rst","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.rst","configuration/packages/bt-plugins/actions/RemovePassedGoals.rst","configuration/packages/bt-plugins/actions/Smooth.rst","configuration/packages/bt-plugins/actions/SmootherSelector.rst","configuration/packages/bt-plugins/actions/Spin.rst","configuration/packages/bt-plugins/actions/TruncatePath.rst","configuration/packages/bt-plugins/actions/TruncatePathLocal.rst","configuration/packages/bt-plugins/actions/Wait.rst","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.rst","configuration/packages/bt-plugins/conditions/DistanceTraveled.rst","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst","configuration/packages/bt-plugins/conditions/GoalReached.rst","configuration/packages/bt-plugins/conditions/GoalUpdated.rst","configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst","configuration/packages/bt-plugins/conditions/IsBatteryCharging.rst","configuration/packages/bt-plugins/conditions/IsBatteryLow.rst","configuration/packages/bt-plugins/conditions/IsPathValid.rst","configuration/packages/bt-plugins/conditions/IsStuck.rst","configuration/packages/bt-plugins/conditions/PathExpiringTimer.rst","configuration/packages/bt-plugins/conditions/TimeExpired.rst","configuration/packages/bt-plugins/conditions/TransformAvailable.rst","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.rst","configuration/packages/bt-plugins/controls/PipelineSequence.rst","configuration/packages/bt-plugins/controls/RecoveryNode.rst","configuration/packages/bt-plugins/controls/RoundRobin.rst","configuration/packages/bt-plugins/decorators/DistanceController.rst","configuration/packages/bt-plugins/decorators/GoalUpdater.rst","configuration/packages/bt-plugins/decorators/PathLongerOnApproach.rst","configuration/packages/bt-plugins/decorators/RateController.rst","configuration/packages/bt-plugins/decorators/SingleTrigger.rst","configuration/packages/bt-plugins/decorators/SpeedController.rst","configuration/packages/collision_monitor/configuring-collision-detector-node.rst","configuration/packages/collision_monitor/configuring-collision-monitor-node.rst","configuration/packages/configuring-amcl.rst","configuration/packages/configuring-behavior-server.rst","configuration/packages/configuring-bt-navigator.rst","configuration/packages/configuring-bt-xml.rst","configuration/packages/configuring-collision-monitor.rst","configuration/packages/configuring-constrained-smoother.rst","configuration/packages/configuring-controller-server.rst","configuration/packages/configuring-costmaps.rst","configuration/packages/configuring-coverage-server.rst","configuration/packages/configuring-dwb-controller.rst","configuration/packages/configuring-graceful-motion-controller.rst","configuration/packages/configuring-lifecycle.rst","configuration/packages/configuring-map-server.rst","configuration/packages/configuring-mppic.rst","configuration/packages/configuring-navfn.rst","configuration/packages/configuring-planner-server.rst","configuration/packages/configuring-regulated-pp.rst","configuration/packages/configuring-rotation-shim-controller.rst","configuration/packages/configuring-savitzky-golay-smoother.rst","configuration/packages/configuring-simple-smoother.rst","configuration/packages/configuring-smac-planner.rst","configuration/packages/configuring-smoother-server.rst","configuration/packages/configuring-thetastar.rst","configuration/packages/configuring-velocity-smoother.rst","configuration/packages/configuring-waypoint-follower.rst","configuration/packages/costmap-plugins/binary_filter.rst","configuration/packages/costmap-plugins/denoise.rst","configuration/packages/costmap-plugins/inflation.rst","configuration/packages/costmap-plugins/keepout_filter.rst","configuration/packages/costmap-plugins/obstacle.rst","configuration/packages/costmap-plugins/range.rst","configuration/packages/costmap-plugins/speed_filter.rst","configuration/packages/costmap-plugins/static.rst","configuration/packages/costmap-plugins/voxel.rst","configuration/packages/dwb-params/controller.rst","configuration/packages/dwb-params/iterator.rst","configuration/packages/dwb-params/kinematic.rst","configuration/packages/dwb-params/visualization.rst","configuration/packages/dwb-plugins/limited_accel_generator.rst","configuration/packages/dwb-plugins/standard_traj_generator.rst","configuration/packages/nav2_controller-plugins/pose_progress_checker.rst","configuration/packages/nav2_controller-plugins/simple_goal_checker.rst","configuration/packages/nav2_controller-plugins/simple_progress_checker.rst","configuration/packages/nav2_controller-plugins/stopped_goal_checker.rst","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.rst","configuration/packages/smac/configuring-smac-2d.rst","configuration/packages/smac/configuring-smac-hybrid.rst","configuration/packages/smac/configuring-smac-lattice.rst","configuration/packages/trajectory_critics/base_obstacle.rst","configuration/packages/trajectory_critics/goal_align.rst","configuration/packages/trajectory_critics/goal_dist.rst","configuration/packages/trajectory_critics/obstacle_footprint.rst","configuration/packages/trajectory_critics/oscillation.rst","configuration/packages/trajectory_critics/path_align.rst","configuration/packages/trajectory_critics/path_dist.rst","configuration/packages/trajectory_critics/prefer_forward.rst","configuration/packages/trajectory_critics/rotate_to_goal.rst","configuration/packages/trajectory_critics/twirling.rst","development_guides/build_docs/build_troubleshooting_guide.rst","development_guides/build_docs/index.rst","development_guides/devcontainer_docs/devcontainer_guide.md","development_guides/devcontainer_docs/index.md","development_guides/index.rst","development_guides/involvement_docs/index.rst","getting_started/index.rst","index.rst","migration/Dashing.rst","migration/Eloquent.rst","migration/Foxy.rst","migration/Galactic.rst","migration/Humble.rst","migration/Iron.rst","migration/index.rst","plugin_tutorials/docs/writing_new_behavior_plugin.rst","plugin_tutorials/docs/writing_new_bt_plugin.rst","plugin_tutorials/docs/writing_new_costmap2d_plugin.rst","plugin_tutorials/docs/writing_new_nav2controller_plugin.rst","plugin_tutorials/docs/writing_new_nav2planner_plugin.rst","plugin_tutorials/docs/writing_new_navigator_plugin.rst","plugin_tutorials/index.rst","plugins/index.rst","roadmap/roadmap.rst","setup_guides/algorithm/select_algorithm.rst","setup_guides/footprint/setup_footprint.rst","setup_guides/index.rst","setup_guides/odom/setup_odom.rst","setup_guides/sensors/setup_sensors.rst","setup_guides/transformation/setup_transforms.rst","setup_guides/urdf/setup_urdf.rst","tuning/index.rst","tutorials/docs/adding_a_nav2_task_server.rst","tutorials/docs/adding_smoother.rst","tutorials/docs/camera_calibration.rst","tutorials/docs/filtering_of_noise-induced_obstacles.rst","tutorials/docs/get_backtrace.rst","tutorials/docs/get_profile.rst","tutorials/docs/integrating_vio.rst","tutorials/docs/navigation2_dynamic_point_following.rst","tutorials/docs/navigation2_on_real_turtlebot3.rst","tutorials/docs/navigation2_with_gps.rst","tutorials/docs/navigation2_with_keepout_filter.rst","tutorials/docs/navigation2_with_slam.rst","tutorials/docs/navigation2_with_speed_filter.rst","tutorials/docs/navigation2_with_stvl.rst","tutorials/docs/using_collision_monitor.rst","tutorials/docs/using_groot.rst","tutorials/docs/using_shim_controller.rst","tutorials/index.rst"],objects:{},objnames:{},objtypes:{},terms:{"000":[173,175],"000000":174,"0000008":173,"0000075":173,"0001":92,"000km":187,"001":[86,92,95,96,102,103,173,174,194],"002":173,"003":173,"005":86,"010":187,"015":[91,99,134,135,174],"015000":174,"022":174,"025":[18,21,23,26,30,45,89,95,125,176],"035":174,"047198":174,"048":191,"0508":174,"055":174,"05s":99,"092":173,"0_1602582820":131,"0x000055555555828b":182,"0x0000555555558e1d":182,"0x000055555555936c":182,"0x0000555555559cfc":182,"0x00007ffff79cc859":182,"0x00007ffff7c52951":182,"0x00007ffff7c553eb":182,"0x00007ffff7c5e47c":182,"0x00007ffff7c5e4e7":182,"0x00007ffff7c5e799":182,"0x5555555cfb40":182,"0x5555555cfdb0":182,"0x7fffffffc108":182,"100":[84,85,86,91,93,99,117,153,158,173,175,178,182,185,187,188,190,193],"1000":[88,99,105,133,134,135],"10000":[99,158,178],"100000":99,"1000000":[99,133,134,135],"10001":178,"10002":178,"1001":158,"10099":178,"100hz":18,"100m":[26,106,157],"101":[59,158,178,188],"1012":[87,88,92,101,107,110,159],"103":[156,175,187],"105":[27,153,173,175,187],"107":59,"1070":182,"1091":182,"10cm":[133,134,175],"10x":94,"113m":106,"119":59,"120000":174,"122":187,"124":163,"125":[133,174],"1263":156,"127":173,"128":176,"12th":173,"12thread":157,"130":174,"144m":106,"146m":106,"160":176,"161479":187,"161491":187,"161491054181276":187,"161587576524845":187,"164":176,"1660":155,"171":163,"177":187,"1780":155,"1784":155,"180":[84,85,187],"185":91,"1855":156,"1859":155,"188":[188,190],"1882":156,"195":171,"196":190,"199":[158,178],"1cm":187,"1ms":104,"1st":173,"200":[134,135,159,175,178],"2000":[86,99],"2000000":91,"2005":169,"200m":[106,157],"201":[158,178],"2011":96,"2020":153,"2021":[106,148,153,177,191],"2022":187,"2023":[26,85,102,153,184],"2024":153,"204":177,"20cm":175,"20hz":99,"20m":175,"20mm":180,"215":174,"2181":156,"2204":156,"2247":156,"2263":156,"2264":156,"2295":156,"22km":187,"2338":156,"2411":157,"243m":106,"2473":157,"2481":157,"2488":157,"254":174,"255":[93,163,188],"2567":158,"2569":157,"2591":157,"2592":157,"25hz":157,"2607":157,"2627":157,"2642":157,"2665":157,"2696":157,"2701":157,"2704":157,"2718":157,"2750":157,"2752":157,"2753":157,"2772":157,"2787":157,"280000":174,"2804":157,"2814":159,"2856":157,"2865":157,"2867":157,"2875":157,"2904":157,"292km":187,"2964":157,"2965":157,"2976":157,"2982":158,"299":[158,178],"2992":157,"2nd":173,"300":[99,177,178],"301":[158,178],"30hz":99,"3131":158,"3146":158,"3159":158,"3165":158,"3168":158,"3174":158,"3201":158,"3204":158,"3218":158,"3219":158,"3222":158,"3227":158,"3228":158,"3229":158,"3248":158,"325":[137,141],"3251":158,"3255":158,"3283":158,"32gb":157,"3320":158,"3324":158,"333":21,"3345":158,"3374":158,"3414":158,"3504":158,"3512":158,"3513":158,"3519":158,"3530":158,"3553":158,"3555":158,"3569":158,"3572":159,"3577":158,"360":174,"3612":159,"3693":159,"3704":159,"3708":159,"3785":159,"3787":159,"3825":159,"3866":159,"3871":159,"3880":159,"3911":159,"3914":159,"3950":159,"3962":159,"3965":159,"399":[158,178],"3rd":173,"4020":159,"4021":159,"40hz":9,"40x":[134,135],"413km":187,"4194":187,"454630":187,"4546443":187,"45464431092836":187,"4547994038464":187,"46m":108,"475km":187,"4789":187,"480":174,"488":187,"4th":99,"500":[86,178],"501":[158,178],"50m":157,"511km":187,"553km":187,"557":176,"570796":25,"599":[158,178],"5cm":[99,133,134],"5e3":91,"600":[26,157,178],"601":[158,178],"640":174,"65535":[158,178],"699":[158,178],"6core":157,"6th":85,"701":[158,178],"709":158,"70m":184,"710":158,"719":158,"720":158,"729":158,"730":158,"739":158,"785":[102,103,194],"785398":99,"799":178,"7x7":180,"7x9":180,"800":178,"801":[158,178],"816":157,"842000000":173,"8700":157,"8745":191,"899":178,"8x10":180,"900":[88,110],"901":158,"9900":178,"9901":178,"996":173,"9999":[158,178],"abstract":[5,11,27,157,158,193],"boolean":[27,111,158,168,174],"break":[105,156,158],"case":[1,6,12,18,19,21,27,29,30,45,51,55,65,84,85,94,96,99,102,104,117,120,127,129,133,134,135,148,153,155,156,159,161,162,163,164,166,168,171,173,174,175,176,178,181,182,183,184,185,186,187,188,190,192,193],"catch":[26,157],"char":163,"class":[27,85,86,88,153,155,156,157,158,159,161,162,163,164,165,166,176,177,191],"const":[157,161,162,164,166],"default":[15,17,18,19,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,66,70,71,72,73,74,76,78,79,80,81,83,84,85,86,88,91,94,95,96,97,98,99,100,102,103,104,105,107,108,109,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,152,154,155,157,162,163,166,168,170,171,173,174,177,180,181,184,185,187,188,192,193],"enum":[98,99,115,119,134,158,178],"export":[147,152,186,189,191,193],"final":[21,22,26,27,96,97,99,133,134,135,148,156,162,166,174,177,178,179,184,187,194],"float":[26,159],"function":[1,3,4,9,11,17,22,26,27,91,92,99,106,108,113,134,135,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,177,181,182,183,188,190,193],"gin\u00e9":153,"goto":[163,164,165,166],"i\u00f1igo":168,"import":[11,17,26,27,41,91,99,106,109,148,151,166,169,171,174,175,176,177,178,181,182,183,187,188,190,193,194],"int":[26,41,76,84,85,86,88,91,93,94,98,99,104,105,108,110,112,115,119,121,132,133,134,135,159,162,163,165,166,182],"long":[2,4,9,14,22,27,87,88,92,101,106,107,110,115,119,123,135,157,159,166,170,174,177,181,187],"mart\u00edn":[153,168],"new":[1,4,5,6,8,9,11,14,17,18,20,21,23,24,26,27,84,85,87,88,99,103,115,119,146,148,149,151,167,168,169,170,171,172,173,174,175,176,177,179,182,184,185,186,187,188,189,190,191,193,194,195],"public":[151,159,163,178,184,187],"r\u00f6smann":168,"return":[18,19,21,22,23,24,26,27,41,53,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,78,81,82,83,99,115,119,133,134,135,153,154,156,157,158,161,162,164,165,166,168,173,174,176,178,179,182,188,190],"short":[18,59,72,73,74,135,161,174,175,184,193],"static":[3,27,84,85,86,93,115,119,134,135,151,153,157,159,162,168,171,174,177,178,181,187,191,192],"switch":[26,85,99,111,148,149,155,156,157,158,159],"throw":[26,84,92,157,158,182],"transient":[21,23,24,44,47,50,54],"true":[8,19,26,27,29,41,53,55,66,84,85,86,87,88,91,92,93,94,95,96,97,99,100,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,152,156,157,158,159,161,162,163,164,165,166,171,173,174,176,177,178,179,181,183,184,187,188,189,190,191,192,194],"try":[18,20,21,23,24,26,85,94,97,99,109,110,134,135,146,148,152,154,175,176,182,185,188,193],"void":[41,157,162,164,166],"while":[7,9,13,18,21,23,24,26,88,97,99,102,104,114,134,144,147,148,149,156,157,158,162,166,170,171,173,174,177,178,179,181,182,184,186,187,188,192,193,194,195],ADE:149,Adding:[158,182,195],And:[17,18,153,159,175,176,179,180,181,188],Are:[115,119,168],Axes:176,BTs:[18,19,168,178,193],BUT:18,DDS:[11,148],For:[0,14,18,19,27,84,85,86,87,88,92,93,94,95,96,99,101,102,103,104,106,107,108,110,111,114,117,131,134,135,147,148,149,151,152,156,157,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,181,182,184,185,187,188,189,190,191,192,194],GPS:[15,27,41,94,110,168,173,174,184,195],IDE:[149,182],IDEs:[149,182],IDs:[41,166],Its:[99,166,176,181,184],LTS:152,NOT:[115,119],Near:17,Not:[57,99,153,177],One:[27,170,173,176,187],PMs:151,PRs:[13,151,157,158],QoS:[44,47,50,54,118,156,174,184],ROS:[0,1,2,3,4,6,7,8,9,10,12,13,14,15,19,21,23,24,26,29,30,41,42,43,45,46,48,49,55,58,85,94,95,98,106,146,147,148,149,151,152,153,154,155,156,157,159,161,162,163,164,165,166,168,169,170,172,173,174,175,176,177,178,179,180,181,186,188,189,190,191,192,193,194,195],SMS:[27,161],Such:148,TLS:191,That:[19,27,134,151,156,157,170,171],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,48,49,50,52,53,54,56,57,59,60,62,69,70,72,73,74,76,78,79,81,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,117,131,133,134,135,146,147,148,151,153,154,155,156,157,158,161,162,163,164,165,166,168,170,171,172,173,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],Then:[7,19,156,162,163,164,165,166,173,174,182,183,186],There:[3,14,18,19,27,98,99,146,147,151,154,156,157,163,168,170,174,175,182,187,188,194],These:[17,18,27,99,148,153,154,155,156,157,158,162,163,164,166,170,172,173,174,175,176,177,178,179,182,183,184,187,188,190,193],Use:[27,88,91,173,181,184,185,188,190],Used:[31,32,33,34,35,36,37,51,84,85,88,111,114,117,177,187],Useful:[71,91,177],Uses:168,Using:[14,84,85,99,103,149,157,168,173,174,177,182,183,195],Will:[19,53,85,168],With:[14,17,27,134,175,187,191],Yes:[161,162,163,164,165,166],__cxa_throw:182,__gi_abort:182,__gi_rais:182,__n:182,__node:[182,183],_config:173,_costmap:[156,191],_differenti:184,_from_numb:161,_joint:176,_link:176,_m_range_check:182,_nav:177,_to_numb:161,_twilio:161,abi:[99,148],abil:[6,7,27,85,99,158,159,192],abl:[0,5,9,14,18,19,157,158,161,162,164,165,166,168,171,173,174,175,177,182,183,184,187,193],abort:[93,156,162,182],about:[4,7,9,11,21,22,23,24,27,84,111,114,117,146,147,148,149,151,153,156,158,159,161,162,163,165,166,173,174,175,176,177,181,182,183,184,186,187,190,193],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,83,99,108,116,135,147,154,156,161,164,165,166,170,173,174,175,176,177,178,181,182,183,187,188,189,190,191,193,194],abrupt:27,abs:164,absolut:[48,49,98,117,155,159,164,173,176,182,184,187,188,190],absurdli:99,academ:6,acc_lim_i:[95,122],acc_lim_theta:[95,122],acc_lim_x:[95,122],accel:173,acceler:[87,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,26,62,86,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,27,85,92,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:91,accomplish:[8,161,168,173,176,182],accord:[27,98,173,174,187,188,190],accordingli:[9,85,187,188,190],account:[27,84,85,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,27,84,85,156,173,177,184,187],accuraci:[25,85,154,184,187],achiev:[11,91,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:88,acquir:27,across:[17,27,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,27,133,155,156,172,174,176,188,192,194],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,53,55,58,76,78,79,80,81,84,85,87,88,92,93,94,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,192,193],action_a:19,action_b:19,action_c:19,action_nam:162,action_server_result_timeout:[87,88,92,94,101,107,110,159],action_typ:[84,85,159,192],actionnod:19,actionnodebas:162,actiont:166,activ:[12,26,27,59,72,73,74,85,87,88,92,94,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[18,53,85,91,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,27,86,102,156,168,174,175,176],add:[0,2,8,75,76,77,78,79,80,81,82,83,85,91,92,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,21,23,24,88,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,41,86,134,135,148,157,158,173,174,176,178,181,184,187,188,190,192],addit:[3,11,19,21,22,23,24,27,41,84,85,88,90,134,147,148,156,157,158,162,166,170,173,174,176,177,182,183,184,187,192],addition:[0,11,27,85,148,149,154,155,156,159,166,187,192],address:[31,32,33,34,35,36,37,41,42,43,46,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,27,28,41,78,81,83,85,87,88,92,93,99,101,107,109,110,134,153,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,27,134,169,177],advantag:[12,27,158,194],advic:[170,177],advis:[21,23,24,27,173],affect:[84,90,156,157,159,176],aforement:99,after:[2,10,20,21,23,24,26,27,85,86,88,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[18,19,20,22,76,146,148,152,154,169,173,176],against:[59,72,73,74,135,158,159,177,192],agent:[85,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[85,134],agre:151,agreement:151,ahead:[87,99,102,124,125,137,141],aid:[2,22],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[27,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[84,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,91,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:27,align:[96,120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,75,85,86,87,88,94,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[27,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,80,85,86,87,88,94,96,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190,192],allow_backward:96,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:[14,26,27,57,67,83,96,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[159,166,177],alot:[99,184],alpha1:86,alpha2:86,alpha3:86,alpha4:86,alpha5:86,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,84,85,86,87,89,92,93,94,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,22,27,57,148,149,156,159,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,20,71,84,85,97,109,135,146,156,157,176,177,187,188,192,194],always_on:[173,174,187],always_reset_initial_pos:86,always_send_full_costmap:[93,159,174],alwayson:174,ambigu:102,amcl:[6,7,26,27,28,51,64,152,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151,america:187,among:[27,108,170,177,181],amongst:176,amount:[93,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[21,23,24],amr:184,analog:[8,85,156,158,159,162,182,194],analysi:[7,27,151,153,183],analyt:[134,135,156,157,159],analytic_expansion_max_cost:[134,135,159],analytic_expansion_max_cost_overrid:[134,135,159],analytic_expansion_max_length:[134,135,157,159],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,26,27,162,183],andrei:168,angl:[26,27,55,84,85,94,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[57,85,94,96,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,192,194],angular_dist_threshold:[103,194],angular_distance_weight:57,angular_granular:[95,125],angular_limit:[85,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,52,54,59,61,75,84,85,92,97,99,102,105,106,108,114,115,119,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[27,94,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,20,21,23,26,27,59,84,87,88,92,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[20,27,84,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[22,194],apex:149,api:[17,27,53,153,154,156,161,163,166,174,179,187],appear:[85,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,27,85,96,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,57,84,85,87,88,91,92,99,101,107,110,146,148,153,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[27,151],approach:[22,27,80,85,95,99,100,102,106,108,133,134,135,153,156,158,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,18,92,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approri:[159,192],approv:[3,151],approxim:[85,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[27,85,106,149,168,170,172,177],arbitrarili:153,arc:[84,85,96,174],architectur:[11,156,184],area:[3,7,27,38,39,85,93,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[89,158],arg:[147,180,182,183,192],argc:182,argument:[26,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,18,22,27,38,57,80,84,85,91,93,96,99,102,113,151,156,168,174,175,176,177,180,187,189,194],arrai:[91,134,135],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,arxiv:153,as_str:166,asid:[173,174],ask:[0,3,27,151,163,182,193],asla:14,aspect:[19,148,149,179,180],assembl:193,assess:177,asset:182,assign:[27,53,57,91],assist:[0,26,29,151,168,177],assisted_teleop:[31,87],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,89,157,158,168],associ:[27,158,173,174,175],assum:[18,19,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:91,async_slam_toolbox_nod:174,asynchron:[18,19,27,155],ata:[131,168],atom:13,attach:[27,93,151,171,173,174,175,178],attempt:[1,18,20,21,23,24,27,80,97,98,99,105,112,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[27,99,177],attest:151,attract:99,attribut:[99,158,188],augment:[187,195],auth_token:161,author:[149,151,153],auto:[148,164,166],auto_start:186,autom:[147,148,149],automat:[17,27,94,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,26,27,99,102,153,156,184,187],autonomi:[1,26,27,154,157,158,178,187,193],autostart:[26,97,152,177,178,186,188,190],auxiliari:26,avail:[5,9,26,27,71,84,85,93,94,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[84,85,86,108],avoid:[1,27,85,87,88,90,91,92,93,99,101,107,110,114,116,135,148,153,156,157,159,163,170,171,173,174,175,176,177,192],awai:[20,91,96,99,103,133,158,174,177,180,193,194],awar:[21,23,24,91,99,106,108,133,134,135,153,156,174,177],awkward:[99,177],axes:109,axi:[26,109,163,176,187],back:[1,9,21,23,24,26,27,30,91,94,99,103,111,135,151,153,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:87,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,18,19,21,22,23,24,26,32,89,154,157,158,161,168],backup_dist:[18,21,22,23,24,26,30,89,156],backup_error_cod:30,backup_serv:[30,45],backup_spe:[18,21,22,23,24,26,30,89,156],backward:[57,96,120,140,143,156,158,159,182,192],backward_ro:182,bad:[21,23,24,27,86,161,184],bake:177,balanc:[99,105],ball:27,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,18,20,27,52,57,60,62,78,83,84,85,86,87,88,91,93,96,98,99,104,106,107,111,114,117,126,134,135,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,163,164,165,166],base_footprint:[84,85,86,176,187,192],base_frame_id:[84,85,86,192],base_height:176,base_joint:[176,187],base_las:175,base_laser2:175,base_length:176,base_link:[27,52,57,60,62,71,78,87,88,93,104,105,107,161,162,163,166,171,173,174,175,176,179,184,187],base_link_fram:[173,187],base_shift_correct:[84,85],base_width:176,baselin:[99,134,174],baseobstacl:95,baseobstaclecrit:95,bash:[146,147,148,152,163,171,173,174,176,186,188,189,190],bashrc:[146,148],basi:[5,99,177],basic:[4,5,17,18,26,27,135,154,156,157,163,166,170,171,172,173,174,175,182,184,191],basic_class_typ:163,basicnavig:[26,157,187],basket:26,batch:99,batch_siz:99,batteri:[18,19,27,65,66,157,158,168,185],battery_statu:[65,66],battery_top:[65,66],batteryst:[65,66],beam:86,beam_skip_dist:86,beam_skip_error_threshold:86,beam_skip_threshold:86,beamskip:86,beauti:182,becam:156,becaus:[22,27,97,99,148,149,151,156,159,161,173,175,177,182,183,186,187,193,194],becom:[4,11,17,18,27,93,97,99,108,154,157,159,173,175,176,184],been:[4,6,14,18,19,21,23,24,27,52,60,84,87,88,90,92,99,101,106,107,110,148,151,155,156,157,158,159,163,164,165,168,171,174,175,176,177,183,187,191,192],befor:[5,11,18,21,22,23,24,25,27,44,47,50,54,60,76,78,80,85,86,92,94,96,98,99,105,114,115,119,130,133,134,135,143,148,149,154,155,156,157,159,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,183,186,187,188,189,190,191,193,194],beforehand:[11,187],begin:[134,135,157,159,164,166,173,176,178,194],beginn:[176,182],behalf:151,behav:[96,157],behavior:[1,2,3,11,19,20,21,22,23,24,25,28,29,30,31,32,35,36,37,44,45,47,48,49,50,55,58,60,62,75,76,77,80,84,85,99,102,103,106,110,133,134,148,153,154,164,166,167,170,173,178,179,187,191,194,195],behavior_plugin:[87,157,161],behavior_serv:[87,97,157,161,178],behavior_tre:[18,26,48,49,88,155,159,166,193],behaviortre:[17,18,19,20,21,22,23,24,25,27,61,89,153,162,168,185,193],behaviortreeengin:159,behaviortreenavig:[88,158,166],behaviour:[155,156,190],behavor:156,behind:[157,190],being:[0,6,8,11,18,21,23,24,27,55,85,91,98,99,111,117,134,135,148,155,156,159,164,166,170,171,173,174,177,178,182,187,188,190,192],believ:[19,184],belong:[27,117,156,188,190],below:[0,4,9,11,13,16,17,18,19,22,26,27,66,83,85,88,90,92,95,99,103,104,106,108,110,115,116,119,129,144,151,153,156,157,158,161,162,163,164,165,166,168,171,173,174,175,176,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194],belt:182,benchmark:[4,7,11],benefici:[2,27,99,114,166,182],benefit:[7,148,177],benign:149,benjamin:96,berth:177,bespok:157,best:[6,8,11,27,28,85,99,120,133,134,135,148,151,157,158,170,174,175,177,181,182,184,188,191],beta:96,better:[21,23,24,27,84,85,92,102,108,109,134,148,156,157,159,174,177,178,183,190,194],between:[18,26,27,41,84,85,86,89,94,99,100,104,108,133,134,135,148,149,155,156,157,158,159,160,166,170,171,173,174,175,176,177,184,187,188,193,194],bewar:158,beyond:[152,162,177,190],bezier:91,bias_mean:173,bias_stddev:173,bidirect:159,big:[18,187],bigger:96,bin:[134,135,157],binari:[27,93,98,133,152,158,161,162,164,165,166,168,177,191],binary_filt:111,binary_st:111,binary_state_top:111,binaryfilt:[111,177],bind:[91,166],bing:187,bit:[18,157,177,182,187],black:[174,179,181,188],blackboard:[17,41,42,43,46,48,49,53,61,62,63,80,88,157,158,162,166,178,179,193],blacker:188,blanco:168,blank:165,blasco:168,blib:184,blind:[102,156],blink:84,blob:[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],block:[12,13,26,27,85,146,157,163,165,173,176,177,191,194],blocki:135,blog:8,blue:[187,193],blur:184,bmp:[188,190],board:[27,180],bodi:162,bog:182,bogu:[98,184],boiler:161,boilerpl:[161,166,172],bond:[97,155,174],bond_client_node_:157,bond_respawn_max_dur:97,bond_timeout:[97,156,178],bond_timeout_m:156,book:27,booker:153,bookkeep:[87,88,92,101,107,110],booktitl:153,bool:[41,53,55,84,85,86,87,88,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,136,139,156,161,166],both:[1,7,11,18,21,22,23,24,26,27,41,84,85,102,106,153,156,157,159,162,166,170,171,173,174,176,177,181,182,183,184,188,189,190,191,192,194],bottleneck:183,bottom:[152,171,174,180,182,183,186],bounc:184,bound:[9,57,85,96,102,105,133,134,135,157,163,192],boundari:[157,190],boustrophedon:94,box:[1,9,27,85,110,157,158,171,173,174,176,177,184,191,192,193],box_inertia:[173,176],bpwilcox:14,branch:[5,13,22,134,135,146,147,148,151,157,179],breakdown:177,breakpoint:182,breez:176,breviti:[161,194],brian:[14,168],brief:[106,157,173,174,175,176],briefli:149,bring:[26,85,97,157,159,176,187,189],bringup:[26,27,97,147,152,157,158,163,170,172,174,177,178,192],bringup_launch:186,broad:[2,7,172,177],broadcast:[173,187],broadcast_utm_transform:187,broader:184,broadli:[134,184,187],broken:18,brother:161,brought:153,brows:193,browser:[147,149],brute_forc:94,bsd:151,bt_action_server_:166,bt_loop_dur:88,bt_navig:[26,48,49,60,62,88,97,155,158,159,162,166,178],bt_plugin:[155,156],bt_register_nod:162,bt_xml_filenam:166,btactionnod:162,btstatu:166,budyakov:168,buffer:[27,87,93,107,109,115,119,161,164,165,184,191],bug:[14,151,169,187],buggi:193,build:[1,5,7,10,14,17,18,26,27,149,150,152,153,157,158,161,162,163,164,165,166,175,181,182,183,185,187,188,190,191,192],build_test:176,build_typ:[161,164,165,166],builder:[148,162],buildtool_depend:176,buildx:148,built:[11,148,151,163,171,172,173,174,176,177,180,181,182,187,188,189,190,191,192,194],builtin_interfac:178,bulldoz:27,bunch:146,burden:177,busi:27,button:[152,158,163,164,165,166,171,174,180,185,186,187],bypass:[85,90,188],c_str:[165,166],cach:[94,134,135,147,148,157],cache_obstacle_heurist:[134,135,177],cachefrom:148,calcul:[18,26,84,85,111,157,163,164,165,173,181,187],calendar:151,calib_cb_fast_check:180,calibr:[17,187,195],calibrationdata:180,call:[26,27,38,39,40,85,92,101,134,135,140,151,152,154,155,156,157,158,159,161,162,163,164,165,166,168,175,176,177,178,179,182,183,187,188],callabl:163,callback:[11,13,27,156,166],callback_group:157,caller:[21,23,24],callgrind:183,came:156,camera:[27,111,131,158,174,177,191,195],camera_calibr:180,camera_depth_fram:174,camera_depth_joint:174,camera_image_topic_nam:131,camera_joint:174,camera_link:[174,175],camera_nam:180,camera_odom:184,cameracalibr:180,can:[0,1,3,4,5,6,7,8,11,13,14,17,18,19,21,22,23,24,25,26,27,28,31,32,33,34,35,36,37,41,42,43,46,76,78,79,81,83,84,85,86,88,89,90,91,92,93,94,96,98,99,102,103,104,106,108,109,110,115,119,134,135,146,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],cancel:[20,22,26,31,32,33,34,35,36,37,152,162,166,168,185],cancelassistedteleop:[89,157],cancelbackup:89,cancelcontrol:[22,89,157],cancelcoverag:89,canceldriveonhead:89,cancelingcontrolandwait:22,cancelnav:157,cancelspin:89,canceltask:26,cancelwait:89,candid:[1,7,94,99,151,170],cannot:[27,71,99,102,109,134,135,140,156,158,166,177,178,187,191,193],canon:27,capabl:[4,7,10,15,26,148,149,153,156,159,169,174,184,185,187,194],captur:[27,157,170,183,184],car:[106,153,156,168,171,177],cardin:187,care:[99,134],career:11,carefulli:[170,184],carl:[14,168],carlo:[6,27,86,174],carri:[27,155,156,157,165,185],carrot:20,cart:4,cartesian:[27,41,94,99,159,168,187],cartograph:154,cast:7,caster:176,caster_joint:176,caster_xoff:176,catchi:8,categori:170,cater:157,cati:185,caus:[22,30,45,84,85,86,99,134,135,152,157,177,181,184,188,190],caution:[149,181],ccach:[147,148],ccw:25,ceas:85,cell:[26,27,108,112,113,115,116,119,134,157,163,170,171,174,176,181,188,190],center:[18,27,38,39,94,99,114,133,134,135,157,161,171,175,176,180,186,187],central:[27,187],cere:91,cerescostawaresmooth:[107,179],certain:[19,155,157,163,170,172,174,185],certainli:[159,184],certif:[85,150],certifi:[9,85,151],chain:[187,190,192],challeng:27,chanc:[1,7,9,19,157],chang:[6,11,12,13,14,17,18,21,23,24,26,27,61,63,75,85,87,88,91,92,93,94,96,99,101,105,107,109,110,127,129,133,134,135,137,141,148,151,152,155,163,164,166,169,171,173,174,177,182,184,185,186,187,188,190,191,192,193],change_penalti:[134,135],changemap:26,channel:[134,151],chao:151,chapter:[27,188,190],charact:104,characterist:[4,12,105,173],charg:[27,65,158,168,170],charger:27,charuco:180,chassi:[175,176],chat:151,check:[0,7,9,11,14,18,19,22,26,27,52,53,59,61,62,63,65,66,67,69,71,72,73,74,80,84,85,87,88,89,91,92,93,99,102,103,107,110,113,114,126,127,128,129,140,146,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,173,174,175,177,180,181,182,186,187,188,190,192,194],check_for_collis:[26,53],checker:[17,46,92,120,154,161,194],checkerboard:180,checklist:172,checkout:[102,147,184],chessboard:180,child:[18,19,22,71,75,76,78,81,82,83,157,168,173,174,175,176,187],child_frame_id:173,children:[18,19,22,75,76,77,80,168,183],chip:177,choic:[10,26,27,177,178,184,189],choos:[108,148,149,152,166,171,175,177,181,182,187,190],chosen:[26,27,148,158,190],christoph:168,chronicl:148,chug:182,cilqr:3,circl:[19,27,84,85,177,180,192],circular:[27,93,99,106,113,153,159,170,171,176,177],cite:[102,153],citizen:191,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:151,class_list_macro:[161,163,164,165,166],classic:177,classification2d:174,classification3d:174,clavero:153,clean:[27,94,99,148,155,157,159,161,164,165,166,177],cleaner:176,cleaningup:178,cleanli:[27,97,166,177,183],cleanup:[161,164,165,166,178],clear:[18,19,21,22,23,24,26,27,38,39,40,93,115,116,119,151,156,157,158,165,168,174,177,180,184,191],clear_after_read:191,clear_around_:156,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,89,162],clear_entirely_local_costmap:[18,21,22,23,24,40,89,162],clear_except_:156,clear_except_local_costmap:39,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:26,cleararoundrobot:157,clearcostmaparoundrobot:89,clearcostmapexceptregion:89,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,89,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[18,21,22,23,24,26,89,162],clearing_endpoint:156,clearingact:[18,21,22,23,24,89],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,89,162],clever:182,cli:[27,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[19,27,94,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clockwis:192,clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[22,27,52,80,84,85,93,99,102,109,135,138,144,148,156,157,159,164,171,177,187,192],closed_loop:109,closer:[56,99,134,158,159],closest:[57,96,102,120],closur:184,cloud:[7,27,148,149,152,155],cluster:177,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:[13,84,85,159,164,173,183,192],cmd_vel_in_top:[85,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[85,192],cmd_vel_raw:85,cmd_vel_smooth:[85,192],cmd_vel_teleop:87,code:[5,6,15,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[85,92,109,151,159],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:[26,172,174,177,183,184],collid:[4,9,171],collis:[1,7,9,27,28,29,53,87,91,93,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:84,collision_detector_st:[84,159],collision_margin_dist:99,collision_monitor:[85,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:85,collisionmonitor:158,color:[8,91,131,174,176,177,181,188,190,191],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:[27,93,134,137,138,141,142,156,189],combination_method:[93,115,119,159,191],come:[8,13,14,27,94,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,22,29,44,47,50,54,79,85,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[27,151,187],commit:[148,151,169,180],common:[18,26,27,85,99,148,149,153,156,157,166,173,184,187,192],commonli:[19,44,47,50,54,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[27,59,72,73,74,85,88,91,106,158],comparison:153,compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,22,26,27,34,53,85,94,96,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[27,88,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,41,75,76,77,78,79,80,81,82,83,99,108,109,143,156,157,172,176,178,184,188,190],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:[13,153,176],comput:[7,17,18,19,20,21,27,41,42,43,94,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[27,119,157],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[42,43,88,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:73,computeandpublishveloc:156,computeandsmoothpath:179,computecoverag:41,computecoveragepath:89,computepaththroughpos:[21,89],computepaththroughposesrecoveryfallback:21,computepathtopos:[17,18,19,20,22,23,24,50,52,78,81,83,89,162,166,179,185],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,23,89],computevelocitycommand:[92,164],concaten:156,concept:[7,18,19,153,156,170,174,175,178,188,190,193],conceptu:175,concern:[149,151,157],conclus:22,concret:175,condit:[12,18,21,23,24,27,29,30,45,55,67,68,71,105,148,157,158,162,168,173,176,184,187,193,194],conditionnod:162,conduct:153,conf:[85,92,109,159,162],confer:153,config:[148,149,171,173,174,176,182,187,189],configur:[0,1,14,16,17,18,19,26,27,44,47,50,54,60,84,85,90,91,92,93,97,98,99,106,111,114,117,147,148,149,153,154,155,157,158,159,161,162,164,165,166,168,172,176,177,178,179,181,182,184,185,186,187,189,191,193],configured_param:[178,188,190,192],confin:[99,134,148,159,171],confirm:[171,174,180,187],conflict:155,conform:153,confort:159,confus:19,conjunct:[26,99],connect:[14,19,27,94,97,100,108,112,133,148,149,155,156,157,168,170,173,174,175,176,181,187,193],connector:[41,184],consequ:22,consid:[3,14,18,29,30,45,55,84,85,86,88,89,93,99,129,134,135,144,151,155,156,158,159,161,162,164,165,166,168,170,177,178,184,187,188,192],consider:[4,99,177],consider_footprint:99,consist:[8,17,99,149,151,156,157,168,173,174,175,177,178,187,193],consol:192,constant:[19,94,96,102,164,176,177],constantli:[155,157],constrain:[28,105,156,168,177],constrainedsmooth:[91,157],constraint:[21,103,109,135,156,157,159,166,168,170,177,194],constraintcrit:99,construct:[27,151,157],constructor:[26,27,157,159,162],constsharedptr:166,consult:14,consum:[9,157],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,151,153,177,178],contain:[9,11,17,21,23,24,27,46,49,90,99,106,109,115,119,134,135,150,154,155,156,157,158,159,161,163,164,165,166,168,173,174,176,177,178,179,180,182,184,188,190,192,194],container:148,containeris:148,content:[149,171,172,174,176],context:[11,13,18,19,21,22,23,24,89,147,162,168,193],contextu:[17,18,21,23,24,153,158],continu:[1,12,18,19,20,21,22,23,24,27,94,99,110,132,134,135,149,151,152,153,154,155,156,157,158,166,173,176,177,184,187,189,192],contractor:14,contrast:[157,187],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,94,134,151,159,174,177,178],contributor:[14,151],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,56,57,72,73,74,76,77,78,79,83,85,93,102,106,109,117,119,121,122,123,124,125,126,127,128,129,135,136,137,138,139,140,141,142,143,144,145,153,154,155,161,162,163,166,167,169,171,172,173,176,178,179,182,183,184,185,186,189,190,191,192,193,195],controlcancel:22,controller_frequ:[92,95,96,99,102,103,194],controller_id:[18,20,21,22,23,24,26,44,46,89,156,162,185],controller_pati:156,controller_plugin:[92,95,96,102,103,155,164,170,194],controller_plugin_id:[120,121,122,123,124,125,136,137,138,139,140,143,144,145],controller_selector:44,controller_serv:[22,92,95,96,97,99,102,103,155,156,157,159,164,170,178,183,190,194],controllerselector:[21,23,24,89,156],controllerserv:157,controlnod:162,conveni:[149,159,184,190],convent:[21,23,24,27,174,175,178,187],converg:[86,91,96,99,187],convers:[26,98,151,188,190],convert:[0,27,94,99,110,117,134,135,153,154,156,165,175,187,188,190],convert_typ:[188,190],convex:99,cooper:2,coordin:[5,26,27,41,86,93,94,110,157,173,175,176,184,185,187],coordinates_in_cartesian_fram:94,cope:187,copi:[157,171,173,174,176,179,182,188,190,191],copyright:151,core:[7,17,27,158,178,179],corner:[102,152,156,180,188,193],corpor:14,correct:[27,84,85,146,148,151,157,173,174,176,186,188,190,192],correctli:[19,27,152,156,157,171,173,174,175,187,188,190,192],correl:148,correspond:[27,41,80,84,85,88,99,100,108,111,112,113,114,115,116,117,118,119,133,134,135,156,157,161,162,163,174,175,181,187,190],correspont:188,corridor:[99,170,177],cost:[9,18,26,27,84,85,87,91,93,102,106,108,113,114,123,133,134,135,148,153,156,157,163,168,174,177,181],cost_check_point:91,cost_cloud:156,cost_penalti:[134,135],cost_pow:99,cost_scaling_factor:[93,99,108,113,163,174],cost_travel_multipli:133,cost_weight:99,costamp2d:188,costcrit:[99,159],costli:27,costmap2d:[146,159,167,168,181,188,190],costmap2dro:[157,164],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,85,87,90,91,92,96,101,102,107,108,111,112,113,114,115,116,117,118,119,133,134,135,136,139,153,154,157,163,164,165,170,171,177,181,187,195],costmap_2d:[5,159,163,174],costmap_2d_cloud:156,costmap_2d_ro:118,costmap_:[163,165],costmap_filter_info:[98,111,114,117,188,190],costmap_filter_info_serv:[98,188,190],costmap_filters_demo_dir:[188,190],costmap_raw:[87,104,105,107,161,179],costmap_ro:[157,164,165],costmap_ros_:164,costmap_top:[104,105,107,161,179],costmapfilt:156,costmapfilterinfo:[111,114,117,188,190],costmapinfotyp:158,costmapsubscrib:159,could:[1,2,3,6,7,9,10,20,27,84,85,92,108,148,149,155,156,157,158,162,163,164,168,175,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[29,106,157,162,166,173,192],counterpart:177,coupl:[26,184,194],cours:[5,11,148,176,184],cov_path:41,covari:[86,187],cover:[2,27,85,116,151,156,159,170,177,178,182,187,188,190,192],coverag:[3,4,6,12,17,27,28,34,41,153,159,166,168,169,177,178],coverage_path:41,coverage_serv:94,coveragenavig:[41,88,168],cpp:[18,27,153,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,85,148,157,177,178,184],crash:[27,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,77,80,85,93,94,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[27,127,129,144,151,157,168],criterion:91,critic:[1,7,9,27,120,134,135,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_cost:99,critical_weight:99,cross:[146,148,153,170,171],crowd:[21,23,24,170],crtl:[148,149],crux:18,ctrl:148,cube:[171,174],cubic:91,cuda:7,cull:[21,52,168],current:[3,9,11,12,14,18,19,24,26,27,45,52,57,61,78,81,83,84,85,94,99,101,102,103,109,110,111,114,116,117,135,147,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[94,96,108,163,177],curvatur:[91,94,96,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[91,99,102],cusp_zone_length:91,custom:[10,17,18,19,21,23,24,26,27,56,57,77,79,86,87,88,94,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:[153,158],cut:[134,135],cxprime:174,cyan:[91,176],cycl:[22,84,85,102,134,135,157,161],cycle_frequ:[87,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,85],damag:109,danc:187,danger:[91,153,192],dark:188,darker:190,dash:[152,160],data:[1,4,7,9,10,26,27,84,85,87,88,90,92,99,105,109,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,177,178,180,183,184,187,188,190,191,192],data_typ:[93,115,119,174,191],dataset:184,date:[84,85,86,111,114,117,151,154],datum:187,david:[14,95,168],dcmake_build_typ:183,dco:150,deactiv:[27,97,161,164,165,166,178],dead:27,deadband:[109,157],deadband_veloc:109,deadlin:[85,87,88,92,101,107,109,110,159],deal:[7,27,173,175,177],dealloc:27,dealt:18,debug:[27,91,99,119,120,123,134,135,148,158,182,183],debug_optim:91,debug_trajectory_detail:[95,120,164],debug_visu:[134,135,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[86,99,113,168,174,177],decay_acceler:191,decay_model:191,decel_lim_i:[95,122],decel_lim_theta:[95,122],decel_lim_x:[95,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[22,86,159,175,176,178],decis:[171,187],declar:[60,62,148,151,156,159,161,163,164,165,188,190],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:[18,20,22,157,162,168,185,193],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_:94,default_allow_overlap:94,default_bt_xml_filenam:[88,155,162,166,185],default_control:44,default_critic_namespac:120,default_custom_ord:94,default_goal_check:47,default_headland_typ:94,default_headland_width:94,default_model_path:[173,176],default_nav_through_poses_bt_xml:[88,166],default_nav_to_pose_bt_xml:[88,159,166],default_offset:94,default_path_continuity_typ:94,default_path_typ:94,default_plann:50,default_route_typ:94,default_rviz_config_path:176,default_server_timeout:88,default_smooth:54,default_spiral_n:94,default_st:111,default_step_angl:94,default_swath_angl:94,default_swath_angle_typ:94,default_swath_typ:94,default_turn_point_dist:94,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,18,26,27,41,44,47,50,54,59,60,62,80,84,85,87,88,92,93,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,153,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[27,46,53,88,158,161,163,166,173,174,176,178],deg:[94,99],degrad:[134,135,187],degre:[11,25,84,85,134,156,159,187],delai:[84,85,187],delet:[157,173],deliv:26,deliveri:1,deloc:51,delsei:[14,168],delta:108,demand:[27,164,165,187],demo:[8,10,22,27,157,159,171,178,187,188,190],demo_inspect:26,demo_pick:26,demo_secur:26,demonstr:[4,10,26,85,147,157,159,163,187,191,192],deni:166,denois:[93,168],denoise_lay:[112,181],denoiselay:[112,177,181],denot:[174,182],dens:[26,135],dense_qr:91,densiti:[86,94,99],depend:[18,27,85,96,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[22,91],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,91,156,157],depth:[27,85,93,115,119,168,170,174,175,176,177,184,191],depth_camera:174,depth_camera_control:174,deriv:[85,149,161,163,173,176,187],descent:[104,157],describ:[18,19,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,26,27,90,99,104,106,156,158,163,177,181,188,190,192,193],desir:[84,85,99,102,131,134,135,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[26,27,62,152,173,174,176],destroi:148,destroynod:26,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,88,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,27,53,57,84,85,90,91,102,148,159,171,173,174,177,180,185],detection2d:174,detection3d:174,detector:[27,90,185],detectron2:4,determin:[0,68,96,110,120,131,159,166,170,176,181,182,183,192],determinist:[11,27,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,21,23,24,27,85,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[86,99,109,159,177],devic:[148,177,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[19,20,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[91,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,17,18,19,21,22,23,24,27,61,84,85,89,94,96,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,159,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,192,193,194],differenti:[8,86,96,99,103,106,108,153,156,157,159,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:86,difficult:[27,103,157,177,194],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:[4,57,85,91,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],direction_end_angl:[85,192],direction_start_angl:[85,192],directli:[27,94,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[84,85,86,92,133,134,135,157,158,177,180,184],disable_calib_cb_fast_check:180,disagre:86,disappear:85,discard:[87,88,92,101,107,110,112,157,159,181],discontinu:[94,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[27,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,19,27,88,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:27,displac:[30,45],displai:[2,84,101,134,135,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[26,134,135,180],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,55,56,57,60,62,78,86,87,91,94,96,99,102,103,120,125,134,135,140,154,155,156,159,164,168,170,173,174,175,177,185,194],distance_backward:57,distance_forward:57,distance_remain:[156,166],distancecontrol:[17,18,89,91,155],distancetravel:89,distancetraveledcondit:155,distant:57,distinct:[27,175],distinguish:41,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:86,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[17,18,27,87,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,18,22,27,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,19,21,22,23,24,84,85,90,99,114,116,134,135,147,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[75,133,156,157,161,177,184,188],dog:184,doing:[26,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,18,19,27,85,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:17,dot:[159,187],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,52,53,55,56,57,58,60,62,70,78,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[26,27,96,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[91,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:27,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[27,173],drivabl:[103,170,177,194],drive:[1,25,26,35,45,91,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[35,87],drive_on_heading_error_cod:45,driven:[4,177],driveonhead:[25,26,89,158],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:[9,96,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[94,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,22,27,31,32,35,36,37,86,93,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:27,dummi:163,dump:170,duplic:[27,166],durabl:176,durat:[53,70,83,87,88,92,97,99,140,151,157,162,164,178,185],dure:[6,22,84,85,91,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,168,170],dwb:[1,3,9,21,23,24,27,28,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[92,95,155,156,170,194],dwb_critic:[95,120],dwb_local_plann:155,dwb_plugin:[95,120],dwblocalplann:[92,95,155,170,194],dynam:[0,3,13,15,17,21,23,24,27,79,80,84,85,95,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,18,21,23,24,25,26,27,61,84,85,86,87,88,92,93,99,101,107,109,132,149,151,153,154,156,157,158,159,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,192,193],earli:[5,11,16],earlier:[86,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,18,27,41,148,149,151,153,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,18,27,88,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,27,106,157,177],edg:[4,94,99,159,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,85,91,116,133,148,155,157,173,177,188],effici:[22,27,106,174,177,178],effort:[8,14,27,94,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,18,19,26,27,85,86,98,99,116,118,148,149,158,159,168,170,173,174,177,183,190,193],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:[17,27,85,92,109,149,151,159,187],elif:[26,157],elimin:176,ellipsoid:187,elong:91,eloqu:[27,160],els:[26,84,93,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,27,151],emb:175,embed:[6,27,157,177,178],emerg:[6,9,85,90],emit:174,emphas:187,emploi:85,empti:[42,43,99,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,22,52,84,85,86,93,96,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enable_stamped_cmd_vel:[85,87,92,109,159,192],enabled_:163,enact:[9,80,153,194],encod:[27,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,22,99,151,176,178,182],end:[6,11,20,27,84,85,99,100,104,133,135,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[91,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[18,158,171,177,180,187],enrich:149,ensur:[4,9,11,13,20,21,23,24,27,85,92,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[21,23,24,27,99,161,164,165,166,188],entir:[12,18,19,21,23,24,85,147,148,151,168,170,177,184,192],entiti:173,entri:[14,173,179,182,183,192],entryfil:177,entrypoint:147,enu:187,enumer:[29,30,41,42,43,45,46,53,55,193],env:148,environ:[4,5,9,10,12,27,96,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[93,119,153],envok:[29,30,45,55],envrion:191,ephemer:148,eppstein:168,eqal:91,equal:[27,84,85,96,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[27,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,84,85,86,88,96,99,112,146,147,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[59,72,73,74,178,179],error_code_id:[29,30,41,42,43,45,46,48,49,53,55,179],error_code_id_nam:[158,178],error_code_nam:[48,49,88],error_codes_to_check:59,especi:[86,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,85,86,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,17,26,27,84,85,88,92,93,94,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[19,20,21,23,98,99,102,109,113,134,149,153,155,156,157,168,170,171,172,173,177,182,184,188],evenli:86,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[17,19,21,23,24,57,82,91,93,96,99,102,115,119,134,151,156,157,159,162,163],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:[1,7,15,16,17,18,19,22,27,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,192,193,194],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:[29,30,45,55,87,88,92,101,107,110,117,156],exceed:[18,93,158],excel:[1,7,9,187,194],except:[26,27,39,84,92,134,135,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:22,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,18,20,21,23,24,26,27,76,80,85,88,92,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,26,27,110,156,158],exemplari:17,exhaust:169,exhibit:22,exist:[4,8,11,12,27,41,84,85,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[21,23,27,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,159,168],expect:[5,11,26,86,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[27,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,25,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[22,69,168,191],explain:[11,18,19,22,149,151,171,182,183,189,194],explan:[18,90,106],explicitli:[4,26,149,188],explor:[134,174,175],exponenti:[86,96,99,113,168,174,177],expos:[19,27,107,156,158,187],exposur:7,express:[27,117,159,164,187,188,190],extend:[163,173,187],extens:[22,27,99,148,149,158,159,184],extent:[96,102],extern:[4,21,23,24,26,84,92,97,130,147,148,154,155,158,159,178,184,195],extra:[91,134,135,157,188],extract:[157,166,168],extrem:[2,18,84,96,114,156,174],face:187,facilit:[149,157],factor:[80,91,96,99,113,133,134,144,174,177],factori:162,fail:[18,19,21,23,24,26,27,92,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[72,158],failed_to_smooth_path:[74,158],failur:[1,17,18,19,20,21,23,24,27,29,30,45,55,59,61,62,63,65,66,67,68,69,71,72,73,74,75,76,82,99,153,154,156,157,162,168,178,182,185],failure_toler:92,fair:8,fairli:182,faith:151,fake:27,fall:85,fallback:[21,23,24,85,192],fals:[25,26,29,53,66,84,85,86,87,88,91,92,93,94,96,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[18,27,176],fanci:148,far:[84,85,94,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:19,fast:[84,85,86,96,104,105,134,135,157,181,184],faster:[96,157,177],fault:[12,26,27],favor:157,favourit:[188,190],feasibl:[27,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,27,86,92,94,102,105,109,134,148,151,152,156,157,168,169,176,177,187,188],feaur:188,feed:178,feedback:[14,26,27,88,96,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,19,26,80,91,94,147,148,159,170,174,177,182],field:[4,26,41,62,84,85,86,94,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:41,fields2cov:[41,94,159],figur:[187,193],file:[1,2,17,27,41,85,87,88,97,98,108,131,135,146,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:41,file_field_id:41,filenam:[173,174,187],filepath:[41,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,29,86,92,104,173,177,184,187,191,192,195],filter_dur:83,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,final_rot:96,find:[14,27,57,87,88,92,94,96,99,101,102,107,109,110,134,135,148,149,151,152,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[27,99,134,184,193],first:[19,27,41,75,76,84,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,192,193],first_map_onli:86,first_map_only_:86,firstli:22,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:27,flexibl:[14,88,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:18,flow:[1,18,19,21,23,24,76,77,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:91,focal:180,focallength:174,focu:[12,18,26,176,192,193],focus:[108,181,184],focuscamera:176,folder:[19,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,53,79,85,87,91,92,93,96,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[27,159,187],follow_path_error_cod:[46,72,88],follow_path_error_code_id:178,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,89,92,95,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[44,47,54],followpathrecoveryfallback:[18,21,23,89],followwaypoint:[26,158],fonction:157,fondli:14,fool:177,footprint:[2,84,85,87,93,99,107,114,115,119,134,135,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[93,115,119],footprint_pad:93,footprint_top:[85,104,105,107,161,179],footprintapproach:85,footprintcost:26,footprintcostatpos:26,forc:[86,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[27,95],forklift:22,form:[5,41,85,108,163,174,175],formal:[27,153,181],format:[10,41,84,85,91,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,84,85],formerli:[92,158,168],formul:159,formula:190,fortun:173,forward:[0,9,18,27,57,91,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,192,194],forward_point_dist:[95,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,19,22,26,27,71,85,90,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[18,27],foxi:[11,27,160,165],fraction:157,fragment:181,frame:[2,27,41,52,57,60,62,71,78,84,85,86,87,88,91,93,94,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[26,62,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,27,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,27,93,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[21,23,24,177],frequenc:[18,19,84,87,92,93,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,52,54,57,61,62,84,85,86,87,88,90,91,92,93,94,96,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[84,85,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:27,full:[5,7,12,19,27,86,93,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,192,193,194],fulli:[27,86,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,19,22,99,105,134,135,148,151,157,159,175,182,184],furthest:[99,134],fuse:[27,153,169,173,187],fusion:[15,27,173,175,184,187],futur:[1,4,8,11,21,27,84,85,86,111,114,117,155,157,159,185],gain:[8,99,102],galact:[86,88,160,161,163,165,174,191,193],game:[27,184],gamma:99,gap:176,gate:184,gather:[14,27],gaussian:[86,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,159,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],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:[0,3,5,10,18,22,27,41,80,85,91,94,96,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189,192],general_goal_check:156,generate_headland:41,generate_launch_descript:[173,174,176,188,190],generate_path:41,generate_rout:41,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[41,42,43,48,52,57,79,85,87,92,109,155,164,165,166,173,189],get:[1,4,10,18,19,26,27,69,88,92,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],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:26,getblackboard:166,getcostidx:26,getcostmap:165,getcostmaptimestamp:26,getcostxi:26,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[26,157],getglobalcostmap:26,getglobalframeid:[26,165],getindex:[26,163],getinput:162,getlocalcostmap:26,getnam:166,getorigini:26,getoriginx:26,getpath:26,getpaththroughpos:26,getresolut:26,getresourceinfo:158,getresult:[26,157],getrout:26,getsizeincellsi:26,getsizeincellsx:26,getsizeinmetersi:26,getsizeinmetersx:26,gettoler:156,ghcr:147,gif:[22,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],give:[11,85,92,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,22,26,27,30,33,34,45,53,55,85,87,94,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[18,21,22,23,24,26,51,61,62,63,67,80,86,87,89,91,93,96,99,101,102,110,118,123,134,135,141,142,154,155,157,158,163,164,165,168,171,173,174,175,176,177,181,186,188,190,191],global_costmap:[18,21,22,23,24,87,89,93,104,105,107,111,114,117,161,162,163,171,174,179,181,187,188,190,191],global_costmap_top:[87,161],global_footprint_top:[87,161],global_fram:[60,78,87,88,93,158,161,162,163,166,174],global_frame_:165,global_frame_id:[86,110],global_path:165,global_plan_:164,global_plan_pos:164,global_planner_plugin:165,globallyupdatedgo:89,globalplann:165,globalupdatedgo:[24,61],gmail:2,gml:41,gmsl2:184,gnss:187,gnu:[182,191],goal:[11,17,18,19,20,21,23,24,26,27,33,34,42,43,46,48,49,52,56,61,62,63,68,79,80,87,88,89,91,92,94,96,100,101,102,107,110,120,126,127,128,129,133,134,135,137,138,144,145,152,154,155,161,162,164,165,166,173,176,177,178,179,185,187,189,190,192,194],goal_:162,goal_blackboard_id:[88,166],goal_blackboard_id_:166,goal_check:[47,92,95,96,102,103,156,164,194],goal_checker_id:[26,46,47],goal_checker_nam:120,goal_checker_plugin:[92,95,96,102,103,155,156,194],goal_checker_plugin_id:[127,129],goal_checker_selector:47,goal_distance_bia:120,goal_pos:[26,156,157,164,166,189],goal_reached_tol:62,goal_sub_:166,goal_upd:[79,185],goal_updater_top:79,goalalign:[95,120],goalaligncrit:95,goalanglecrit:99,goalcheck:[47,155,157,164],goalcheckerselector:[21,23,24,89,156],goalcomplet:166,goalcrit:99,goaldist:[95,120],goaldistcrit:95,goalreach:[19,78,81,83,89,159],goalreceiv:166,goals_blackboard_id:[88,166],goaltool:186,goalupd:[18,19,21,22,23,24,61,89,162],goalupdat:[20,89,185],goalupdatedcondit:155,goe:[9,19,22,117,157,161,164,165,166,179],going:[4,14,26,27,80,99,153,156,157,162,179,182,185,187,188,190,192],golai:[28,168],golden:184,gone:18,gonzalez:187,good:[1,6,27,86,99,108,109,134,151,153,159,161,163,164,165,166,171,172,176,177,180,182,184,187],googl:151,gothroughpos:26,gotopos:[26,157],gpal:91,gps:[169,187],gps_link:187,gps_waypoint:187,gps_waypoint_follow:[110,187],gps_waypoint_logg:187,gpss:187,gpu:[4,148],grab:[91,149,166,173],grace:[28,168],gracefulmotioncontrol:96,grade:[27,153,173,187],gradient:[5,27,91,104,157,163],gradient_factor:163,gradient_index:163,gradient_lay:163,gradient_layer_1:163,gradient_layer_2:163,gradient_plugin:163,gradient_s:163,gradient_tol:91,gradual:91,grai:[176,190],grant:148,granular:[91,125],graph:[3,10,108,135,158,169,183],graphic:[8,149,188,190],grasp:174,great:[7,14,18,151,157,182,184,187],greater:[3,96,99,108,148,164,178],green:[91,169,180,186,187,193],grei:190,grep:146,grid:[6,7,27,93,98,115,119,123,168,170,171,174,176,187,189,191],grid_map:5,gridbas:[18,20,21,22,23,24,42,43,50,89,100,101,108,133,134,135,156,162,165,170,179,185],groot:[88,89,195],ground:[171,173,176],group:[11,13,14,27,81,112,151,158,168,181],group_connectivity_typ:[112,181],gtest:12,guarante:[103,109,134,153,170,175,194],gui:[2,149,152,173,176,180,187,193],guid:[17,18,19,147,149,155,157,158,159,163,165,169,170,171,173,174,175,176,178,184,191,192],guidelin:158,guillaum:168,gzclient:152,habit:177,hackbaselin:174,had:[12,14,157,158,159,174,187],haghighipanah:168,half:[18,102,134,135,174],hall:177,hallmark:6,hallwai:134,halt:[18,19,22,159],haltallact:159,hand:[27,99,103,109,157,159,171,175,176,177,184,194],handi:148,handl:[11,18,22,26,27,85,87,88,92,94,97,98,101,107,110,148,156,157,158,161,162,163,164,165,166,174,176,177,178,182],handler:159,hangout:151,hansen:14,happen:[14,18,151,164],happi:[151,187],hard:[10,14,21,53,85,92,109,154,156,159,166,177,187],hardcod:[21,23,24,158,162,166],hardwar:[85,109,148,170,174,176,184,191,193],harsh:[157,184],harshli:108,has:[2,3,4,6,8,11,12,14,18,19,21,22,23,24,26,52,60,61,63,69,70,84,85,87,88,89,90,91,92,99,101,102,107,110,116,126,127,128,129,133,134,135,146,148,149,151,152,153,155,156,157,158,159,161,162,163,164,166,168,171,173,174,175,176,177,182,183,184,186,187,188,190,192,193,194],has_paramet:166,have:[0,3,4,6,10,11,12,14,16,18,19,21,22,23,24,26,27,52,85,87,92,93,99,100,101,102,106,107,108,109,110,111,114,117,133,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],head:[26,35,45,96,99,102,103,133,135,151,157,168,172,173,175,177,185,187,194],header:[62,154,159,163,164,165,173,189],heading_deg:187,headland:[41,94],headless:[149,152,177,181,192],headlight:[111,158],hear:177,heart:[27,170],heavi:[85,91,134,135,187],heavili:177,height:[26,84,85,93,96,102,115,119,163,174,176,187],hello:161,help:[2,3,4,5,8,11,16,21,23,24,27,41,91,99,102,135,150,151,154,156,157,158,161,163,165,168,170,172,173,175,176,177,178,183,184,188,191,193,194],henc:[157,171,174,176,178],here:[0,3,14,19,21,22,23,27,75,76,77,78,79,80,81,82,83,84,85,99,103,148,149,151,152,154,155,156,157,158,159,162,163,164,165,166,168,173,176,178,179,180,182,184,186,187,189,192,193],heurist:[27,102,106,133,134,135,156,157,159,170],hfsm:27,hide:176,hierarch:[27,193],high:[2,3,4,5,6,8,27,85,96,99,102,105,108,109,119,133,134,135,151,153,154,156,170,173,177,181,184],higher:[4,6,9,12,18,27,85,91,92,93,94,96,99,109,111,134,135,153,156,157,158,159,166,177,178,185,188,190,193],highest:[27,158],highli:[27,91,99,106,143,152,153,159,168,170,175,177,179,186,187,189,191,194],highlight:[8,17,26,91,148,170,180,184,193],hint:177,his:184,histori:176,hit:[182,190],hold:[27,174,193],holder:[151,156],holom:[85,192],holonom:[85,91,92,99,100,102,133,145,153,168,177,192],home:[131,157,177,182,185,187],hood:[11,157],hooper:168,hope:157,hopefulli:[18,99],horizon:159,horizont:[112,174,187],horizontal_fov:174,horizontal_fov_angl:191,hospit:1,host:[27,87,92,98,101,107,110,148,149,154,161,170,183,187],hot:166,hotel:[188,190],hour:186,hous:111,how:[2,7,17,26,27,76,85,86,89,91,96,99,108,115,119,123,137,138,141,142,148,150,151,154,158,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,192,193,194],how_many_corn:108,howev:[4,6,9,14,20,21,23,24,27,84,85,99,104,134,148,152,155,156,157,161,166,171,173,176,177,179,182,184,187,188,190,191,192,194],hpp:[161,163,164,165,166],html:147,http:[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],huerist:156,huge:[99,187],human:[1,4,27,153,168],humbl:[84,85,86,87,92,95,96,99,102,103,152,159,160,161,192,193,194],hundr:[1,27],hurt:174,hybrid:[3,103,106,133,135,148,153,156,157,158,168,170,171,177,194],hypot:[164,165],hypothet:18,icon:193,icra:96,idea:[152,153,157,159,176,177],ideal:[7,12,157,158,161,164,165],identifi:[4,7,11,13,148,156,163,170,183],idl:19,ieee:153,ifcondit:[173,176],ifunspecifi:173,ignit:169,ignor:[86,96,146,147,162,173,181],illustr:[85,181],ilqr:3,imag:[16,22,27,91,104,131,135,154,156,176,179,180,181,187,188,190],image_format:131,image_pipelin:180,image_raw:[131,174,180],imagin:[18,27,161,168,187],immedi:[21,23,85,97,156,161,166,173,176,182],immin:[85,153],impact:[21,23,94,99,159,177,182],impass:188,impl:131,implement:[3,5,6,7,10,20,21,23,24,27,29,30,41,42,43,45,46,48,49,55,58,76,86,87,88,92,93,94,96,97,98,99,100,101,102,106,107,108,109,110,115,116,118,119,133,134,135,149,151,154,156,157,158,161,164,165,166,168,170,171,173,174,177,178,179,189,191,193],implementaion:168,impli:[96,131],implicit:26,implicitli:157,imposs:159,impract:187,improv:[1,7,9,11,12,25,27,91,104,106,134,135,148,152,154,155,156,158,159,169,183,184],imu0:[173,184,187],imu0_config:[173,187],imu:[27,173,174,175,184,187],imu_joint:173,imu_link:173,imu_plugin:173,imu_sensor:173,inact:[27,99,161,164,165,166,176,178],incentiv:[99,159],includ:[4,6,7,10,13,14,18,26,27,76,88,89,106,111,125,147,148,149,150,151,153,154,155,156,159,161,162,163,164,165,166,168,170,173,174,175,176,177,182,183,185,188,189,190,191,192,194],include_last_point:125,inclus:[148,159,174,177,182],incom:[85,90,111,114,117,155,188,190],incompat:148,incomplet:169,inconsist:156,incorpor:[86,148,156],incorrect:[156,168],incorrectli:156,increas:[12,27,91,96,99,108,113,134,157,158,175,177,178,180],increasingli:[27,184],incred:17,increment:[29,84,85,87,134,157],increment_recovery_count:162,inde:187,indefinit:[18,19,26,151,185],independ:[14,27,87,117,153,156,158,162,174,184,192],index:[26,131,147,161,163,164,165,166,168,193],indic:[53,84,85,86,111,114,117,130,151,153,155,156,162,163,174,190],individu:[11,27,84,85,90,106,151,154,157,158,177,189],indoor:[111,184],induc:[158,168,195],industri:[14,27,85,102,156,168,170,188],ineri:184,inerti:[174,176,184],inertia:[173,174,176],inf_is_valid:[93,115,119,191],infeas:[105,168],infer:176,infin:57,infinit:[20,92,115,119,134,135,184],inflat:[27,86,93,114,116,134,136,159,168,174,181,188,191],inflate_around_unknown:[93,113],inflate_con:116,inflate_unknown:[93,113],inflation_lay:[93,111,112,114,117,163,171,174,181,187,188,190],inflation_layer_nam:99,inflation_radiu:[93,99,113,174],inflationlay:[93,174,177],influenc:99,info:[10,14,91,95,111,114,117,149,153,156,163,173,180],inform:[1,2,4,10,19,20,27,84,85,90,93,96,98,99,102,103,106,109,111,114,115,117,119,120,133,134,135,147,151,154,155,157,158,159,161,162,163,164,165,166,168,173,174,175,176,177,178,179,181,182,183,184,186,187,188,189,190,191,192,193],infrar:174,infux:157,ing:19,ingest:187,inher:[148,149],inherit:[156,162,163,164,165,166],init:[26,157],init_pos:26,initalorientationasrefer:173,initi:[8,26,64,71,86,88,96,99,105,146,148,149,152,153,155,157,158,161,163,164,165,166,168,176,177,185,187,188,192],initial_cov_:86,initial_orientation_as_refer:173,initial_pos:[26,64,86,157],initial_pose_:86,initial_rot:96,initial_rotation_min_angl:96,initial_transform_timeout:[93,159],initializegoalpos:166,initialposereceiv:[19,89],inject:182,injuri:9,inlin:[163,165,191],inner:[11,192],inout_port:193,inproceed:153,input:[6,19,26,27,85,88,91,99,104,105,115,116,119,130,153,156,158,159,161,162,163,164,165,168,173,176,179,182,185,187,192,193],input_at_waypoint:130,input_go:[20,21,52,79,185],input_path:[20,56,57,185],input_port:193,input_sensor_typ:[116,174],input_top:130,inputatwaypoint:[110,156,168],inputport:162,inquiri:14,inscrib:[113,157,177],inscribed_inflated_obstacl:181,insert:[162,174,182],insid:[27,85,90,91,92,95,106,109,110,148,149,157,158,159,163,173,174,178,182,183,188,191,192],insight:[11,157,169,177],inspect:[26,148],instabl:157,instal:[146,148,149,150,161,163,164,165,166,171,173,174,175,176,179,180,181,182,183,184,186,187,188,189,190,192,194],instanc:[27,85,131,152,159,162,170,173,178,187,188,190],instantan:[92,158],instanti:[170,176,178],instead:[13,18,21,23,24,79,84,86,99,105,120,147,148,154,155,156,157,158,159,161,166,173,174,175,177,178,179,182,184,185,186,187,188,192],instruct:[27,110,152,161,163,164,165,166,173,174,182,183,189],instrument:99,int16:178,integ:188,integr:[0,1,7,12,17,28,57,85,94,96,102,149,156,157,159,172,173,174,175,178,182,184,193],intel:[4,14,99,157],intel_realsense_r200_depth:[84,85,93,191],intellig:[153,177],intellisens:148,intend:[88,152,155],intent:[22,99,177],intention:[14,91,188],interact:[27,88,89,99,153,156,157,176,178,179,182,195],interactive_waypoint_follow:187,intercorrel:181,interest:[7,10,11,14,17,26,27,148,151,166,175,177,179,182,183,185,186,189,193],interfac:[3,5,13,19,27,85,88,107,148,149,153,154,155,158,161,162,163,166,168,174,179,186,187,191],interfer:[93,188],interins:184,interior:180,intermediari:[21,135,153,156],intern:[18,21,23,24,103,153,158,163,166,173,178,184,187,194],interoper:174,interpol:[109,134,188],interpolation_resolut:165,interpolation_resolution_:165,interpret:[93,98,175,181],interprocess:148,intersect:[96,102],interti:176,interv:[84,85],interven:1,intervent:153,intial_pos:19,intoroduc:159,intrest:182,intrins:184,introduc:[27,84,102,149,151,154,156,157,172,174,176,178,181],introduct:[17,89,176],intuit:[177,194],inturn:22,invalid:[17,26,148,158,166],invers:[99,159,188],inversion_xy_toler:99,inversion_yaw_toler:99,invert:[24,99,156],investig:182,invilad_start:178,invok:[29,30,41,42,43,45,46,48,49,53,55,58,147,148,178,183],involv:[4,5,6,11,18,20,99,102,150,156,158,159,171,178,184],ipc:148,iro:153,iron:[88,98,160,166],irregular:[154,184],is_recoveri:[25,29,55],is_voltag:66,isbatterycharg:[89,158],isbatterylow:[18,19,89],isbatterylowcondit:155,ish:14,isn:[99,151,182,184],isol:[149,183],ispathvalid:[24,89,93],isstuck:89,issu:[0,2,3,5,6,8,14,21,23,24,26,27,87,88,92,99,101,107,110,151,155,156,157,169,170,175,177,181,182,184,187,188,190,191],istaskcomplet:[26,157],item:[2,11,18,26,27,169],iter:[21,23,24,26,27,41,52,85,88,91,95,99,105,109,133,134,135,158,163,184],iteration_count:99,its:[1,6,8,9,11,12,18,19,21,22,23,24,26,27,41,78,81,82,83,85,91,93,99,100,103,105,106,108,118,133,134,135,147,151,153,154,155,156,157,158,159,161,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,190,191,192,193,194],itself:[27,117,134,135,148,157,162,166,174,179,188,190,193],ixi:[174,176],ixx:[174,176],ixz:[174,176],iyi:[174,176],iyz:[174,176],izz:[174,176],jag:105,jaggedli:99,jazzi:[85,160],jerk:190,jerki:[99,109],jeronimo:168,jetbrain:149,jetson:[4,184],jin:96,jitter:99,job:[27,99],join:[151,171,173,174,176,188,190],joint:[173,174,176,187],joint_state_publish:[173,176],joint_state_publisher_gui:[173,176],joint_state_publisher_gui_nod:[173,176],joint_state_publisher_nod:[173,176],jonatan:153,jong:96,josh:153,joshua:[14,168],joshuawallac:14,journal:153,joystick:184,jpeg:156,jpg:156,json:[2,148,149],jump:[134,173,184,187],june:106,junior:151,just:[8,20,21,23,24,27,80,93,99,140,149,151,157,162,163,171,173,174,175,176,182,183,187,188],juzhenatpku:2,k_delta:96,k_phi:96,kalman:[173,187],kcachegrind:183,keep:[14,18,27,85,94,99,148,155,156,159,162,164,165,168,173,175,176,187,188,193],keep_goal_orient:91,keep_start_orient:91,keepout:[93,98,156,168,177,190,195],keepout_filt:[93,114,181,188],keepout_filter_mask:188,keepout_mask:188,keepout_param:188,keepoutfilt:[93,114,156,177,188],keeprunninguntilfailur:[20,185],kei:[19,86,94,147,148,151,152,166,177,178,181,184,187],kept:[14,112],kernel:181,key_nam:193,key_name2:193,keyboard:187,kick:[27,161],kidnap:51,kill:182,kind:[22,153,173,182],kinemat:[2,95,99,103,105,106,153,156,159,168,170,173,176,177,187,194],kinodynam:3,kiwibot:187,know:[11,14,27,94,102,106,146,151,155,156,162,163,168,175,176,184,187,190,193],knowledg:[4,7,11,151,182,191],known:[18,22,26,27,86,102,157,166,168,177,180,187,191],konolig:168,kuiper:96,kurt:168,label:148,lack:[177,184],laid:[188,190],lambda:[96,162],lambda_short:86,land:8,landmark:173,landscap:184,lane:[27,98,114,156,168,188],languag:179,larg:[19,27,85,91,96,99,102,134,135,153,155,169,173,176,177,180],larger:[27,80,85,97,99,102,104,133,151,156,168,182,192],largest:[170,171],laser:[6,9,84,85,86,115,119,168,174,175,192],laser_likelihood_max_dist:86,laser_link:176,laser_max_rang:86,laser_min_rang:86,laser_model_typ:86,laserscan:[85,93,115,119,158,189],last:[6,14,19,21,23,56,57,85,86,91,94,99,100,106,108,109,125,133,134,135,137,138,141,142,148,157,166,170,171,173,175,176,178,184,188,190,192],lastli:[151,158,170,171,173,174,175,176],lat:187,latenc:[109,154,155,184],later:[5,99,134,135,148,149,151,157,161,162,163,164,165,166,174,183,191,193],latest:[84,85,147,148,194],latitud:187,latitude_deg:187,latter:179,lattic:[3,103,106,133,134,153,157,158,168,169,170,177,194],lattice_filepath:135,launch:[26,27,87,97,98,149,152,161,163,164,165,166,170,171,175,178,180,181,184,185,187,188,190,192,193],launch_ro:[173,176,182,188,190],launchconfigur:[173,176,188,190],launchdescript:[173,176,188,190],law:[96,159,168],layer:[2,4,7,10,11,93,111,114,116,117,133,134,136,148,153,154,156,157,163,174,177,187,188,191],layeredcostmap:163,lazi:156,ld_preload:191,lead:[14,99,131,151,156,157,190],leader:14,leadership:14,lean:147,learn:[4,7,11,18,27,89,149,153,161,162,165,174,175,176],least:[20,85,148,151,156,173,192],leav:[96,99,102,134,155,159,182,184,192],led:[84,158,159],left:[6,27,42,43,96,102,108,118,134,135,148,152,157,164,165,171,173,174,176,180,181,183,186,187,190,193],left_joint:173,left_wheel_est_vel:173,leg:[106,149,153,168,170,177,184],legaci:120,length:[80,91,93,94,99,108,134,135,157,174,176,177,178,180],length_factor:[22,80],less:[9,62,85,87,88,92,99,101,102,107,109,110,112,134,154,157,173,181,184,187,188,194],let:[11,18,19,27,94,130,132,146,149,156,157,161,162,165,173,174,175,176,177,184,185,187,190,192],lethal:[93,99,113,168,174,177],lethal_cost_threshold:93,lethal_obstacl:[163,181],level:[5,9,18,21,23,24,27,85,90,105,151,153,156,157,158,178,183,184,188,190,192,193],leverag:[7,11,26,147,149,157,177,179,185,187],lib:[182,191],libgazebo_ros_camera:174,libgazebo_ros_diff_dr:173,libgazebo_ros_factori:[157,173,174],libgazebo_ros_gps_sensor:187,libgazebo_ros_imu_sensor:173,libgazebo_ros_init:[157,173,174],libgazebo_ros_ray_sensor:174,libjemalloc:191,libjmalloc:191,librari:[5,6,7,10,15,26,27,41,88,94,154,155,157,161,163,164,165,166,174,175,179,182,191,193],libstdc:182,licens:[1,2,3,4,5,6,7,8,9,10,11,12,13,150],lidar:[6,9,27,115,171,173,174,177,181,187,191],lidar_joint:174,lidar_link:[174,175],life:193,lifecycl:[26,28,109,146,153,155,156,166,170,172,177,183,188,190],lifecycle_manag:[97,178,188,190],lifecycle_manager_costmap_filt:[188,190],lifecycle_manager_navig:178,lifecycle_nod:[178,188,190],lifecyclemanag:157,lifecyclemanagercli:157,lifecyclenod:[27,157,164,166,182],lifecycleshutdown:26,lifecyclestartup:26,lifecyl:178,light:[111,157,159,180,188,190],lightli:99,like:[2,4,8,13,14,17,18,19,20,21,23,24,26,27,88,98,99,106,110,133,134,148,149,151,152,153,156,157,159,161,162,163,166,168,171,172,174,175,176,177,178,179,182,183,184,185,187,188,189,190,191,193,194],likelihood:86,likelihood_field:86,likelihood_field_prob:86,limit:[8,27,85,92,98,99,109,117,133,134,135,148,156,159,164,168,170,173,177,185,192,195],limitedaccelgener:95,line:[12,26,104,108,133,155,158,161,163,164,165,166,170,171,173,174,175,176,177,179,182,183,187,192],linear:[30,45,85,91,94,96,98,102,125,134,156,158,164,173,188,192],linear_acceler:173,linear_curv_chang:94,linear_granular:[95,125],linear_limit:[85,158],linear_max:[85,192],linear_min:[85,192],linear_solver_typ:91,linear_vel:164,linearli:[27,117,156,188,190],linecost:26,link:[1,2,3,4,5,6,7,8,9,10,11,12,13,16,19,108,151,157,173,174,175,176,187,192],links1:176,lint:151,linter:148,linux:[148,149,182,191],list:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,19,21,26,48,49,52,84,85,87,88,90,92,93,95,97,101,106,107,110,120,148,149,151,153,154,155,156,158,162,163,164,166,168,169,170,173,174,177,178,180,181,182,188,190,192,193,194],listen:[19,84,85,87,146,155],lit:180,littl:[177,182],live:[4,27,149,156,161,175,177,186,189,193],lld:147,load:[27,46,87,92,93,98,99,101,107,110,120,148,153,154,155,156,157,161,162,163,164,165,166,168,170,174,176,179,183,184,188,190,191,193],loadabl:[93,155,156,191],loadbehaviortre:166,loadlibrari:191,loadmap:86,local:[1,3,9,10,11,18,21,23,24,26,44,47,50,54,86,87,92,96,97,99,102,109,120,123,127,129,148,149,151,152,153,155,156,157,158,163,164,165,166,168,170,171,175,177,181,188,190,191,192,195],local_costmap:[18,21,22,23,24,38,39,40,85,87,89,93,112,114,161,162,163,171,174,181,188,190],local_costmap_top:[87,161],local_footprint_top:[87,161],local_fram:[87,158],local_or_glob:156,localization_lifecycle_manag:155,locat:[9,22,26,27,134,135,144,152,161,163,164,165,166,170,173,174,176,187],lock:[13,164,166],lockfil:148,locu:14,log:[149,151,157,161,162,173,174,182,192],log_level:192,logged_waypoint_follow:187,logger:157,logger_:[164,166],logic:[9,17,18,21,23,24,27,158,159,162,166,178,193],logininteractiveshel:148,logo:8,lon:187,longer:[8,22,80,94,133,157,158,159,161,182],longitud:187,longitude_deg:187,look:[0,2,11,18,52,87,102,137,141,144,151,152,153,155,159,162,170,173,174,175,176,177,178,183,187,188,190,191,192,193,194],lookahead:[96,102,156,164,194],lookahead_dist:[102,164],lookahead_dist_:164,lookahead_tim:[95,102,144],looker:[177,194],lookup:[57,157],lookup_table_s:[134,135],loop:[19,27,84,85,92,96,99,102,109,157,165,166,184],loop_rat:[110,156],loss:85,lot:[173,176,182],low:[5,18,19,66,99,104,109,134,154,168,177],lower:[14,18,66,85,87,99,111,134,157,158,174,177,178],lowest:[48,49,99,156,158,178],luckili:[175,182,193],luggag:185,macenski2020marathon2:153,macenski2023regul:153,macenski2023survei:153,macenski2024smac:153,macenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,102,153,168],machin:[4,27,148,149,173,174,175,178,193],macro:[134,135,161,162,163,164,165,166,176],made:[6,8,27,85,92,93,97,126,128,148,149,151,157,158,163,166,170,171,176,177,181,185,188,190,192],magnet:187,magnetic_declination_radian:187,magnetomet:187,mai:[0,3,4,5,6,10,14,21,23,24,26,27,41,80,84,85,87,88,92,96,99,101,102,104,106,107,110,112,114,134,135,140,147,148,151,153,155,156,157,158,159,162,163,166,169,170,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,190,193,194],main:[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],main_tree_to_execut:[17,18,19,20,21,22,23,24,25,89,162,185],mainli:[18,174,175,176],mainstai:[27,106],maintain:[0,8,14,15,94,148,151,153,157,158,166,168,169,174,177,178],maintre:[17,18,19,20,21,22,23,24,25,89,162,185],major:[10,13,27,106,153,156,159,161,166,169,171,176,182],make:[1,2,7,9,10,11,12,13,14,19,21,23,24,25,27,41,56,57,88,92,96,99,102,103,108,115,117,119,134,145,146,148,149,151,155,156,157,158,159,161,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,194],make_shar:166,make_uniqu:162,malfunct:84,malici:149,manag:[26,27,28,115,119,148,152,153,155,156,170,172,173,175,176,177,178,180,183,184],mandatori:[156,161,162,164,165,187,190],maneuv:[99,134,135,155,171],mani:[11,17,18,21,23,24,27,76,85,86,153,154,155,159,163,168,174,175,177,179,182,183,184,185,188,190,193,194],manipul:[10,26,27,93,171,176,184],manner:[27,153],manual:[0,57,97,147,148,152,173,178,183],manufactur:174,map:[26,27,28,41,42,43,46,60,78,86,87,88,92,93,101,110,111,114,115,117,118,119,133,134,135,146,152,153,154,156,159,162,163,164,165,166,168,170,171,173,175,177,181,184,186,187,188,190,192,193,195],map_filepath:26,map_fram:173,map_io:155,map_load:155,map_sav:[98,155],map_save_dur:191,map_saver_cli:[155,189],map_serv:[86,93,98,118,155,187,188,190],map_subscribe_transient_loc:[93,118,174],map_top:[86,93,118,174],mapped_name_of_plugin:[164,165],mapper_params_online_sync:182,mapping_mod:191,mapsav:157,mapserv:155,maptoworld:26,mapviz:187,marathon:153,march:27,marder:168,margin:[99,135],mark:[4,27,91,93,115,116,119,139,158,166,174,177,181,188,190,191,193],mark_threshold:[93,116,119,174,191],marker:[99,123,151,174,176],marker_lifetim:123,market:11,martin:[102,153],mask:[27,98,111,114,117,156,158,168,181],mask_top:[98,188,190],mask_valu:[98,111,117],mask_yaml_fil:[188,190],mass:[174,176,187,190],massiv:[134,161,174,181],master:[115,119,163,169,174],master_arrai:163,master_grid:[115,119,163],match:[6,41,59,72,73,74,86,87,88,99,107,134,135,158,162,164,171,177,178,187,192],matchsiz:163,matej:168,materi:176,matrix:[27,173],matt:14,matter:187,matthew:153,matur:[23,24],max:[91,96,99,102,115,116,119,133,134,135,159,164,174],max_accel:109,max_allowed_time_to_collis:102,max_allowed_time_to_collision_up_to_carrot:102,max_angl:174,max_angle_to_furthest:99,max_angular_accel:[102,103,194],max_angular_vel:164,max_angular_vel_:164,max_beam:86,max_decel:109,max_dur:26,max_height:[84,85],max_i:163,max_it:105,max_iter:[91,133,134,135],max_j:163,max_linear_accel:157,max_linear_decel:157,max_lookahead_dist:102,max_obstacle_height:[93,115,119,174,191],max_on_approach_iter:[133,134,135],max_particl:86,max_path_occupancy_ratio:99,max_planning_tim:[133,134,135,156],max_planning_time_m:156,max_point:[84,85,158,192],max_rat:83,max_robot_pose_search_dist:[57,96,99,102],max_rotational_vel:[87,161],max_scaling_factor:120,max_smoothing_dur:53,max_spe:[83,99],max_speed_xi:[95,122],max_vel_i:[95,122],max_vel_theta:[95,122],max_vel_x:[95,122,155],max_veloc:109,max_wheel_acceler:173,max_wheel_torqu:173,max_z:191,maxim:[91,99,177],maximum:[2,27,53,57,83,84,85,86,87,91,92,93,94,96,98,99,102,103,105,109,115,117,119,122,126,128,133,134,135,156,157,158,159,164,168,174,181,184,188,190],maxwithoutunknownoverwrit:[115,119,159],mayb:2,mcl:6,mean:[0,1,18,19,27,85,99,109,117,134,148,149,155,158,173,174,175,177,181,187,188,190],meaning:[157,166,178],meant:[84,85,108,157,158,172,177,184],meantim:13,measur:[9,25,92,99,115,119,134,135,156,158,168,173,174,175,176,181,184,187],mecanum:184,mechan:[5,11,85,163,182,184],medium:[1,7,8,9,11,12,13,169],meet:[85,92,99,109,127,129,144,151,159],member:[4,151,161,164,165,166],memori:[27,148,157,177,178,182,191],mention:[154,155,156,170,190,194],mentor:[0,1,2,3,4,5,6,7,8,9,10,11,12,13],menu:193,mere:148,merg:[5,13,148,151,155,163],meridian:187,merit:149,merzlyakov:[14,153,168],mesh:[27,176],messag:[11,26,27,29,30,41,42,43,44,45,47,50,54,55,84,85,86,87,90,92,93,101,115,117,119,148,151,156,158,159,161,162,164,166,173,178,184,187,188,190,192],message_success:161,messsag:151,met:[129,144,151,156,194],meta:[188,190],metadata:[27,148,166,188,190,193],metapackag:[5,159],meter:[17,25,26,27,86,93,94,100,103,133,134,135,180,181,187,194],method:[3,4,6,17,21,23,24,26,27,94,97,99,115,119,137,138,141,142,151,156,157,158,159,161,162,163,164,165,166,182,183,193],metric:[90,106,158,162],michael:168,micro:177,mid:27,middl:[104,170,177,190,193],middlewar:27,might:[27,86,99,109,134,135,156,159,166,171,173,174,182,183,188,190,193],migrat:[8,169],miguel:168,mike:14,millisecond:[88,132,156],mimic:[159,176],min:[116,164,169,174],min_angl:174,min_approach_linear_veloc:102,min_batteri:66,min_dist_to_obstacl:99,min_height:[84,85],min_i:163,min_j:163,min_lookahead_dist:102,min_obstacle_height:[93,115,119,174,191],min_particl:86,min_point:[84,85,158,159,192],min_r:[134,135],min_rat:83,min_rotational_vel:[87,161],min_spe:83,min_speed_theta:[95,122],min_speed_xi:[95,122],min_theta_velocity_threshold:[92,95,96,102,103,194],min_turning_r:99,min_turning_radiu:94,min_vel_i:[95,122],min_vel_x:[95,122],min_veloc:109,min_x_velocity_threshold:[92,95,96,102,103,194],min_y_velocity_threshold:[92,95,96,102,103,194],min_z:191,mind:[99,148,173,175,187],mini:184,minim:[2,11,99,152,157,158,166,170,173,177,184],minima:99,minimal_group_s:[112,181],minimum:[2,9,27,66,83,84,85,86,87,91,93,94,96,98,99,102,109,112,115,119,122,126,128,134,135,140,143,156,157,158,159,168,170,174,175],minimum_turning_radiu:[91,134],minor:[127,129,174],minut:[27,87,88,92,101,107,110,159,180],mirror:[99,135],misalign:181,misloc:181,miss:[13,85,92,109,147,156,159,176,177,183,193],mission:[153,161],mitig:187,mittal:168,mixin:[147,148],mixtur:86,mkdir:[147,188,190],mkhansen:14,mmethod:162,mnimum:126,mobil:[1,4,5,7,9,10,12,14,26,27,96,153,173,174,175,184],mock:184,modal:173,mode:[20,85,94,99,109,148,158,159,184,187,188,190,193],model:[4,27,28,84,85,86,91,106,115,119,134,148,152,153,155,156,168,170,173,174,176,177,186,187,191,192],model_dt:99,model_typ:191,modelplugin:173,moder:177,modern:[106,153,177,184],modest:99,modif:[27,148,151,156,157],modifi:[6,17,56,57,88,89,95,104,148,151,156,157,159,161,162,164,165,166,168,170,171,173,176,182,183,185,193],modu:194,modul:[29,30,41,42,43,45,46,48,49,55,58,88,97,110,159,163,184,187,192],modular:[6,149,153,168],mohammad:168,moment:158,monitor:[22,28,84,153,156,193,195],monitorandfollowpath:22,monocular:180,mont:[6,27,86,174],month:[151,184],moor:[15,153],more:[2,3,4,6,7,9,10,11,12,14,17,18,23,24,27,41,57,84,85,86,91,95,96,99,102,103,109,111,114,117,133,134,135,143,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],moreov:181,most:[9,18,21,23,24,85,86,87,88,92,99,101,103,106,107,110,152,157,162,168,173,174,175,177,179,182,183,184,187,194],mostli:174,mothership:161,motion:[3,4,27,28,86,91,134,135,143,144,156,168,170,173,175,184,187,192,193],motion_model:99,motion_model_for_search:134,motion_target:96,motion_target_dist:96,motiv:[10,157],motor:[109,153,187],mount:[148,149,175,187],move:[14,18,22,27,80,84,85,96,99,111,126,128,130,134,135,140,143,153,154,155,156,157,158,165,168,169,175,176,177,180,184,185,186,187,188,189,192],movecamera:176,moveit:[8,14],movement:[27,84,85,86,91,93,109,135,158,171,187,192],movement_time_allow:[92,95,96,102,103,126,128,158,194],mpc:[3,99,158,168,170],mppi:[158,168,169,177],mppicontrol:99,msg:[26,41,42,43,48,52,80,85,87,92,109,111,157,164,165,166,168,173],much:[27,91,96,102,109,134,151,153,155,156,158,175,176,177,187,188],multi:[7,10,11,26,27,156,157,168,170],multi_tb3_simulation_launch:159,multipl:[6,11,21,23,24,27,41,44,47,50,54,80,85,87,99,106,107,149,153,155,156,159,164,165,170,173,174,175,176,177,178,179,182,184,187,190,192],multipli:[98,111,117,133,134,188,190],multithread:0,multitud:[27,174],must:[4,14,19,26,27,60,86,93,94,96,98,102,105,109,112,115,119,126,128,134,135,136,147,151,155,157,158,161,162,164,165,166,168,170,173,174,175,178,179,180,183,186,189,191,192,193],my_camera:180,my_contain:178,my_gps_plugin:187,my_mark:174,my_nav_through_poses_bt:[88,166],my_nav_to_pose_bt:[88,159,166],my_packag:[88,159,166],my_world:174,myawesomenewnod:193,myplugin:[163,165,191],naiv:[106,133],name:[8,14,15,17,18,19,20,21,22,23,24,25,27,29,30,31,32,33,34,35,36,37,38,39,40,42,43,44,45,46,47,48,49,50,51,54,55,58,84,85,86,87,88,89,90,92,93,97,99,100,101,107,108,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,151,155,156,157,163,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,187,188,190,191,192,193,194],name_:[163,165],name_of_paramet:[164,165],namespac:[26,27,87,88,92,93,95,99,101,107,110,115,119,120,155,158,163,164,165,170,173,174,177,178,184,188,190,191,194],narrow:[99,134,148],narrowest:99,nasti:[106,157],nativ:[148,158],natur:[27,99,159,166,177,184],nav2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,18,20,21,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,150,151,152,154,155,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,179,180,184,187,189,191,193,194,195],nav2_amcl:[86,174,189],nav2_back_up_action_bt_nod:[88,162],nav2_behavior:[29,30,45,55,58,87,157,161],nav2_behavior_tre:[19,27,89,155,156,159,162,166,193],nav2_bringup:[152,155,156,157,158,161,163,164,165,166,171,174,177,181,182,183,185,186,188,189,190,192],nav2_bt_navig:[17,18,88,155,156,166,185,193],nav2_bt_waypoint_follow:27,nav2_ceres_costaware_smooth:[107,179],nav2_clear_costmap_service_bt_nod:88,nav2_collision_monitor:[90,192],nav2_common:[188,190],nav2_compute_path_to_pose_action_bt_nod:88,nav2_constrained_smooth:[91,157],nav2_control:[92,95,96,102,103,126,127,128,129,154,156,158,183,194],nav2_cor:[88,154,156,158,161,164,165,166],nav2_costmap_2d:[93,111,112,114,117,155,156,157,158,163,164,171,181,188,190],nav2_costmap_2d_mark:174,nav2_costmap_filters_demo:[188,190],nav2_default_view:186,nav2_depend_w:146,nav2_distance_controller_bt_nod:88,nav2_distance_traveled_condition_bt_nod:88,nav2_follow_path_action_bt_nod:88,nav2_gazebo_spawn:157,nav2_goal_reached_condition_bt_nod:88,nav2_goal_updated_condition_bt_nod:88,nav2_gps_waypoint_follower_demo:187,nav2_graceful_motion_control:96,nav2_gradient_costmap_plugin:163,nav2_gradient_costmap_plugin_cor:163,nav2_hfsm_navig:27,nav2_initial_pose_received_condition_bt_nod:88,nav2_is_stuck_condition_bt_nod:88,nav2_lifecycle_manag:[178,188,190],nav2_map_serv:[188,189,190],nav2_mppi_control:99,nav2_msg:[26,27,92,155,156,162,188,190],nav2_multirobot_param_al:159,nav2_multirobot_params_:159,nav2_navfn_plann:[100,101,165,170],nav2_param:[156,157,158,161,163,164,165,166,171,177,178,179,181,183,188,190,191],nav2_pipeline_sequence_bt_nod:88,nav2_plann:[42,43,154],nav2_pure_pursuit_control:164,nav2_rate_controller_bt_nod:88,nav2_recoveri:[154,157],nav2_recovery_node_bt_nod:88,nav2_regulated_pure_pursuit_control:[102,103,156],nav2_reinitialize_global_localization_service_bt_nod:88,nav2_rotation_shim_control:[103,157,194],nav2_round_robin_node_bt_nod:88,nav2_route_serv:178,nav2_sensor_driv:178,nav2_simple_command:[26,157,187],nav2_simulation_launch:152,nav2_single_trigger_bt_nod:88,nav2_smac_plann:[91,106,133,134,135,156],nav2_smooth:[91,104,105,107,179],nav2_sms_bahavior:161,nav2_sms_behavior:161,nav2_sms_behavior_plugin:161,nav2_speed_controller_bt_nod:88,nav2_spin_action_bt_nod:88,nav2_straightline_plann:165,nav2_straightline_planner_plugin:165,nav2_test_util:185,nav2_theta_star_plann:[108,156],nav2_time_expired_condition_bt_nod:88,nav2_transform_available_condition_bt_nod:88,nav2_tree_nod:193,nav2_util:[27,155,157,165,166],nav2_velocity_smooth:[109,157,192],nav2_w:[147,148,182],nav2_wait_action_bt_nod:[88,162],nav2_waypoint_follow:[27,110,130,131,132,154,156,158,159],nav2_world_model:154,nav:[14,26,94,156,157],nav_msg:[26,41,42,43,56,57,80,164,165,166,173,178,184],nav_path:41,navfn:[3,28,99,103,104,106,154,168,170,171,177,179,194],navfnplann:[100,101,165,170],navig:[0,1,2,3,5,6,10,13,14,15,16,17,20,26,28,41,60,61,62,63,78,81,83,89,99,106,110,148,151,153,154,156,159,161,162,164,167,169,171,172,173,174,175,176,177,178,179,183,184,185,191,193,194,195],navigate_through_pos:[88,166],navigate_through_poses_error_cod:[48,88],navigate_through_poses_w_replanning_and_recoveri:[48,49],navigate_to_pos:[88,166],navigate_to_pose_error_cod:[49,88],navigate_to_pose_w_replanning_and_recoveri:[18,166],navigate_to_pose_w_replanning_goal_patience_and_recoveri:157,navigate_w_replanning_and_recoveri:[156,162,193],navigate_w_replanning_and_round_robin_recoveri:156,navigaterecoveri:[18,21,22,23,24,89,162],navigatethroughpos:[88,89,166],navigatethroughposesnavig:[88,166,168],navigatetopos:[27,88,89,110,155,162,166,185],navigatetoposeact:27,navigatetoposenavig:[88,166,168],navigatewithreplan:[17,18,20,21,22,23,24,89,162,185],navigation2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,150,151,152,153,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194,195],navigation2_dynam:15,navigation2_tutori:[15,159,163,171,173,176,188,190],navigation_dur:26,navigation_launch:[157,171,174,183,189,192],navigation_lifecycle_manag:155,navigation_tim:[157,166],navigation_tutori:[161,164,165],navigatior:158,navigaton2:152,navigator_plugin:166,navigatorbas:166,navsat_transform:[27,187],navsat_transform_nod:[173,187],navsatfix:187,navthroughpos:[157,168],navtopos:157,ncancel:166,ndt:6,near_goal_dist:99,nearbi:[84,85,102,156,181],nearest:[96,99,102,188],nearli:[153,157,177],neccessari:[161,164,165,166,175],necess:[163,164,166],necessari:[11,22,26,96,99,102,134,135,148,156,158,159,161,163,166,171,173,174,175,176,177,178,181,183,190,194],necessarili:19,need:[2,4,11,13,21,22,23,24,26,27,41,44,47,50,54,80,85,87,88,91,92,93,94,99,101,102,107,110,134,147,148,149,151,153,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,190,192,193],need_recalculation_:163,neg:[109,134,135,156,162,173],negat:188,neglig:157,negoti:93,neigh:108,neighbor:[112,181],neighborhood:[99,168,170],neither:27,nest:[148,149,182],network:[11,27,148,154,157,162],neutral:191,never:[18,27,99,134,135,157,188,190],nevertheless:173,newer:[148,161,174],newest:[20,177],newli:[80,103,156,157,171,174,177,178,188,192,193,194],next:[4,5,18,19,21,22,23,24,27,41,99,109,110,130,132,148,152,154,155,161,163,164,165,166,168,170,171,173,174,175,176,181,190,193],next_target:193,nice:[27,161],no_inform:[115,119,181],no_readings_timeout:116,no_valid_control:[72,73,158],no_valid_rout:178,node:[0,17,18,20,21,22,23,24,26,28,44,47,50,52,54,56,57,59,60,61,64,70,72,73,74,76,77,78,79,80,81,82,83,88,91,97,106,108,109,131,134,135,146,148,154,155,161,162,164,165,166,169,170,172,173,175,176,177,180,184,185,186,187,188,189,190,192],node_:[157,161,162,163,164,165],node_nam:[97,178,182,188,190],nodebuild:162,nodeconfigur:162,nodeid:26,nodestatu:157,nois:[86,99,104,112,155,158,168,173,174,177,187,195],noisi:[156,173,181,187],nolint:166,nomenclatur:27,nomin:[21,23,24],non:[7,10,26,27,85,88,92,97,99,103,106,111,113,114,117,133,134,135,148,153,157,159,162,166,168,170,171,175,176,177,182,183,184,188,192,194],non_straight_penalti:[134,135],none:[26,44,47,48,49,50,54,84,158,159,166,177,178],nor:[99,183],normal:[99,134,148,157,182],north:187,notabl:149,note:[2,17,19,20,21,22,23,26,27,41,85,86,87,91,92,93,94,97,98,101,102,107,109,110,114,117,135,151,153,157,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,186,187,188,190,191,193,194],noteworthi:99,noth:[156,184],notic:[99,134,163,173,174,176,182,193],notif:149,notifi:[97,162,166],notion:178,notori:184,novel:[156,157],novelti:6,now:[11,18,19,21,22,85,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,179,182,183,184,185,186,187,191,193],nowher:159,nudg:168,num_attempt:22,num_coeff:180,num_cycl:25,number:[3,11,26,27,41,76,84,85,86,91,93,94,99,104,105,112,119,121,133,134,135,154,155,156,157,158,159,161,162,165,168,173,174,175,176,177,180,181,182,190,193],number_of_recoveri:166,number_of_retri:[18,19,21,22,23,24,76,89,162],number_recoveri:166,numer:158,numeric_limit:156,nutshel:27,nvidia:[4,184],nxm:180,object:[5,10,11,26,27,41,79,94,99,153,156,157,158,159,161,163,166,172,174,176,177,187,191,195],observ:[115,119,149,161,164,165,166,173,174,175,194],observation_persist:[115,119,191],observation_sourc:[84,85,93,115,119,174,191,192],obsolet:156,obstacl:[0,1,3,9,15,17,20,27,67,80,84,85,86,91,93,102,112,113,118,119,133,134,135,136,139,153,154,157,158,168,170,171,174,175,176,185,186,187,191,192,195],obstacle_clearance_tim:157,obstacle_lay:[93,111,114,117,156,163,174,181,187,188,190,191],obstacle_max_rang:[93,115,119,156,174],obstacle_min_rang:[93,115,119,156,174],obstacle_rang:191,obstaclecrit:159,obstaclefootprint:120,obstaclefootprintcrit:95,obstaclelay:[93,174,177],obstacles_angl:[84,85],obstaclescrit:[99,159],obstruct:180,obtain:[7,27,28,85,94,155,158,173,174,180,184],obvious:[154,177],occasion:[27,106],occdist_scal:120,occgridload:155,occup:[6,93,98,114,115,119,168,174,189],occupancygrid:[98,117,155,158,159,188,190],occupancygridupd:159,occupi:[20,27,93,98,99,115,116,119,158,174,188],occupied_thresh:[188,190],occupied_thresh_default:98,occur:[27,104,163,184,192],odd:104,odom0:[173,184,187],odom0_config:[173,187],odom1:[184,187],odom1_config:[184,187],odom1_differenti:184,odom1_pose_rejection_threshold:184,odom1_queue_s:184,odom1_rel:184,odom:[27,71,84,85,86,87,88,92,93,109,146,161,162,171,173,174,175,184,187,189,192],odom_dur:109,odom_fram:173,odom_frame_id:[84,85,86,192],odom_r:[84,85],odom_smooth:166,odom_smoother_:166,odom_top:[88,92,109,162],odometr:[25,27,184],odometri:[15,17,84,85,86,88,92,109,123,166,172,174,175,195],odometry_fram:173,odomsmooth:166,off:[20,99,103,109,111,151,157,158,159,161,176,182,194],offer:[27,96,170,187,191,193],offic:1,offici:[15,147,152,171,173,174,175,176],offlin:[135,157],offset:[94,175,176,178,187],offset_from_furthest:99,ofodom_fram:173,often:[19,27,91,157,173,187],old:[80,120,158,166,168],older:[92,95,96,102,103,152,194],omit:148,omni:[86,99,106,156,168,177,192],omnidirect:[86,99,103,106,135,157,168,170,173,177,184,194],omnimotionmodel:86,ompl:3,on_abort:162,on_activ:[27,161,164,165,166],on_cancel:162,on_cleanup:[161,164,165,166],on_complet:157,on_configur:[27,161,164,165,166],on_deactiv:[161,164,165,166],on_parameter_event_callback:157,on_success:162,on_tick:162,on_wait_for_result:[157,162],on_xyz:166,onactioncomplet:161,onc:[13,18,19,22,71,82,85,86,94,97,99,103,133,134,135,147,148,149,151,152,155,156,157,159,166,174,175,176,182,183,186,187,192,194],oncleanup:161,onconfigur:161,oncreatecommand:148,oncycleupd:161,one:[3,5,7,8,11,14,18,26,27,41,75,79,85,91,97,99,104,135,148,149,155,156,157,159,162,163,166,170,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,190,192,193,194],ones:[17,134,135,157,170,174,187],onfootprintchang:163,ongo:26,ongoalposereceiv:166,oniniti:163,onli:[0,3,9,11,18,19,20,27,42,43,52,76,82,84,85,86,90,91,93,94,99,105,110,114,134,135,144,148,153,154,155,156,158,159,161,162,163,165,168,169,171,172,173,174,175,176,177,179,181,182,183,184,187,188,189,193,194],onlin:[26,157],online_async_launch:[174,189],onloop:166,onpreempt:166,onrun:161,onto:[18,21,23,99,103,157,166,168,173,175,194],open:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,134,135,146,148,149,151,153,159,163,171,173,174,175,176,177,180,182,183,184,185,186,188,189,190,191,193],open_loop:109,opencl:7,openmp:7,opennav:[14,153],opennav_coverag:[41,94],opennav_row_coverag:94,openvdb:191,oper:[4,5,21,23,24,27,85,91,94,99,102,109,111,149,152,153,156,157,158,159,161,163,164,165,166,170,173,174,175,177,178,180,184,187,192,193],operandi:194,operation_width:94,opinion:177,opportun:[21,23,24,159,162,166],oppos:[27,135],opposit:[97,135,159,175,188],opt:[147,152,173,176,186,189],optim:[3,17,22,27,91,94,99,106,113,114,133,134,148,153,156,157,158,168,170,171,177,178,180,184,194],optimi:177,option:[2,3,6,9,42,43,84,85,86,91,94,99,134,149,156,157,158,163,174,176,179,180,181,182,183,184,185,191,193],options1:176,orang:193,orbit:[176,187],orchestr:[153,182,193],order:[1,11,27,41,93,94,97,99,110,113,117,153,154,156,157,159,162,163,164,166,171,173,174,176,177,178,179,180,184,188,190,193],order_id:94,ordinari:93,org:[14,15,151,153,155,176,177],organ:[14,147,148,164,165,193],organiz:22,orient:[56,57,91,96,99,100,102,104,108,127,129,133,134,135,144,152,159,163,165,170,173,174,184,186,187,188,189,190],orientaton:157,origin:[2,5,6,8,14,26,56,57,79,85,91,93,133,134,135,150,155,156,159,171,173,174,176,179,187,188,190],origin_i:[93,187],origin_x:[93,187],origin_z:[93,119,174,191],oscil:[95,104,105,140],oscillation_reset_angl:140,oscillation_reset_dist:140,oscillation_reset_tim:140,oscillationcrit:95,osrf:[87,88,92,101,107,110,187],ost:180,other:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,19,22,60,62,85,88,93,94,99,102,104,109,114,115,116,118,119,135,148,149,151,152,153,156,157,158,159,161,162,164,165,166,168,170,171,172,173,174,175,176,178,179,180,181,182,183,184,185,187,188,190,191,192,193,194],otherwis:[4,19,59,62,65,66,67,68,69,72,73,74,86,99,104,116,134,135,156,157,159,168,173,177,178,190],our:[0,11,14,16,27,98,135,148,149,151,157,161,162,163,164,165,166,170,173,174,175,176,178,181,182,183,184,185,187,188,190,191,192,193],ourselv:175,out:[0,1,9,13,14,19,20,21,26,27,80,85,88,89,99,104,109,133,134,135,148,151,153,155,156,157,158,159,161,164,165,166,168,173,174,175,177,182,183,187,188,192,193,194],outcom:99,outdat:91,outdoor:[111,184,187],outermost:[41,84,85],outlandish:184,outlin:[18,20,156,171,175],output:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,85,93,94,99,133,134,135,153,156,157,162,163,170,173,174,175,176,178,179,182,183,184,187,188,190,192,193],output_go:[20,21,52,79,185],output_path:[20,56,57,185],output_port:193,output_typ:174,outsid:[85,99,103,157,158,185,194],over:[5,6,8,11,14,18,20,26,27,52,83,85,93,99,136,151,153,156,157,158,159,166,170,171,173,174,177,178,180,184,187,188,191,192,194],overal:[7,18,75,94,134,159,170,174,184,187],overcam:157,overcom:99,overhead:[11,177],overlai:[148,149,187],overlaid:27,overlap:94,overlay_mixin:147,overli:99,overrid:[84,85,93,98,120,134,135,148,157,159,161,162,163,164,165,166],overridden:[87,92,93,98,101,155,156,159,162,163],overriden:[84,85,158],overrod:85,overshoot:[99,102,156],overview:[106,149,173,175],overwhelm:18,overwrit:[98,115,119],overwritten:[88,94,115,119,157],owen:168,own:[11,17,27,85,86,106,148,151,154,155,156,161,162,163,164,165,166,168,170,173,174,175,176,177,178,183,184,187,188,189,190,192],ownership:151,pablo:168,packag:[5,8,17,26,27,84,85,89,90,93,96,99,102,103,106,109,135,146,147,148,151,152,156,157,158,161,162,163,164,165,166,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,188,190,192,194],pad:93,padmanabhan:168,page:[0,2,3,8,27,88,90,92,106,111,114,117,156,158,179,181,184,188,190],pai:177,pain:[175,182],pair:[18,19,99,105,117,156,159,177,180,184,187,188,190,194],palett:[148,149,193],pallet:[27,93,171],pan:157,pancak:193,pane:[176,190],panel:[2,106,176,193],paper:[102,153,164],par:177,parabol:108,parallel:[7,13,187,192],param:[27,103,156,163,173,176,177,182,183,187,188,190,192],param_rewrit:[159,188,190],param_substitut:[188,190],param_tol:91,paramet:[2,13,18,19,25,27,28,41,48,49,66,78,81,83,95,148,154,155,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,186,187,188,190,192,193,194],parameter:[157,191,193],parameter_ev:173,parameterev:[157,173],parameteriz:193,parametervalu:[163,164,165],paramlog:157,params_fil:[161,164,165,166,171,177,188,190],paremet:158,parent:[18,19,71,148,156,161,163,164,165,173,174,175,176,182,187],parent_nod:166,park:[96,184],parma:165,pars:[2,27,94,148],parser:180,part:[27,31,32,35,36,37,56,57,85,86,106,114,134,135,151,155,157,163,170,171,174,176,179,184,192],partial:157,particip:[11,151],particl:[6,7,27,86,152,168,177,181],particlecloud:155,particular:[6,19,22,27,84,99,155,157,166,177,179,182,183,184,187],particularli:[27,104,148,174,188],pass:[20,21,23,24,44,47,50,52,70,93,97,99,103,120,136,147,157,168,183,185,188,194],passabl:156,passag:[134,135],passibl:188,passthrough:149,past:[14,171,173,174,176,187,191],patch:[149,151],path:[3,4,17,18,19,20,21,22,23,26,27,28,41,42,43,46,48,49,53,56,57,67,69,78,80,88,89,91,92,94,96,98,100,101,102,103,104,105,106,107,108,120,131,133,134,135,136,141,142,146,147,148,153,155,156,161,162,163,164,165,166,168,170,171,173,174,176,177,179,181,182,183,184,185,186,187,188,190,193,194],path_blackboard_id:[88,166],path_blackboard_id_:166,path_distance_bia:120,path_downsampling_factor:91,path_loc:57,path_max_count:184,path_resolut:99,path_upsampling_factor:91,pathalign:[95,120],pathaligncrit:[95,99],pathanglecrit:99,pathcompon:41,pathcomponentsiter:41,pathdist:[95,120],pathdistcrit:95,pathexpiringtim:[24,89,157],pathfind:171,pathfollowcrit:99,pathlongeronapproach:[22,89,168],patienc:158,patience_exceed:[72,158],patrol:[26,27],pattern:[18,19,94,180],paus:[17,132,152,154,156,157,158],payload:190,pdf:174,pedro:187,penal:[99,159],penalis:108,penalti:[99,134,135,143,157,159,177],pencil:188,pend:[27,166],peopl:[4,9,21,23,24,85,172],pepper:[158,177,181],per:[84,85,99,151,159,163,164,165,168,169,170,171,183,187],perceiv:[27,174],percent:[117,188,190],percentag:[66,86,116,117,164,168,183,188],percept:[10,27,153,168,172,174,180,191],perf:148,perfectli:[99,194],perform:[1,3,4,7,9,11,17,22,26,28,30,45,55,84,85,86,90,91,99,106,110,134,135,148,153,156,157,158,161,162,163,164,165,171,174,177,178,181,182,184,185,187,193],perhap:193,period:[18,89,91,148,154,157,163,166,168],perman:187,permiss:[27,85,92,109,159],permit:[4,151,188],perpetu:177,persist:[148,168],person:[20,22,26,148,151,185],perspect:85,perturb:[99,177],pf_err:86,pf_z:86,pgm:[188,190],phase:[3,6,135],phi:[96,116],phone:161,photo:[131,156,168],photoatwaypoint:[110,156,168],physic:[103,172,173,174,177,182,183,189,191,194,195],pick:[5,26,27,93,110,171,186,187],pictur:[26,27,110,163,187,188,190,192],pid:[148,183],piec:175,pipe:[19,158],pipelin:[168,180],pipelinesequ:[17,18,20,21,22,23,24,89,162,185],pitch:[173,177,184],pivot:177,pixel:[27,93,181,188],pkg:[88,157,159,166,173,176,182,183,186],pkg_share:[173,174,176],pkg_share_dir:166,place:[13,26,27,55,93,96,102,103,113,115,118,119,133,135,151,156,157,158,159,161,163,164,165,166,168,170,176,179,180,181,188,190,192,194],placehold:166,plai:[27,171,184],plan:[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],planar:[173,174,177,187],plane:[157,173,176,187],planned_footprint:[134,135],planner:[1,2,4,9,10,17,18,19,21,22,23,24,28,42,43,50,73,85,90,91,93,94,99,102,103,104,105,109,114,123,141,142,153,154,155,161,163,167,169,171,172,178,179,185,188,191,194],planner_id:[18,20,21,22,23,24,26,42,43,50,89,162,179,185],planner_plugin:[100,101,108,133,134,135,155,170],planner_selector:50,planner_serv:[97,100,101,108,133,134,135,156,165,170,178],plannerselector:[21,23,24,89,156],plannerserv:157,plant:94,plate:161,platform:[7,99,106,153,156,172,175,177,184,193,194],playlist:184,pleas:[0,2,3,14,19,26,27,85,92,94,102,111,114,117,151,153,155,159,161,163,168,170,171,174,175,177,179,181,182,186,188,189,190,191,192,193],plot:186,plu:[173,174],plugin:[1,5,11,12,13,17,19,26,27,41,42,43,46,53,86,88,91,96,99,100,102,103,104,105,107,108,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,152,153,169,171,172,176,178,181,183,185,187,188,190,192,193,194,195],plugin_id:[164,165,166],plugin_lib_nam:[88,162],plugin_nam:[163,165,191],plugin_name_:164,plugin_specific_paramet:[164,165,166],plugin_typ:[163,165,191],pluginlib:[3,27,154,161,163,164,165,166,179,191],pluginlib_export_class:[161,163,164,165,166],pluginlib_export_plugin_description_fil:[161,163,164,165,166],pluse:156,png:[131,156,188,190],pocket:99,point:[4,9,10,14,17,18,19,21,22,23,24,26,27,52,84,85,91,93,94,96,99,100,102,103,104,105,108,110,111,114,120,133,134,135,137,139,141,151,153,155,156,157,158,163,164,165,166,168,171,173,174,175,176,177,178,180,182,184,186,187,191,192,193,194],pointcloud2:[85,93,115,119,191,192],pointcloud:[84,85,93,158,174,187,191],pointcloudcutoff:174,pointcloudcutoffmax:174,pointcost:26,pointer:[156,157,161,162,163,164,165],pointstamp:187,polici:[99,174,176],poll:26,polygon:[26,27,41,90,93,158,171,192],polygon_front:[84,159],polygon_limit:85,polygon_nam:[84,85],polygon_pub_top:[84,85,159,192],polygon_slowdown:[85,192],polygon_stop:[85,192],polygon_sub_top:[84,85],polygonfront:[84,159],polygonlimit:85,polygons_frame_id:41,polygonslow:[85,192],polygonstop:[85,192],pool:99,poor:[27,184],pop:182,popul:[7,86,88,156,157,161,166,174,178,179,187],popular:[27,177,182],port:[19,88,151,155,156,157,162,174,179,185,193],portion:[18,85,92,109,159,179],portslist:162,pos_track:184,pos_tracking_en:184,pose2d:86,pose:[17,19,20,26,27,42,43,48,56,57,62,64,79,86,91,96,99,100,102,108,125,127,129,133,134,135,137,138,146,152,153,154,155,156,157,159,163,164,165,166,168,173,174,176,177,184,185,187,189,192],posearrai:155,poseprogresscheck:[92,168],posestamp:[26,42,43,48,49,52,57,79,156,157,164,165,166,178,189],posewhen:99,posewithcovari:173,posewithcovariancestamp:173,posit:[1,4,57,84,85,92,96,127,128,129,152,154,156,157,159,162,163,164,165,166,173,174,175,176,177,181,184,185,186,187,189],position_sens:187,possibl:[2,14,27,87,96,99,102,148,153,156,157,158,164,166,170,171,177,181,182,184,187,188,190,192],post:[0,14,84,85,86,111,114,117,134,135,151,179,192],postcreatecommand:148,potenti:[0,1,6,7,9,10,27,85,90,102,133,134,135,153,156,157,158,159,168,174,181,182,183,184,187,192],power:[4,18,91,99,149,153,157,177],power_supply_statu:65,power_supply_status_charg:65,pr2441:157,pr2454:157,pr2456:157,pr2459:157,pr2469:157,pr2479:157,pr2480:157,pr2483:157,pr2489:157,pr2993:157,practic:[85,99,148,151,156,161,163,164,165,166,175,177,184,187,188,192],pradheep:168,pre:[10,62,85,87,88,89,98,99,102,135,148,153,168,177,186,187,188,194],prebuild:148,precis:[27,156,171],precise_goal_check:[46,47,156],precompil:148,precomput:[94,135,157],predefin:[27,187],predict:[28,85,156,159,168,184],prediction_horizon_:99,predomin:151,preeemption:166,preempt:[18,20,26,155,162,166,168],preemption:[21,23,159,162,166],preemptiv:[148,159],prefer:[0,27,98,103,109,114,134,135,148,149,152,156,157,159,168,176,177,183,188,194],preferenti:99,preferforwardcrit:[95,99],preferr:176,prefix:[94,161,163,164,165,166,176,182,183,186],prepar:[173,176,178],prerequisit:[22,150,174],presenc:[4,99,177,188],present:[22,85,109,115,119,148,155,157,158,159,163,164,166,168,174,177,192],preset:192,press:180,presum:97,pretti:[174,175,177],prevent:[9,18,27,29,85,86,90,91,96,99,102,109,115,119,134,135,140,145,148,156,157,158,159,168,177,178,181,188],preview:2,previou:[19,24,85,99,134,151,156,158,159,163,166,168,171,173,174,176,177,187,190,191],previous:[13,156,157,158,159,164,166,174,182,183,187,192],primari:[1,6,18,103,104,157,174,176,178],primarili:[18,157,171,177],primary_control:[103,194],prime:177,primit:[25,27,134,135,157,159,176],princip:[163,180,190],principl:188,print:[26,91,157,182],printenv:146,prior:[19,80,86,154,157],priorit:[85,92,109,157,159],prioriti:[84,85,92,109,151,158,159,166,178],prioriz:[85,92,109,159],privat:14,privileg:[148,149],probabalist:168,probabilist:155,probabl:[20,98,116,134,135,158,174,179],probe:[19,148],problem:[22,51,97,157,165,166,168,177,182],problemat:[91,102,182],proccess:182,proce:[166,176,184],proceed:98,process:[5,7,8,11,22,26,27,28,53,86,88,92,93,99,101,102,104,116,134,135,147,148,150,152,155,156,158,159,161,162,166,168,172,176,177,178,181,182,183,184,187,191,192,193,194],processor:[7,99,177],produc:[4,27,84,85,87,88,92,96,99,101,107,110,157,158,159,161,165,170,174,177,184,187,192],product:[9,27,137,138,141,142,148,149,153,184],profession:[21,23,24,153],profil:[1,2,3,4,5,6,7,8,9,10,11,12,13,99,182,195],program:[2,26,27,91,106,134,135,148,153,157,182,183,185],progress:[4,68,92,99,102,126,128,148,151,158,169,177,194],progress_check:[92,95,96,102,103,194],progress_checker_id:158,progress_checker_plugin:[92,95,96,102,103,155,194],progress_checker_plugin_id:[126,128],progresscheck:155,project:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,27,84,85,87,94,99,102,125,147,148,149,151,157,163,169,171,173,174,175,176,178,181,187,188,190,192,193,194],project_nam:[173,174,176],projection_tim:87,promis:157,promot:19,prompt:[2,149,182],prone:27,proof:27,proper:[91,175,176],properli:[9,26,136,153,157,171,172,173,174,175,176,181,187,188,190],properti:[19,85,148,173,174,192],propig:178,proport:[19,99,134,135,188,191],proportion:[109,134,164],propos:[0,6,155,156,157,187],proprtion:99,protect:151,provenli:27,provid:[2,4,7,11,17,18,19,21,23,24,26,27,28,41,44,47,50,54,59,85,86,88,89,93,98,99,104,109,115,119,141,142,147,148,149,151,152,153,157,158,159,161,162,163,164,165,166,169,170,172,173,174,175,176,177,178,179,181,182,184,185,186,187,189,193],providedbasicport:162,providedport:162,prox_len:[22,80],proxim:[22,52,80,99,102,156,157,159,192],prudent:149,prune:[99,120,134,148,159],prune_dist:[99,120,158,159],prune_plan:120,psutil:157,pub:189,publish:[20,44,47,50,54,84,85,86,88,92,93,95,98,99,109,110,111,114,117,119,120,130,134,135,152,154,155,156,157,159,161,164,166,168,171,173,174,177,179,180,184,185,186,187,189,192],publish_acceler:173,publish_cost_grid_pc:123,publish_evalu:123,publish_filtered_gp:187,publish_frequ:[93,174],publish_global_plan:123,publish_local_plan:123,publish_map_tf:184,publish_odom:173,publish_odom_tf:173,publish_tf:[173,184,187],publish_trajectori:123,publish_transformed_plan:123,publish_voxel_map:[93,119,174,191],publish_wheel_tf:173,published_footprint:[85,87,104,105,107,161,171,179],publishfeedback:166,pull:[14,147,148,149,151,155,156,157,168,177,182,193],pure:[28,96,99,153,156,157,158,161,163,165,166,168,170,177,184,194],pure_pursuit_controller_plugin:164,purepursuitcontrol:164,purpl:91,purpos:[10,27,84,151,153,158,162,166,170,176,184,185,187,189,190],pursuit:[28,153,156,157,168,170,177,194],push:[91,148,151,169],push_back:165,put:[11,91,157,163,168,176,178,187,192],pycostmap2d:26,python3:[2,12,13,26,153,156,157,158],python:[4,10,135,153,156,173,187,188,190],qos_depth:184,quadrat:134,quadrup:184,qualifi:86,qualiti:[3,8,25,27,91,99,105,106,134,135,151,153,157,159,173,184,187],quantiz:134,quaternion:[156,173,175],queri:[156,157,168,170],question:[0,151],queue:151,quick:[18,134,135,175,188],quickli:[7,148,151,157,175,177,193],quirk:[157,177,194],quit:[19,149,157,182,184,187],r8g8b8:174,race:148,racewai:187,rad:[87,92,94,96,99,102,103,122,126,127,129,134,140,144,192,194],radar:[27,173,174,191],radar_msg:174,radial:180,radian:[55,84,85,86,99,102,103,194],radii:[99,102],radio:187,radiu:[21,27,52,84,85,91,93,94,96,99,102,113,126,128,134,135,136,157,168,170,171,174,176],ragged:27,rai:[7,174],rais:[87,88,92,101,107,110,182],random:[86,158],randomli:[99,177],rang:[4,7,66,84,85,86,93,102,115,117,119,148,155,156,159,168,169,176,177,178,181,182,184,188,190,192],rangelay:177,ranger:174,rangesensorlay:155,rare:[155,157],raster:[177,188,190],rate:[9,12,18,19,78,81,83,84,85,86,92,96,109,110,115,119,154,156,159,161,168,176,184,185],ratecontrol:[18,20,21,22,23,24,89,162,185],rather:[19,21,23,24,27,86,91,93,99,134,148,154,155,156,157,159,166,168,175,177,182,189],ratio:[96,134,135,176,180],raw:[87,107,153,179,182,187,188,190],raycast:[112,115,119,168,177],raytrac:[115,119,156,174],raytrace_max_rang:[93,115,119,156,174],raytrace_min_rang:[93,115,119,156,174],raytrace_rang:156,rcl:[87,88,92,101,107,110,159],rcl_interfac:[157,173],rclcpp:[11,94,163,164,165,166],rclcpp_action:166,rclcpp_compon:178,rclcpp_error:[165,166],rclcpp_info:[161,165,166],rclcpp_lifecycl:[164,166],rclcpp_node:157,rclcpp_node_:157,rclcpp_warn:[162,166],rclpy:[26,157],reach:[0,14,18,19,22,92,99,127,129,132,133,163,164,168],react:[157,176],reaction:18,reactiv:[21,23,185],reactivefallback:[18,19,21,22,23,24,89,162],reactivesequ:[21,22,24],read:[6,8,18,27,84,85,116,149,156,157,168,174,182,187,188,190],readabl:176,reader:[172,194],readi:[22,147,148,151,152,157,163,176,177,182,184,188,190,192],readili:147,readm:[84,85,90,96,99,102,103,106,108,109,135,155,156,157,158,177],real:[4,9,12,27,85,92,109,151,173,174,175,176,180,185,187],realist:12,realiti:27,realli:[27,91,177,188],realtim:159,reason:[6,27,84,85,99,133,134,135,151,157,163,166,171,175,177,182,187,192],reattempt:[21,23,24],rebuild:182,rebuilt:148,recal:[19,174],recalcul:163,receiv:[18,19,26,27,44,47,50,54,79,84,85,92,103,106,109,116,118,155,157,158,159,161,164,166,168,173,174,175,177,185,187,194],recent:[9,52,152,177,184],recharg:[18,27],reckon:27,recogn:181,recomend:157,recommend:[1,2,3,4,5,6,7,9,10,12,27,84,85,97,99,102,104,105,148,151,152,159,164,170,171,173,174,175,176,177,179,184,186,187,189,191,192,193,194],recompil:[163,182],recomput:18,reconfigur:[13,17,156,157,170,178,187],reconnect:97,record:[151,187],recov:[18,86,97],recoveri:[2,17,21,22,23,24,29,30,55,58,76,87,88,89,153,154,155,158,161,162,166,168,179],recoveries_serv:[157,161],recovery_alpha_fast:86,recovery_alpha_slow:86,recovery_count:166,recovery_plugin:[155,157,161],recovery_serv:157,recoveryact:[18,21,22,23,24,89,162],recoveryfallback:[18,21,22,23,24,89,162],recoverynod:[18,19,21,22,23,24,89,162],recreat:148,rectangular:[91,171],rectifi:27,recurs:[104,105,134,135],red:179,redd:134,redesign:14,redistribut:151,reduc:[0,27,96,99,102,104,105,109,134,135,148,151,154,155,156,158,177,178,187],reduct:155,redund:155,reed:[91,134,135,156,157,168,170],reeds_shepp:[94,134],reedshepp:157,ref:[1,2,3,4,5,6,7,8,9,10,11,12,13],refactor:[151,154],refer:[3,18,27,60,62,78,85,87,88,92,93,96,102,104,106,111,114,117,147,148,149,154,155,157,158,161,162,163,164,165,166,170,171,172,173,174,175,176,181,185,187,188,190,192,193],referenc:[163,173,174,192],refin:[27,91,105,134,135,152,157],refinement_num:[104,105,134,135,158],reflect:[148,156,159,174,176],refus:99,regard:[0,19,157,166,176,177],regardless:[84,85,109,149,163,173,183],regener:99,regenerate_nois:99,regim:[99,177],region:[39,41,84,99,168],regist:[27,89,161,162,163,164,165,166,174,191],registerbuild:162,registr:191,registri:[147,148],regul:[28,153,156,157,164,168,170,177,194],regular:[27,29],regularli:170,regulated_linear_scaling_min_radiu:102,regulated_linear_scaling_min_spe:102,regulatedpurepursuitcontrol:[102,103],rehash:158,reimplement:[5,6],reinit:168,reiniti:168,reinitialize_global_loc:51,reinitializegloballoc:89,reject:[134,135,157,166,184,187],rel:[8,27,57,84,85,93,99,109,155,159,170,171,173,175,177,183,184,187],relat:[4,11,13,14,25,27,85,90,111,112,114,117,147,148,156,157,159,172,175,176,187],relationship:[99,175],relav:161,relax:148,releas:[26,154,155,169,191],relev:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,94,99,153,154,162,166,184,187],reli:[182,187],reliabl:[6,12,44,47,50,54,149,153,174,176],reloc:51,relwithdebinfo:183,remain:[13,18,19,20,27,91,99,123,148,149,154,155,156,157,159,161,162,163,164,165,181,194],remaind:27,remap:[31,32,33,34,35,36,37,41,42,43,46,156,157,173,174,178,179,182,183,184,185,187,192],remark:27,rememb:[14,102,146,148,175,176,187],remot:[148,149,161,162,182],remote_containers_ipc:148,remote_containers_socket:148,remov:[11,20,21,52,56,57,94,98,104,112,115,119,134,135,148,154,155,168,173,174,177,179,181,182,183,184,187,191,192,193,194],removepassedgo:[21,89,156,159],renam:[87,148,155,156,157],renavig:18,render:149,reopen:149,reorder:94,rep145:173,rep:[27,153,156,169,173,175,187],repeat:[25,99,147,163,175,176],repeatedli:[188,190],repetit:[158,176],replac:[4,5,10,11,88,91,154,157,158,159,161,163,165,166,177,179,181,184,187,189,191,192],replan:[17,19,20,21,23,52,78,83,89,120,134,135,155,156,177,185],replic:148,repo:[12,27,108,147,149,185,187,191],report:[12,86,99,151,156,158,162,174],repositori:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,102,147,148,149,153,161,163,164,165,169,171,173,174,176,177,188,190,191],repres:[10,12,18,27,99,102,134,153,156,164,169,173,174,176,182,184,187],represent:[10,93,134,170,174,175,187],reproduc:[147,148],repuls:99,repulsion_weight:99,reput:8,request:[11,14,18,20,26,27,87,88,92,94,98,99,100,101,103,107,133,134,135,148,149,151,155,156,157,158,159,161,162,166,168,177,178,179,182,189,190,193,194],requir:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,27,86,91,97,99,103,108,109,117,134,135,148,151,156,157,158,170,173,174,175,176,177,178,182,184,185,191,194],required_movement_angl:[126,158],required_movement_radiu:[92,95,96,102,103,126,128,194],rerun:148,resampl:[86,99],resample_interv:86,research:[9,14,27],resembl:19,reserv:[21,23,24,158,178,184],reset:[69,86,99,140,152,155,156,157,162,163,166,168],reset_dist:[38,39,156],reset_period:99,resiz:118,resolut:[26,93,99,119,133,134,135,156,163,168,170,171,174,186,188,190],resolv:[21,23,24,97,155,157,179,191],resour:165,resourc:[26,27,85,87,92,99,107,109,148,157,158,161,164,166,171,172,173,175,177,178,183,188,191],respawn:[97,177,192],respawn_delai:192,respect:[4,27,103,114,156,157,162,169,170,173,174,176,177,187,191,194],respond:[0,178],respons:[19,21,23,24,27,38,39,40,85,97,157,161,166,170,178],rest:[18,38,39,85,92,99,109,131,149,159,173,174,175,178,183,187],restart:148,restrict:[27,85,117,156,158,159,168,177,187,190],result:[9,19,26,27,56,57,79,85,87,88,91,92,94,99,101,102,104,105,107,108,110,151,153,155,156,161,162,163,166,168,177,178,180,181,184,192,193,194],resultstatu:161,resum:158,retain:[19,61,104,105,133,134,135],retick:19,retrain:4,retransit:157,retreiv:10,retri:[17,21,23,24,76,168],retriev:[164,165,166],retrofit:184,retrospect:157,retrospective_penalti:[134,135],retry_attempt_limit:99,retryuntilsuccesful:22,retryuntilsuccess:22,retryuntilsucessful:22,retun:[99,157,177],reus:[27,148,161,176,178],revers:[91,99,102,106,109,134,135,157,159,178,190],reverse_penalti:[134,135],reversing_en:91,revert:182,review:[0,13,88,148,149,151,166,177],revisit:[149,158],rework:153,rewrit:159,rewrittenyaml:[156,188,190],rfid:26,rgb:174,rgba:176,rgbd:9,rich:27,right:[27,99,108,109,134,135,151,152,157,173,175,180,181,183,187],right_joint:173,right_wheel_est_vel:173,righthand:131,rigid:[176,177],rise:91,roam:171,robbin:77,robin:[19,168],robocup:185,robot:[1,2,4,5,6,7,8,9,10,12,13,14,18,19,20,21,22,23,24,25,26,30,38,39,45,51,52,56,57,60,62,68,78,80,83,84,85,86,87,88,90,91,92,93,94,96,99,102,103,106,107,109,110,111,113,114,115,117,119,126,127,128,129,130,132,133,134,135,136,137,138,139,140,141,143,144,145,149,152,153,154,155,156,158,163,164,165,166,168,170,174,175,178,179,181,182,183,185,186,187,188,190,191,192,193,194,195],robot_base_fram:[52,60,62,78,87,88,93,104,105,107,161,162,163,166,173,174,179],robot_descript:[173,176],robot_fram:57,robot_loc:[15,27,110,173,175,184,187],robot_localization_nod:173,robot_model_typ:[86,157],robot_nam:177,robot_navig:26,robot_radiu:[27,93,163,171,174,177],robot_sdf:177,robot_state_publish:[174,175,176],robot_state_publisher_nod:[173,176],robot_width:94,robotech:91,roboticist:27,robotmodel1:176,robotmodel:176,robust:[4,6,27,193],rocker:149,role:[14,27,162,166,170,171,182],roll:[87,93,98,99,146,148,169,173,177,184,187,193],rolling_window:[93,174,187],room:[10,99,177,186,188,190],root:[17,18,19,20,21,22,23,24,25,89,147,148,149,157,161,162,164,165,166,173,174,176,185,193],root_kei:[188,190],ros1:[153,155,156,174],ros2:[146,152,157,161,163,164,165,166,171,173,174,175,176,180,181,182,183,184,185,186,187,188,189,190,191,192],ros2_control:173,ros:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],ros__paramet:[60,62,84,85,86,87,88,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,155,156,159,161,162,164,165,166,170,173,174,179,181,187,188,190,191,192,194],ros_distro:147,ros_w:147,roscon:[1,189,191],rosdep:[146,147,148],rosdistro:146,rosout:173,rot_stopped_veloc:129,rotat:[26,27,28,55,85,86,87,91,96,99,102,109,122,126,127,129,133,135,144,158,159,164,168,169,170,173,175,176,187,192,195],rotate_to_heading_angular_vel:[102,103,194],rotate_to_heading_min_angl:102,rotatetogo:95,rotatetogoalcrit:95,rotation_penalti:135,rotation_scaling_factor:96,rotational_acc_lim:[87,161],rotationshimcontrol:[103,194],rough:[102,103,157,176,177,194],roughli:[99,106,152],round:[19,77,85,168,172],roundrobin:[18,21,22,23,24,89],rout:[3,10,26,27,41,94,99,134,166,169,177,178],route_error_code_id:178,route_id:178,route_msg:178,route_serv:178,route_tim:178,routeserv:178,row:94,rowsareswath:94,rpp:[170,177,194],rpy:[174,176,187],rsj:153,rst:168,rtk:187,rtprio:[85,92,109,159],ruffin:[14,148,153],ruffsl:14,rule:[10,27,164,165,175],run:[0,3,4,7,9,14,19,26,27,75,78,81,83,86,87,88,92,94,97,98,99,101,106,107,110,131,134,135,146,147,148,149,151,155,156,157,159,168,170,172,175,177,178,180,182,183,184,186,187,189,192,193],runarg:148,runtim:[27,156,157,161,162,163,164,165,166,187,191],rviz2:[166,176,186],rviz:[152,163,164,165,166,172,173,177,181,184,187,189,190,193],rviz_common:176,rviz_config_fil:177,rviz_default_plugin:176,rviz_nod:[173,176],rvizconfig:176,ryzhikov:168,safe:[9,13,27,102,147,156,161,162,170,174,175,177],safer:9,safeti:[0,1,27,85,90,97,154,155,156,168,169,177,188,189,192],sai:[11,18,19,27,151,182],said:[170,187],sake:18,salt:[158,177,181],sam_bot:[171,173,174,176],sam_bot_descript:[171,173,174,176],sambot:171,same:[11,18,26,27,41,61,63,84,85,86,88,91,99,102,109,133,134,135,148,149,151,152,153,154,155,157,158,159,161,163,166,174,176,177,178,182,183,184,187,188,190,191,192,194],sampl:[6,27,99,103,121,131,158,159,170,171,173,174,177,185,187],samsung:14,san:[14,184],sandbox:189,saniti:187,sarthak:168,satellit:187,satisfact:99,satisfi:173,sausag:149,save:[86,98,131,134,135,155,156,157,168,171,176,177,180,185,187,188,189,190,193],save_images_dir:131,save_map:155,save_map_timeout:[98,156],save_pose_r:86,saver:[28,111,114,117,156,188,190],savitzki:[28,168],savitzky_golay_smooth:104,savitzkygolaysmooth:104,scalabl:27,scale:[9,27,95,96,99,102,104,120,134,136,137,138,139,140,141,142,143,144,145,156,168,175,176,177,188,190,192],scale_veloc:109,scaling_spe:120,scan:[6,9,26,84,85,86,93,168,174,175,192],scan_top:[86,174],scanner:[6,84,85,115,119,174,192],scenario:[18,22,96,170,192],scene:[27,99,154],schedul:[85,92,109,159],schema:[147,148],scheme:[8,174],school:27,scope:[4,148,159,173,174,184,185,192],score:[94,99,120,136,137,138,139,141,142,143,159,170,177],scratch:148,screen:[157,161,173,174,176,178,182,183,188,190,192,193],script:[98,148,158,159,168,188,190,192],sdf:[157,173,174],sdk:184,sdl:154,se2:[99,114,134,135,153,157,168,177],search:[27,57,96,99,102,103,106,120,133,134,135,146,156,157,159,170,177,194],sec:[83,162,189],secant:187,seccomp:148,second:[9,18,19,21,23,24,27,29,30,45,53,55,69,70,75,76,80,85,87,88,92,97,98,99,101,103,107,110,130,131,133,134,135,156,157,159,162,168,173,174,175,178,180,181,187,188,190],section:[17,18,27,85,91,99,150,151,153,157,159,163,168,170,171,172,173,174,175,176,177,178,181,182,184,190],secur:[26,27,85,92,109,148,150,159],see:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,18,19,22,27,29,30,41,42,43,45,46,53,55,67,84,85,88,90,91,95,96,99,102,103,106,108,109,115,119,135,146,147,151,152,153,155,156,157,158,159,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,193,194],seek:7,seem:99,seen:[17,22,106,135,157,162,163,173,178,193],segment:[91,99,104,108,148,170,171,174,179,181],select:[2,3,5,7,17,27,44,47,50,54,84,85,86,99,100,103,108,111,112,113,114,115,116,117,118,119,133,134,135,148,149,156,158,162,163,168,171,172,174,176,179,181,182,183,185,188,190,193,194],selected_control:44,selected_goal_check:47,selected_plann:50,selected_smooth:54,selector:[21,23,24,168],self:[147,149],self_client_:166,semant:[0,26,93,153,156,175,178,187],semi:[87,88,92,101,107,110],send:[0,9,26,92,93,94,102,109,157,159,161,162,166,185,187],send_goal:161,send_messag:161,send_sm:161,sendsm:161,senior:151,sens:[175,184,187,191,193],sensibl:114,sensit:[6,85,92,109,111,134,158,159],sensor:[1,5,7,9,21,23,24,27,84,85,90,93,112,115,119,148,153,155,156,158,168,170,171,172,173,175,176,177,178,181,184,187,191,192],sensor_driv:178,sensor_fram:[115,119,176],sensor_msg:[65,66,85,173],sensorplugin:173,sent:[64,109,157,158,159,161,166,185],sentin:166,separ:[27,84,85,93,99,114,148,153,156,157,159,163,173,175,178,182,183,188,189,193],separet:159,seper:[179,182],septemb:[26,184],sequenc:[18,19,20,21,22,23,24,25,89,99,148,158,168,173,178,179,185],sequencestar:[22,162],sequenti:153,seri:[171,173,182],serial:184,seriou:[177,182],serious:151,serv:[18,22,153,157,174],server:[10,11,13,17,18,19,22,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,53,54,55,58,72,73,74,80,85,86,88,93,95,97,99,104,105,109,110,111,114,117,120,121,122,123,124,125,126,127,128,129,136,137,138,139,140,143,144,145,146,152,153,154,156,161,162,163,164,165,166,168,169,173,177,179,182,183,187,191,192,193,194,195],server_nam:[29,30,31,32,33,34,35,36,37,41,42,43,45,46,48,49,55,58,156],server_timeout:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,51,55,58,67,88,156],servic:[19,27,31,32,33,34,35,36,37,38,39,40,51,86,88,98,102,148,149,155,156,158,161,168,170,173,180,187],service_nam:[18,21,22,23,24,31,32,33,34,35,36,37,38,39,40,51,89,162],servicet:157,session:[133,134,135,148,182],set:[1,2,3,9,10,13,17,21,23,24,26,27,29,30,41,42,43,45,46,53,55,57,59,66,84,85,86,91,92,93,94,96,97,98,99,100,102,106,108,109,110,111,115,117,118,119,120,133,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,162,163,164,165,166,168,172,177,178,179,180,182,183,185,186,187,188,189,190,191,192,194],set_angl:94,set_camera_info:180,set_initial_pos:86,set_pos:173,setcost:26,setcostmap:26,setinitialpos:[26,157],setplan:164,setspeedlimit:164,setup:[2,27,146,147,148,149,152,159,163,171,174,175,176,177,178,182,184,188,189,190,192],sever:[51,85,89,90,99,106,148,151,156,187],shadow:186,shape:[27,84,85,93,106,153,158,170,171,172,176,177,188,190,192],share:[11,27,85,87,88,107,133,148,152,157,161,163,164,165,166,173,174,176,177,186,194],shared_ptr:[157,161,164,166],sharedptr:[157,166],sharp:[96,99,159,177],sharper:[96,102],sheep:[134,135,157],shelf:26,shell:148,shelv:26,shepp:[91,134,156,168,170],shift:[148,149],shim:[28,168,169,177,195],ship:[16,26],shoot:27,shop:184,short_circuit_trajectory_evalu:[95,120],shortcut:[96,102,134,135,157,161,163,164,165,166],shorten:158,shorten_transformed_plan:[120,158],shorter:[22,56,57,134,135,168,176,185],shortest:[27,170],should:[1,2,3,6,9,11,17,18,22,27,41,72,73,74,76,83,84,85,87,88,91,92,93,96,98,99,101,102,107,109,110,112,115,117,119,134,135,149,151,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,189,190,192,193,194],shouldn:99,shovel:27,show:[2,26,117,135,149,152,157,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],showcas:187,shown:[13,18,26,99,151,152,156,162,166,170,171,173,174,178,179,185,187,190,192,193],shrijit:153,shut:[26,27,178],shutdown:[27,157,178],shutter:184,shuttingdown:178,sid:161,side:[25,38,39,93,99,131,148,174,176,178,181,183,193],sidebar:[151,180,183],siemen:193,sig:182,sight:[104,170,187],sigma_hit:86,sign:[0,109,151],signal:[9,104,168,183,187],signatur:[162,166],signific:[8,9,99,177,187],significantli:[7,9,17,22,23,24,80,99,103,134,157,159,168,177,187,194],silent:156,sim_tim:[95,124,125],simiar:175,similar:[7,9,10,19,21,23,26,27,84,96,98,99,106,147,149,156,157,162,170,173,174,176,177,179,182,184,187,191,193,194],similarli:[21,23,84,90,159,173],simpl:[3,27,28,104,112,134,135,149,151,154,161,162,163,165,168,170,171,175,176,177,179,182,185,187,189,193,194],simple_smooth:[53,105,107,179],simplegoalcheck:[46,92,95,96,102,103,120,156,168,194],simpleprogresscheck:[92,95,96,102,103,158,168,194],simpler:[134,175,176],simplesmooth:[54,105,107,179],simplest:162,simpli:[17,99,134,148,151,156,157,161,162,173,176,177,182,188,190,191,193],simplic:188,simplifi:[6,152,155,162,164,166,182],simul:[1,2,3,4,5,6,7,9,10,11,12,13,85,88,99,103,124,125,146,152,159,161,163,164,165,166,171,172,176,177,182,183,186,187,188,189,190,191],simulate_ahead_tim:[87,103,161,194],simulation_time_step:[85,87],simultan:[148,163,174,188,190],sinc:[6,27,41,91,94,99,102,103,105,114,134,135,156,157,159,163,166,170,171,172,173,174,175,176,177,178,179,182,184,187,188,190,192,193,194],singh:[102,153,168],singl:[11,19,21,23,24,26,27,92,98,99,110,134,135,151,154,155,156,157,162,163,165,168,173,174,175,176,177,178,179,182,183,184,187,191],singletrigg:[89,156],singular:177,sister:156,sit:9,situat:[1,10,18,21,23,24,27,85,102,152,153,156,157,168,171,174,177,179,182,183,184],size:[26,27,38,39,94,118,134,135,157,163,169,170,171,173,174,176,177,180,181,184,187,188,190,191],skew:180,skid:[156,170,184],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,182],skillset:7,skinni:177,skip:[86,94,99,161,173],skirt:157,slack:[0,14,27,151],slam:[6,15,93,118,153,154,155,174,175,177,182,184,186,195],slam_toolbox:[15,147,182,189],sleep:[85,132,162],slide:176,slider:[176,188],slight:104,slightli:[99,104,109,133,134],slop:180,slow:[85,86,96,99,102,117,144,156,158,159,177,182,190,192],slowdown:[85,192],slowdown_radiu:96,slowdown_ratio:[85,192],slower:[84,85,181],slowing_factor:[95,144],slowli:99,smac:[28,91,99,102,103,114,153,156,169,170,171,194],smac_plann:102,smacplann:168,smacplanner2d:[106,133,156,168],smacplannerhybrid:[106,134,157,168],smacplannerlattic:[106,135,168],small:[99,109,134,155,158,166,168,169,171,173,176,177,181,184,186,187,194],smaller:[13,18,27,96,102,112,134,135,157,184,188,190],smart:[27,111],smooth:[20,26,27,53,83,91,96,99,103,104,105,107,109,133,134,135,153,156,157,158,159,168,173,177,179,187,192,194],smooth_path:[134,135],smoothed_path:[26,53,179],smoothed_path_in_collis:[74,158],smoother:[28,53,54,74,133,134,135,153,159,166,169,170,178,192,195],smoother_error_cod:[74,88,179],smoother_id:[26,53,179],smoother_plugin:[91,104,105,107,179],smoother_selector:54,smoother_serv:[91,104,105,107,178,179],smootherselector:89,smoothing_complet:53,smoothing_dur:53,smoothing_duration_us:53,smoothing_frequ:109,smoothing_path_error_cod:53,smoothli:[99,177],smoothpath:[26,89,91,157,179],sms:161,snake:94,snippet:[18,161,164,165,166,171,173,174,176,178,182],snuff:159,soc:4,soccer:[27,187],socket:149,soft:[22,85,92,99,109],soften:104,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,102,151,158,174,177,178,182],sole:[159,193],solut:[27,87,88,92,99,101,107,110,134,135,177,181,184],solv:[22,146,165,182],solver:[91,168],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,54,84,87,88,92,99,101,104,106,107,109,110,114,134,148,151,154,156,157,159,162,164,165,166,170,171,173,174,175,176,177,181,182,184,185,187,188,192,193],someon:[11,14],someth:[0,18,19,26,151,157,173,175,182,187,188],sometim:[18,151,177,193],somewhat:[134,177,194],somewher:190,sonar:[27,85,116,158,174,177,191,192],sonoma:187,soon:27,sooner:188,sound:[84,159],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,115,119,146,148,150,151,152,153,157,161,162,163,164,165,166,171,172,173,174,175,176,180,182,184,186,187,188,189,190,191,192],source_fil:[188,190],source_timeout:[84,85,192],south:187,space:[1,4,10,20,27,84,85,86,93,98,99,100,102,108,111,115,118,119,133,134,135,148,149,156,157,168,170,173,177,181,186,188],span:[14,153,187,192],sparingli:99,spars:[26,27,168,177,191],sparse_normal_choleski:91,spatial:[27,99,156],spatio:[168,191],spatio_temporal_voxel_lay:191,spatiotemporalvoxellay:[177,191],spawn:[148,171,173,174],spawn_ent:[157,173],speak:[134,183],special:[27,80,84,85,92,94,151,158,162,163,193],specif:[2,3,6,11,17,18,21,22,23,24,26,27,30,45,89,93,99,102,135,148,149,154,155,156,157,158,159,162,164,165,166,170,173,174,175,177,179,180,182,188,189,193,194],specifi:[18,21,22,23,24,26,41,48,49,57,66,76,84,85,88,93,98,99,115,119,131,132,134,135,147,148,149,155,156,157,158,159,162,163,164,165,168,170,173,174,175,177,180,183,187,192],speed:[2,7,9,19,25,26,27,30,45,83,85,87,91,92,93,98,99,102,109,114,122,133,134,135,147,148,156,157,159,164,166,168,170,177,184,187,192,195],speed_filt:[93,117,190],speed_filter_mask:190,speed_limit:[92,117,190],speed_limit_top:[92,117,190],speed_mask:190,speed_param:190,speedcontrol:[18,89,155],speedfilt:[93,117,156,177,190],spend:18,spent:183,sphere:[171,174,176],sphere_inertia:176,spheric:[176,187],spherical_coordin:187,sphinx_doc:168,spike:[134,135,157],spin:[11,18,19,21,22,23,24,25,26,27,36,89,145,155,156,157,158,161,162,168],spin_dist:[18,21,22,23,24,25,26,55,89,162],spin_error_cod:55,spinner:11,spiral:[94,157,177],spite:173,spline:3,split:[155,187],splitter:176,sponsor:14,spot:[21,23,24,135,152,161],squar:[25,38,39,84,85,93,159,180],squash:119,src:[146,147,148,163,173,174,176,182,188,190],ssh:[148,149,182],stabil:[154,155,156,157,158,159],stabl:[96,102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,26,27,78,81,83,92,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[27,93,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[85,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,86,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[95,120],star:[28,170,177],start:[4,5,12,19,20,21,23,24,26,27,42,43,57,84,85,91,96,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],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:[5,27,97,146,148,152,155,178,180,188,190],state:[3,15,19,21,23,24,26,61,85,91,92,93,95,96,97,99,102,103,106,109,111,127,129,133,152,153,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[85,158],statement:151,static_lay:[93,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[93,174,177],station:[27,170],statist:[4,9,183],statu:[17,27,151,153,157,161,162,188],status1:176,status:[26,166],std:[59,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[91,133,157,174,177,184],step:[19,27,85,87,94,99,135,174,176,182,183,184,192],step_siz:26,stereo:[85,180,184],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:[18,19,26,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,20,27,75,85,90,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[85,192],stoppedgoalcheck:[92,168],storag:[148,166],store:[86,93,115,119,148,153,158,163,164,166,174,175,183,187],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:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,57,58,60,62,71,78,79,84,85,86,87,88,91,92,93,94,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:27,structur:[6,8,18,27,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,18,21,23,24,27,29,30,45,55,68,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[93,191],style:[21,23,24,177,191],sub:[0,21,23,24,85,157,159,192],subcommand:148,subfield:184,subject:[27,99,173],submit:[13,151,168],suboptim:[99,177,184],subpoli:85,subproject:13,subscrib:[27,44,47,50,54,65,66,79,85,86,92,116,118,156,159,173,174,185,187],subscribe_to_upd:[93,118],subscript:[79,84,85,156,159,166,168,173,178],subsect:[148,174],subsequ:[19,27,86,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[88,176,185,188,190],subsystem:96,subtleti:166,subtli:157,subtre:[17,19,21,22,23,24,27,38,39,40,89,162,168],succe:[18,19,75,76,168],succeed:[26,82,157,161,165],success:[14,18,19,22,27,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,76,99,156,157,158,159,161,162,168,176,181,187,194],successfulli:[1,18,27,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,18,27,99,135,144,166,181,183,184],suffix:183,suggest:[19,91,99,170,175,176],suit:[0,148],suitabl:[91,103,157,168,170,175,177,194],sum:[86,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summer:[5,11],superior:158,suppli:[11,27,78,81,83,88],support:[2,6,13,14,26,27,44,47,50,54,84,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,26,88,99,115,119,146,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[27,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:27,swap:[157,158],swath:[41,94],sweep:[96,176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[27,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,85,86,92,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],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:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,80,84,85,86,87,88,92,94,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,190,194],taken:[4,62,76,84,85,91,99,117,131,156,163,166,188,190],talk:[1,148,153,173,175,182,189,191],talker:146,tangent:[4,180,187],tangenti:180,tar:180,target:[6,99,102,117,148,149,155,156,159,170,176,182,185,186,190,193],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,52,79,85,88,90,94,99,103,110,151,153,154,156,158,161,162,166,170,171,172,174,177,179,184,185,187,193,194,195],taskexecutor:26,taskresult:[26,157],tb3:159,tb3_gp:187,tb3_simulation_launch:[152,161,163,164,165,166,177,181,182,185,188,189,190,192],tbb:7,tcp:149,team:[14,149,185],tear:109,teardown:[27,170],teb:[3,99,154,158,168,170,177,194],teb_local_plann:155,teblocalplann:155,technic:[8,21,23,24,151,161,163,164,165,166,188],techniqu:[3,4,6,27,85,104,105,106,156,174,177,184,187],technolog:[8,14,153,184,187],tediou:176,teleop:[0,26,29,87,168,187],teleop_twist_keyboard:187,teleoper:187,telepres:1,tell:[27,151,159,161,162,163,173,182,187],temperatur:99,templat:[106,147,151,156,162,166,172,176,182],tempor:[168,177,191],temporari:[21,22,23,24,87,88,92,101,107,110,184,188,190],tend:194,term:[94,99,151,159,166,174,175,184,188],termin:[91,105,133,134,135,146,152,155,161,171,173,174,180,182,183,185,186,187,189],terminatependinggo:166,test:[0,3,4,6,87,99,135,148,151,159,169,173,180,185,189,191,193],text:[161,163,191],tf1:176,tf2:[27,155,172,173,175,176,177],tf2_echo:[173,175],tf2_msg:173,tf2_ro:[164,171,173,175],tf2_tool:174,tf_:[164,165],tf_broadcast:86,tf_static:157,tfmessag:173,than:[19,21,23,24,27,56,57,62,66,80,85,86,87,88,92,93,94,96,97,99,101,102,103,107,109,110,111,112,134,135,148,155,156,157,158,159,164,166,168,175,177,181,182,183,184,185,187,188,189,192,194],thank:14,thei:[0,7,18,19,21,23,24,27,84,85,88,94,97,99,106,145,148,149,151,153,155,156,157,158,159,161,162,164,165,166,170,172,173,174,175,176,177,178,182,183,187,188,192,193],theinput:173,them:[4,7,21,26,27,84,92,94,99,110,114,115,119,135,148,149,151,153,154,156,157,158,159,161,162,163,164,165,171,174,175,176,177,178,179,182,183,184,186,187,188,189,190,192,193,194],themselv:[166,193],theoret:99,theori:99,therebi:151,therefor:[19,22,84,99,176,177,178,182,187,188,190,192,193],theta:[26,28,96,103,104,109,156,168,170,177,194],theta_max:[85,192],theta_min:[85,192],theta_scal:143,thetastarplann:[108,168],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,47,50,52,54,55,58,61,72,73,74,80,82,84,85,86,87,88,89,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,133,134,135,136,148,149,150,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],thing:[13,27,149,157,158,163,164,165,173,176,177,182,183,190],think:[0,8,27,177],third:[75,164,188,190],those:[9,14,27,104,148,157,170,174,176,177,178,179,182],though:[19,21,99,135,177,178,184,187,188,190,192],thought:[27,157,162],thrash:184,thread:[7,11,13,26,27,85,92,99,109,159,182],three:[25,27,106,158,175,177,178,187],threshhold:98,threshold:[62,85,92,98,99,102,103,111,140,157,168,184,186,188,190,194],threshold_to_consid:[99,159],throttl:[81,155,168],through:[1,9,17,18,19,22,23,24,26,27,28,41,42,97,99,108,115,119,134,135,148,151,152,153,155,156,157,158,159,163,168,170,172,173,174,175,176,177,178,182,183,184,187,188,189,190,191,194],throughout:[2,61,148,154,157,176,178,184],thrown:157,thu:[84,85,91,99,108,109,170,173,174,183,184,187],thusli:[171,177,194],tick:[18,19,21,22,23,24,27,61,75,78,81,82,83,157,162,168],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,27,146,151,155,156,157,177,182,193],tie:4,tied:[27,135],tight:[103,135,170,177,194],tighter:177,tightli:184,tile:187,till:75,tilt:180,time:[0,1,3,4,6,7,8,9,11,14,18,19,20,21,22,23,24,25,26,27,29,30,41,45,53,55,57,58,70,75,76,84,85,86,87,88,92,93,99,102,103,104,105,106,109,111,114,116,117,124,125,126,128,130,131,132,133,134,135,144,147,148,149,151,154,155,157,162,163,166,168,169,170,171,173,175,177,178,179,181,182,183,184,185,186,187,188,190,191,192,193,194],time_allow:[25,26,29,30,45,55,87,157],time_before_collis:85,time_granular:125,time_step:99,timedbehavior:161,timeexpir:89,timeexpiredcondit:155,timelin:151,timeout:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,55,58,73,74,85,87,88,92,94,97,98,101,107,109,110,130,155,161,162,192],timer:[69,159,168,174],timestamp:[26,131,159,173],timestep:99,timezon:151,tini:104,tip:[172,177,188],tireless:14,titl:153,tmp:[131,148,180],to_entri:148,to_numb:161,togeth:[19,27,94,173,175,184,187],toggle_filt:158,token:161,tol:168,toler:[18,27,57,62,87,88,91,93,96,99,100,102,103,105,107,118,120,127,129,133,134,135,144,156,157,159,165,168,179,186,194],tom:15,ton:182,too:[18,99,108,134,135,156,157,159,177,179],took:108,tool:[2,4,15,27,146,147,148,149,151,153,155,156,166,172,174,175,176,182,183,187,188],toolbar:185,toolbox:[27,153,154,174,177,182,189],top:[5,7,11,18,93,161,163,164,165,166,175,179,180,181,183,188,190,193],topic:[0,19,20,21,23,24,27,44,47,50,54,65,66,79,84,85,86,87,88,90,92,93,98,107,109,111,114,115,116,117,118,119,120,130,131,134,135,151,154,155,156,157,158,159,166,168,171,172,173,174,175,176,177,178,179,180,183,184,185,186,187,188,189,190,191,192],topic_nam:[44,47,50,54,98,188,190],torqu:109,total:[27,30,99,133,134,135,181],total_number_of_loop:165,touch:139,toward:[20,68,84,85,91,99,103,134,135,157,159,165,168,177,180,186,187,194],trace:182,track:[6,26,27,93,99,102,103,151,153,157,158,159,164,166,168,177,179,182,184,194],track_unknown_spac:[93,174,191],tracker:[0,99],trackingrout:26,tractabl:155,tractor:187,trade:[99,194],tradeoff:133,traffic:[154,168],trait:[159,177],trajectori:[3,4,10,85,90,96,109,120,123,125,136,137,138,139,141,142,143,156,158,159,165,168,170,171,177],trajectory_generator_nam:120,trajectory_point_step:99,trajectory_step:99,trajectoryvisu:99,tranform:174,trans_stopped_veloc:[95,129,144],transfer:5,transform:[5,15,27,71,84,85,86,87,88,93,96,99,102,107,111,114,117,120,146,152,153,155,156,157,164,168,171,172,173,174,176,177,184,188,189],transform_timeout:[87,104,105,107,161,179],transform_toler:[57,60,62,84,85,86,87,88,93,95,96,99,102,107,111,114,117,118,120,164,166,191,192],transform_tolerance_:164,transformavail:89,transformglobalplan:164,transit:[27,97,104,155,157,166,177,178,179,183,194],translat:[30,45,86,102,122,126,156,158,168,173,175,177],translation_backward:[85,192],translation_forward:[85,192],transpar:151,transport:148,transvers:175,travel:[19,27,45,60,78,99,133,134,135,157,168,173,174],travers:[25,27,99,113,133,134,135,157,159,175],treat:[93,191],tree:[1,2,11,20,21,22,23,24,25,28,29,30,48,49,55,58,60,62,75,76,77,78,79,80,81,82,83,146,152,153,154,157,159,163,166,167,170,174,175,176,178,179,184,187,195],treenod:193,treenodesmodel:193,trend:[134,135],tri:[27,155,164],triangl:[84,85],triangular:116,trick:[172,182],trig:157,trigger:[11,18,19,21,23,24,27,51,78,80,82,84,85,96,99,102,103,111,148,155,156,157,158,168,178,179,192,194],trilater:187,trim:57,trinari:[188,190],trinary_costmap:93,trivial:[7,27,151,158,161,192,193],troubleshoot:147,truli:[11,177],truncat:[20,56,57,91,168],truncated_path:[20,56,185],truncatepath:[20,89,155,185],truncatepathloc:[89,91],trust:[11,149,153,184,187],trustworthi:187,trytoresolvesmoothererrorcod:179,tsc:151,tudela:168,tunabl:28,tune:[1,9,25,98,99,103,108,134,157,172,184,187,188,190,192,194],tunnel:149,turn:[25,41,91,94,99,102,109,111,134,135,148,156,157,158,159,168,170,176,177,179,181,182,187,194],turtl:98,turtlebot3:[147,152,161,162,163,164,165,166,179,181,186,188,189,190],turtlebot3_bringup:[186,189],turtlebot3_gazebo:152,turtlebot3_model:[152,186,189],turtlebot3_world:[98,152,188,190],turtlebot:[152,187,195],tutori:[3,8,15,18,84,85,88,89,156,158,159,168,169,170,171,172,173,174,175,176,177,178,182,183,184,192,193,194],tutorials_w:[188,190],tweak:148,twilio:161,twirling_cost_pow:99,twirling_cost_weight:99,twirlingcrit:[95,99],twist:[0,29,85,87,92,99,109,159,164,173,187],twistamp:169,twiststamp:[0,85,87,92,109,164],twistwithcovari:173,twistwithcovariancestamp:173,two:[3,18,19,27,76,84,85,91,100,106,108,133,148,156,157,158,161,164,165,166,170,173,174,175,176,178,181,183,184,187,190,191,192],two_d_mod:[173,184,187],txt:[161,163,164,165,166,173,174,176,180,182,183],type:[8,17,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,148,149,152,153,155,156,157,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,184,185,187,188,190,191,192,193,194],typenam:[157,166],typic:[9,18,19,27,84,85,134,135,151,157,164,171,173,175,177,181,184,188,189,190,194],uav:184,ubuntu:191,udrf:2,uint16:[29,30,41,42,43,45,46,48,49,53,55,178],uint8:26,ukf:184,ukf_localization_nod:173,ukf_nod:173,ultim:22,unabl:[0,133,157],unaccept:[84,85,181],unaffect:148,unchang:148,unclear:27,uncom:[91,148],unconfigur:[27,178],undeclar:187,under:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,88,115,119,148,149,151,155,156,157,158,161,162,168,170,171,173,174,176,179,182,184,187,191],underlai:148,underli:[27,191],understand:[11,21,23,24,27,108,151,166,181,182,183,187,188,191],understood:188,undesir:188,unfair:8,unfamiliar:[11,27,184],unfilt:177,unfold:190,unid:184,unifi:176,uniform:159,unintend:148,uniqu:[21,23,24,27,85,148,153,155,156,159,161,162,166],unique_tb3_simulation_launch:159,unit:[27,87,88,92,94,97,101,107,110,151,169,175],univers:[5,175],unix:182,unknown:[27,72,73,74,93,100,108,113,119,133,134,135,158,178,188],unknown_cost_valu:93,unknown_threshold:[93,119,191],unless:[18,19,96,97,102,135,151],unlesscondit:[173,176],unlik:[18,84,161,181],unmodifi:148,unnecessari:[99,181],unord:158,unpredict:190,unreach:[133,134,135],unrespons:178,unsaf:[134,135,157],unscent:173,unsign:[59,72,73,74,163],unsmooth:179,unsmoothed_path:[53,179],unspecifi:[85,173],unsuit:151,unsynchron:180,untick:19,until:[18,19,20,26,27,75,85,103,120,134,135,146,148,156,164,166,168,173,182,185,187,191],untouch:[155,164,192],unus:99,unwant:[157,190],unzip:180,updat:[6,7,11,12,18,19,20,27,61,69,79,86,93,106,114,118,148,151,154,157,158,159,161,162,163,164,166,168,171,173,175,177,181,184,185,187,189,190,193],update_footprint_en:191,update_frequ:[93,174],update_min_a:86,update_min_d:86,update_r:[173,174,187],updatebound:163,updatecontentcommand:148,updatecost:163,updated_go:[20,79,185],updatego:155,updater:174,updatewithaddit:163,updatewithmax:163,updatewithoverwrit:163,updatewithtrueoverwrit:163,upgrad:[148,155],upon:[0,3,18,19,76,151,157,165,176],upper:[96,102],ups:99,upsampl:91,urdf:[2,27,152,171,172,175,177,184,189],urdf_config:176,usag:[11,26,111,148,175,176,178,187,192],usb:[148,184],use:[0,1,3,4,8,9,10,11,13,17,19,20,21,22,23,24,26,27,41,42,43,46,53,66,79,84,85,86,87,88,91,92,93,94,96,99,100,101,102,103,104,105,107,109,114,115,119,120,134,135,136,146,148,150,151,152,153,154,155,156,157,158,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],use_approach_linear_velocity_sc:157,use_astar:[100,156,165],use_collision_detect:102,use_composit:[157,177,182,183],use_cost_regulated_linear_velocity_sc:102,use_final_approach_orient:[100,108,133],use_fixed_curvature_lookahead:[102,158],use_maximum:93,use_namespac:177,use_odometry_yaw:187,use_path_orient:[99,159],use_quadratic_cost_penalti:[134,159],use_rclcpp_nod:157,use_realtime_prior:[85,92,109,159],use_regulated_linear_velocity_sc:102,use_respawn:[157,177,192],use_robot_state_pub:177,use_rotate_to_head:102,use_rviz:[177,187],use_sim:186,use_sim_tim:[88,91,92,93,95,96,102,103,108,133,134,135,159,161,162,163,165,166,171,173,174,177,182,183,186,188,190,191,192,194],use_simul:177,use_start:[26,156],use_velocity_scaled_lookahead_dist:102,used:[0,1,5,13,14,15,17,18,19,21,22,23,24,25,26,27,29,30,42,43,44,47,50,52,53,54,55,57,58,66,77,78,81,83,85,86,87,88,91,92,93,98,99,101,106,107,110,115,117,119,134,135,147,148,149,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,188,190,192,193],useful:[0,17,19,20,21,23,24,27,79,85,86,99,104,148,149,156,157,159,162,171,173,174,175,176,177,178,183,184,185,188,190,191,193],useless:18,user:[1,2,3,7,9,14,17,21,22,23,24,26,27,28,41,76,80,84,85,86,105,110,116,130,134,148,149,151,153,155,156,157,158,159,166,168,172,174,177,178,182,183,184,187,189,191,192,194],userenvprob:148,usernam:[85,92,109,159],userspac:[85,92,109,159],uses:[5,6,19,27,48,49,84,85,86,87,91,92,93,99,100,104,106,109,115,119,146,153,154,155,158,159,161,162,168,170,173,174,175,176,177,180,186,187,191],usign:94,using:[4,5,6,7,8,9,10,13,14,16,17,18,20,21,23,24,25,26,27,31,32,33,34,35,36,37,41,42,43,46,51,85,86,88,89,90,91,93,94,95,98,99,102,104,105,106,108,110,114,131,134,135,146,147,148,149,152,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,175,177,178,179,180,182,183,184,185,186,187,189,190,191,192,193,194],usr:[182,191],usual:[19,27,44,47,50,106,148,156,163,173,175,178,182,183,187,188],util:[21,22,23,24,27,41,94,99,135,148,153,156,157,158,159,162,170,171,173,176,183,188,190,191],utm:[94,187],v_angular_max:96,v_linear_max:96,v_linear_min:96,valgrind:[182,183],valid:[27,67,84,85,86,91,94,111,114,115,117,119,134,135,153,158,166,168,174,177,187],valu:[44,47,50,54,66,84,85,86,87,88,91,92,93,96,98,99,101,102,105,107,108,110,111,115,116,117,119,133,134,135,148,151,156,157,158,159,161,162,163,164,165,166,168,171,173,174,175,176,177,179,181,182,186,187,188,190,192,193,194],valuabl:[7,11,151],vargovcik:168,vari:[99,102],variabl:[13,17,41,42,43,46,48,49,53,62,80,86,88,116,146,147,148,152,159,161,162,164,165,174,179,188,190,191,193],variant:[3,6,27,99,102,156,168,170],variat:[102,156,166,168,170,173],varient:156,varieti:[27,161],variou:[5,27,87,99,107,147,148,157,158,168,169,173,175,176],vast:[157,161],vcstool:147,vector:[21,27,41,42,48,52,84,85,87,88,92,93,94,97,99,100,101,104,107,108,109,114,115,116,119,120,133,157,158,159,163,165,166,171,177,182,188,190,191],vectorcrash:182,vectorobject:177,vehicl:[1,4,99,106,134,135,153,156,168,170],vel_poli:85,veloc:[1,4,9,13,28,83,84,85,87,90,92,96,99,102,103,117,121,122,129,140,143,144,153,156,159,161,164,168,169,170,173,177,192,194],velocity_polygon:[85,192],velocity_polygon_stop:[85,192],velocity_smooth:[109,192],velocity_timeout:109,velocitypolgon:159,velocitypolygonstop:[85,192],velocitysmooth:[158,192],vendor:174,verb:148,verbos:[173,174,177],veri:[6,7,11,14,16,17,21,23,27,99,104,134,151,157,159,169,171,175,176,177,184,194],verifi:[4,27,139,149,173,174,176,187],version:[23,24,27,91,120,146,147,149,152,156,164,174,176],vertex:[84,85,180],vertic:[112,187,192],vertical_fov_angl:191,via:[13,19,20,21,23,24,27,41,44,47,50,64,84,85,86,90,106,147,148,149,151,153,157,158,159,161,166,168,175,177,178,179,183,189,191,193],viabl:166,viapoint:[52,168],vicin:173,video:[22,148,163,184,185,186,191,193],view:[84,85,152,157,176,180,184,191,192,193],view_fram:174,vigil:149,vio:[27,169,173,175,195],violat:19,virtual:[20,85,99,157,161,162,163,164,165,166,173,176],visibl:[161,162,164,165,166,176],vision:[27,91,174,184],vision_msg:174,visit:[1,27,134,135,151,187],visual:[2,84,85,88,89,148,149,153,157,159,173,177,179,183,184,187,189,190,191,192],visualis:158,visualization_mark:174,viz_expans:159,vocabulari:19,volatil:176,voltag:66,volum:148,volumet:191,volumetr:168,vornoi:3,voxel:[7,93,158,168,174,181,191],voxel_decai:191,voxel_grid:[174,191],voxel_lay:[93,112,114,156,163,171,174,181,188],voxel_marked_cloud:156,voxel_min_point:191,voxel_s:191,voxel_unknown_cloud:156,voxellay:[93,174,177],vpitch:[173,184],vroll:[173,184],vscode:148,vslam:153,vslamcomparison2021:153,vtheta_sampl:[95,121],vx_max:99,vx_min:99,vx_sampl:[95,121],vx_std:99,vy_max:99,vy_sampl:[95,121],vy_std:99,vyaw:[173,184],w_cost:91,w_cost_cusp_multipli:91,w_curv:91,w_data:[105,133,134,135],w_dist:91,w_euc_cost:108,w_heuristic_cost:108,w_smooth:[91,105,133,134,135],w_traversal_cost:108,waffl:[152,186,187,189],wai:[2,9,18,21,23,24,27,80,88,97,99,110,112,134,135,145,147,156,157,158,159,171,175,177,178,179,182,187,189,191,194],wait:[13,18,19,21,22,23,24,26,27,37,86,87,88,89,93,110,130,132,149,152,154,157,161,162,168,174,178],wait_act:162,wait_at_waypoint:[110,156],wait_dur:[18,21,22,23,24,58,89,162],wait_for_action_serv:88,wait_for_datum:187,wait_for_service_timeout:88,wait_serv:58,waitact:162,waitatwaypoint:[110,156,168],waituntilnav2act:[26,157],wake:99,walk:[18,19,27,148,184,187],walkthrough:17,wall:[159,177],wallac:[14,153,168],want:[21,23,24,26,27,84,99,148,156,159,161,162,163,164,165,166,173,175,176,177,178,179,182,183,184,186,187,189,193],warehous:[26,27,171,177,188],warn:[84,101,116,134,135,155,192],was_complet:53,watch:152,watchdog:[9,97,140,153,155],water:19,wavefront:[100,157],waypoint:[26,28,96,130,131,132,153,154,156,157,178],waypoint_follow:[97,110,156,159,178],waypoint_imag:131,waypoint_pause_dur:[110,132,156],waypoint_task_executor:[130,131,132],waypoint_task_executor_plugin:[110,156],waypoint_task_executor_plugin_id:[130,131,132],waypointfollow:157,waypointtaskexecutor:156,weak:164,weakptr:[164,166],wear:109,web:[8,149],websit:[15,18,159],weigh:[136,137,138,139,140,141,142,143,144,145],weight1:91,weight2:91,weight:[27,57,86,91,99,105,108,133,134,135,143,155,157,159,177,184,188],welcom:151,well:[0,1,4,6,14,18,19,21,23,24,26,92,98,99,137,141,142,148,155,156,157,159,170,174,175,177,179,180,181,182,184,187,188,190,191,193],went:[177,187],were:[11,14,18,27,87,154,155,156,157,158,159,175,176,177,178,188,190,192],wgs84:187,what:[2,6,19,27,99,120,150,151,157,169,173,174,175,176,178,179,186,187],whatev:163,wheel:[27,96,173,175,176,184,187],wheel_diamet:173,wheel_radiu:[173,176],wheel_separ:173,wheel_width:176,wheel_xoff:176,wheel_ygap:[173,176],wheel_zoff:176,when:[11,18,19,20,21,23,27,41,57,60,64,66,70,78,80,81,83,84,85,86,87,92,93,94,96,97,99,101,102,103,108,109,110,111,114,117,131,134,135,140,144,146,148,149,151,153,155,156,157,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,187,188,190,192,193,194],whenev:[148,149,157,186,189],where:[1,6,10,13,17,19,22,26,27,84,85,96,99,105,111,117,119,131,135,136,147,148,151,152,155,156,157,159,162,163,164,165,166,168,171,173,174,175,176,177,178,183,186,187,188,190,192],wherea:[9,41,99,134,158,177,178],wherein:[170,171],whether:[41,53,84,85,86,87,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,126,127,128,129,130,131,132,133,134,135,136,139,151,154,156,161,163,164,168,173,174,176,177],which:[3,9,18,19,22,24,26,27,28,29,30,41,42,43,45,46,48,49,55,56,57,58,78,79,81,83,84,85,86,87,88,91,92,93,96,97,98,99,101,102,106,107,109,110,111,112,114,116,117,148,154,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,192,193],whilst:176,whip:[177,194],white:[14,148,153,181,188],whiter:188,whitespac:176,who:[99,151,159,166,177,185],whole:[18,57,151,159,163,174,180,190,192],whose:[91,174],why:[150,182],wide:[4,18,27,134,159,161,177,184],wider:177,widest:148,widget:176,width:[26,93,94,96,99,102,163,174,177,187],wiki:176,wilcox:[14,168],wild:14,willing:177,window:[95,134,135,157,163,170,171,173,174,175,176,177,180,181,182,183,187,193],wisdom:177,wise:[27,99,166,177],wish:[0,22,59,85,94,114,156,157,178,179],within:[10,18,19,21,27,59,84,85,86,87,88,90,92,94,99,101,103,107,110,113,115,119,133,134,135,148,149,151,157,158,159,163,166,168,173,174,176,177,178,183,191,192,193,194],withing:157,without:[1,4,14,27,57,84,85,91,92,99,104,112,114,134,148,149,155,156,157,159,163,166,171,172,174,177,182,184,185,187,188,189,194],wizard:14,wobbl:[99,134],won:[38,99,156,159,161,162,164,165,166,171,176,181,187,188],word:[149,158,164,165,175,181,188],work:[0,1,4,5,6,7,8,9,11,12,13,14,15,16,27,84,89,90,96,99,102,148,151,152,153,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,179,182,183,184,187,188,190,191,192],workaround:[87,88,92,101,107,110],workflow:[27,148,149],workspac:[146,147,148,149,163,176,180,182,183,185,187,189,191,193],world:[8,9,26,27,148,152,153,161,173,174,175,177,181,185,188,189,190,191],world_fram:[173,184,187],world_path:174,worldtomapvalid:26,worldwid:153,worri:[21,23,24,27,149,177,182],worst:12,worth:[21,23,27,99,177,181],would:[0,1,6,8,14,19,22,27,85,98,102,108,133,134,135,148,149,151,156,157,159,161,162,164,165,166,168,173,175,176,177,179,182,183,184,187,188,189,190,191,194],wouldacontrollerrecoveryhelp:[89,158],wouldaplannerrecoveryhelp:[89,158],wouldasmootherrecoveryhelp:[89,158,179],wouldn:[9,177],wrap:[18,26,27],wrapper:[27,161,162,182,184],write:[155,158,159,167,168,170,173,177,178,193],written:[6,27,159,161,163,164,165,166,174,181,187,188,190,192,193],wrong:187,wz_max:99,wz_std:99,x11:[148,149],x86_64:[182,191],x_increment:165,x_only_threshold:140,x_pose:177,x_reflect:176,xacro:[173,176],xml:[1,2,17,18,27,28,48,49,88,153,155,157,159,161,162,163,164,165,166,173,176,178,185,193],xml_tag_nam:162,xmln:176,xterm:[182,183],xvf:180,xxx:183,xy_goal_toler:[92,95,96,102,103,127,129,144,156,194],xytheta:95,xyz:[173,174,176,187],y_increment:165,y_pose:177,y_reflect:176,yai:184,yaml:[26,84,85,98,156,157,161,162,163,164,165,166,170,171,173,177,178,179,180,181,182,183,184,186,187,188,190,191,192,194],yaml_filenam:[98,158,188,190],yaw:[86,173,177,184,187,188,190],yaw_goal_toler:[92,95,96,102,103,127,129,156,194],yaw_offset:187,yeah:184,year:[6,14,153],yes:182,yet:[6,19,26,99,148,157,159,175,177,187],yolact:4,yolo3d:4,you:[0,4,5,6,10,11,12,13,14,17,20,26,27,41,59,85,86,88,91,92,94,98,99,102,106,108,109,114,134,135,136,146,147,148,149,151,152,153,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],your:[3,4,5,6,8,9,10,11,12,13,14,17,18,26,27,85,97,98,99,102,103,106,108,109,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,163,164,165,166,168,170,171,172,174,175,176,177,178,180,182,183,184,185,187,188,189,190,191,192,193,194],your_map:186,your_params_fil:[161,164,165,166],yourself:[151,157,179],youtub:184,yuk:13,z_hit:86,z_max:86,z_pose:177,z_rand:86,z_resolut:[93,119,174],z_short:86,z_voxel:[93,119,174],zag:[134,184],zed2:184,zed2i:184,zed_wrapp:184,zedx:184,zedxm:184,zero:[85,96,109,116,117,132,157,162,180,187,188,190],zero_altitud:187,zig:[134,184],zmq:157,zone:[9,27,84,85,91,94,98,114,134,135,156,157,168,174,177,187,190,192,195],zurich:5},titles:["Projects 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 Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Graceful Motion 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":[87,92,93,101,110,156,158,159],"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:24,For:159,GPS:[159,187],Into:184,Near:22,ROS:[5,11,27,93,158,182,183,184],The:[159,176],Use:157,Uses:[158,159],Using:[16,148,184,187,191,192,194],With:[18,24],about:14,academ:27,access:[158,159],ackermann:99,action:[19,27,89,155,156,157,159],activ:159,add:[159,162],added:159,addit:159,advanc:12,algorithm:170,align:99,allow:[158,159],amcl:[86,157],analog:2,angl:[99,159],api:[26,157,158,159],appli:158,approach:[157,159],architectur:154,areerrorcodespres:59,assist:[1,2,157],assistedteleop:[29,87],attribut:156,augment:184,automat:182,avail:159,backtrac:182,backup:[30,87,156],base:159,baseobstaclecrit:136,becom:24,behavior:[17,18,27,87,88,89,155,156,157,158,159,161,162,168,177,185,193],being:157,benchmark:158,binari:[111,147],block:159,bond:27,both:158,brand:8,bringup:[159,182,183],btactionserv:159,btservicenod:157,build:[146,147,148,171,173,174,176],cach:177,calibr:[25,180],camera:[180,184],cancel:157,cancelassistedteleop:31,cancelbackup:32,cancelcontrol:33,cancelcoverag:34,canceldriveonhead:35,cancelspin:36,cancelwait:37,capabl:155,certif:151,chang:[154,156,157,158,159],check:158,checker:[26,156,157,158,168],citat:153,cleararea:157,clearcostmaparoundrobot:[38,156],clearcostmapexceptregion:[39,156],clearentirecostmap:40,click:185,clock:159,code:[158,159,178],collis:[26,84,85,90,158,159,192],command:[26,157,158,159],common:[146,174],composit:[157,178],computecoveragepath:41,computepaththroughpos:[42,156],computepathtopos:[43,156],concept:27,conclus:[170,171,173,174,175,176,178,187],condit:[19,89],config:162,configur:[2,13,28,156,170,171,173,174,188,190,192,194],consist:24,constant:157,constrain:[91,157],constraint:99,constructor:158,contact:14,contain:[147,148,149],control:[3,19,27,89,92,95,96,99,103,120,156,157,158,159,164,168,170,177,194],controllerselector:44,controllerserv:156,convert:13,corner:157,cost:[99,159],costmap2d:[93,156,163,177,191],costmap:[26,27,93,98,99,155,156,158,159,168,174,188,190,191],costmap_2d_nod:158,costmaplay:157,costmapupd:159,could:159,coverag:94,crash:182,creat:[2,3,148,161,162,164,165,166,185],critic:[95,99,159],current_:156,curv:158,custom:[162,193],dash:154,dco:151,debug:159,deceler:158,decor:[19,89],demo:[26,173,175,192,194],denois:[112,158,181],depend:146,depreci:159,descript:[106,174],detail:18,detect:157,detector:[84,159],determin:11,dev:[148,149],develop:[147,150,151],direction:159,disabl:159,distanc:[157,158],distancecontrol:78,distancetravel:60,distribut:147,docker:147,doxygen:147,driveonhead:[45,87],drop:157,durat:159,dwb:[95,120,158],dynam:[4,20,157,159,185],each:155,ecosystem:13,edit:193,eloqu:[154,155],enabl:[159,163,181,188,190],enumer:159,enviro:186,environ:176,environment:[5,27],error:[158,159,178],estim:[27,184],euclidean:157,exampl:[26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,152,170],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:[84,85,159],feedback:[156,158],field:177,file:[158,159,161,164,165,166,173,174,182,183],filter:[27,93,98,111,114,117,155,156,158,168,181,188,190],first:172,fix:157,follow:[20,27,99,110,159,185,187],followpath:[46,156],followpoint:155,footprint:[26,27,171,177],form:27,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:[27,159,184,187],globallyupdatedgo:61,goal:[22,99,156,157,158,159,168,186],goal_checker_id:156,goalaligncrit:137,goalcheckerselector:47,goaldistcrit:138,goalreach:62,goalupd:63,goalupdat:79,golai:[104,158],grace:[96,159],gradientlay:163,grid:5,groot:[156,157,193],guid:[28,146,148,150,160,172,177],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:64,input:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],inputatwaypoint:130,instal:[147,152,191],integr:[4,10,99,158],interact:[187,193],interfac:[156,189],interpret:183,introduc:159,introduct:[19,159,171,173,174,175],invalid:[24,157],invert:157,involv:151,iron:[158,159,169],isbatterycharg:65,isbatterychargingcondit:158,isbatterylow:66,ispathvalid:67,isstuck:68,issu:146,iter:121,jazzi:[159,169],keepout:[114,188],kinemat:[122,157],larg:182,laserscan:174,lattic:135,launch:[156,157,158,159,173,174,176,177,182,183,186,189,191],layer:[27,99,112,113,115,118,119,155,158,159,168,181],librari:[159,162],licens:151,lifecycl:[27,97,148,157,178],limit:[157,158,190],limitedaccelgener:124,live:157,load:158,local:[6,27,173,174,184,187],locat:186,log:187,logic:157,lookahead:158,loop:158,love:177,major:157,make:163,manag:[97,157],map:[5,98,155,158,174,189],map_serv:158,mark:156,mask:[188,190],mechan:159,messag:[155,174],migrat:160,model:[5,99,157,158],modifi:[179,191],monitor:[85,90,157,158,159,192],more:158,motion:[96,99,157,159],move:159,moveit:2,mppi:[99,159],msg:159,multi:159,multipl:[157,158],multithread:7,name:[158,159,161,162,164,165,166],namespac:159,nativ:159,nav2:[17,19,27,146,153,156,157,158,174,177,178,181,182,183,185,186,188,190,192],nav2_collision_monitor:159,nav2_cor:157,nav2_costmap_2d:174,navfn:[100,156,157],navig:[4,7,8,9,12,18,21,22,23,24,27,88,152,155,157,158,166,168,170,186,187,188,189,190],navigatethroughpos:[48,156],navigatetopos:[49,156],navigation2:[154,175,189,191],navsat:187,node:[9,11,19,27,84,85,89,90,156,157,158,159,168,174,178,179,182,183,193],nois:181,note:99,object:185,observ:[84,85],obstacl:[4,22,99,115,156,159,177,181],obstaclefootprintcrit:139,obtain:159,odometri:[25,27,173,184,187],offer:177,offset:99,onli:157,opennav_coverag:159,option:[159,177],orient:157,origin:151,oscillationcrit:140,other:[27,177],ouput:[56,57],our:153,out:184,output:[30,41,42,43,44,45,46,47,48,49,50,52,53,54,55],overview:[18,26,27,153,161,162,163,164,165,166,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],packag:154,page:177,panel:[156,158],param:[157,159,161,164,165,166],paramet:[60,62,79,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,156,157,158,159,191],parameteriz:158,particl:155,pass:[161,164,165,166],path:[24,99,157,158,159],pathaligncrit:141,pathdistcrit:142,pathexpiringtim:69,pathlongeronapproach:[80,157],paus:22,photoatwaypoint:131,physic:[176,186],pipelinesequ:[19,75],place:177,planner:[3,27,100,101,106,108,133,134,135,156,157,158,159,162,165,168,170,177],plannerselector:50,plugin:[3,87,89,92,93,95,101,106,110,154,155,156,157,158,159,161,162,163,164,165,166,167,168,170,173,174,177,179,191],point:[20,159,185],pointcloud2:[156,174],pointcloud:156,polygon:[84,85,159],port:[5,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],pose:[18,21,22,23,24,158,186],poseprogresscheck:[126,158],posit:27,potenti:177,predict:[99,158],prefer:99,preferforwardcrit:143,preliminari:[182,183],prepar:[188,190,192],prerequisit:[18,149,173],primari:194,process:[151,157],profil:183,program:0,progress:168,progress_checker_plugin:158,project:[0,15,153,159,182],properti:176,provid:[90,92,106,110],prune:158,publish:[123,158,175,176,188,190],pure:[102,164],pursuit:[102,164],python:[157,158],radiu:177,rai:156,rang:[116,174],rate:157,ratecontrol:81,real:159,rebuild:148,recoveri:[18,19,27,156,157],recoverynod:76,recurs:158,reduc:[11,157],refactor:157,refin:158,regul:[102,158],regulatedpurepursuitcontrol:156,reinitializegloballoc:51,relat:[15,153],releas:147,remov:[156,157,158,159],removepassedgo:52,renam:158,replan:[18,24,157],report:146,represent:27,requir:[159,161,162,163,164,165,166,179,180,181,186,187,188,189,190,192],resourc:159,respawn:157,result:[157,159,183],revers:158,rewrittenyaml:159,roadmap:169,robot:[16,27,157,159,171,172,173,176,177,184,189],roll:147,rotat:[103,157,177,194],rotatetogoalcrit:144,roundrobin:[19,77],rpp:[157,158,159],run:[13,152,158,161,162,163,164,165,166,171,173,174,181,185,188,190],rviz:[156,158,171,174,176,185,186,191],safeti:[9,158],save:158,saver:98,savitzki:[104,158],scale:157,secur:149,select:[155,170,177],semant:10,send:186,sensor:[116,174],sensor_msg:[156,174],server:[27,87,91,92,94,98,101,107,155,157,158,159,170,178,188,190],servic:[153,157],set:[170,171,173,174,175,176,184],setup:[172,173,185,186,187,191],share:159,shim:[103,157,194],shortcut:159,simpl:[26,105,157,158,159],simplegoalcheck:127,simpleprogresscheck:128,simplif:189,simul:[173,174,185],singletrigg:82,size:99,slam:[27,189],slam_toolbox:174,smac:[106,133,134,135,157,158,159,177],smacplann:156,smacplanner2d:157,smacplannerhybrid:158,small:157,smoother:[27,91,104,105,107,109,157,158,168,179],smootherselector:[54,158],smoothpath:53,soft:159,solut:159,sourc:[84,85,147,159],source_timeout:159,spawn:157,specif:19,specifi:179,speed:[117,158,190],speedcontrol:83,spin:[55,87],sponsor:153,stabl:158,stack:[159,181,188,190,192],standard:[27,156],standardtrajectorygener:125,star:108,start:[148,149,152,158,189],state:[27,135,158,176,184],step:[161,162,163,164,165,166,179,180,181,185,186,187,188,189,190,191],stoppedgoalcheck:129,straightlin:165,student:0,stvl:191,substitut:159,subtre:[18,159],summari:170,summer:0,support:[156,157],system:[173,187],task:[157,168,178],teleop:[1,157],termin:148,test:[12,158,184,187],theta:[108,157],thetastarplann:156,through:[21,161,164,165,166],time:[13,156,158,159,172],timeexpir:70,timeout:[157,158,159],toler:158,trace:156,trajectori:[95,99],transform:[159,175,187],transformavail:71,tree:[17,18,27,88,89,155,156,158,162,168,185,193],troubleshoot:146,truncatepath:56,truncatepathloc:[57,157],tune:177,turtlebot:186,tutori:[161,162,163,164,165,166,167,179,180,181,185,186,187,188,189,190,191,195],twirl:99,twirlingcrit:145,twist:13,twiststamp:[13,159],type:[158,159],unit:156,updat:[155,156],urdf:[173,174,176],usag:156,use:[149,159],use_final_approach_orient:157,use_interpol:159,use_sim_tim:158,user:99,using:[173,174,176],variabl:186,veloc:[109,157,158],velocitypolygon:[85,159,192],verif:[171,173,174],vio:184,visual:[99,171,174,176,193],viz_expans:158,voxel:[119,159],vslam:184,wait:58,wait_act:159,waitatwaypoint:132,walkthrough:18,watchdog:159,waypoint:[27,110,158,159,168,187],websit:8,what:[149,194],when:[158,159],why:149,wisdom:99,word:99,work:[149,155,181,189],world:187,wouldacontrollerrecoveryhelp:72,wouldaplannerrecoveryhelp:73,wouldasmootherrecoveryhelp:74,write:[161,162,163,164,165,166,176],xml:[89,156,179],xytheta:121,yaml:[158,159],your:[162,173,179,186],zed:184,zone:188}})
\ No newline at end of file
diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html
index 3b10a1e4c..abc43a732 100644
--- a/setup_guides/algorithm/select_algorithm.html
+++ b/setup_guides/algorithm/select_algorithm.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html
index 3336f2a69..7895f9249 100644
--- a/setup_guides/footprint/setup_footprint.html
+++ b/setup_guides/footprint/setup_footprint.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/index.html b/setup_guides/index.html
index ff5ba0b2b..de619c04c 100644
--- a/setup_guides/index.html
+++ b/setup_guides/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html
index 0882379e8..846d1995f 100644
--- a/setup_guides/odom/setup_odom.html
+++ b/setup_guides/odom/setup_odom.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html
index 82ad22695..ff2e7fee6 100644
--- a/setup_guides/sensors/setup_sensors.html
+++ b/setup_guides/sensors/setup_sensors.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/transformation/setup_transforms.html b/setup_guides/transformation/setup_transforms.html
index 5767239a5..0d886c583 100644
--- a/setup_guides/transformation/setup_transforms.html
+++ b/setup_guides/transformation/setup_transforms.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html
index 0ff552b85..54dfd17f1 100644
--- a/setup_guides/urdf/setup_urdf.html
+++ b/setup_guides/urdf/setup_urdf.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tuning/index.html b/tuning/index.html
index 7347140a8..b5697cf47 100644
--- a/tuning/index.html
+++ b/tuning/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html
index db6b22b5b..fd9dcf769 100644
--- a/tutorials/docs/adding_a_nav2_task_server.html
+++ b/tutorials/docs/adding_a_nav2_task_server.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/adding_smoother.html b/tutorials/docs/adding_smoother.html
index e6984b31e..a872228fa 100644
--- a/tutorials/docs/adding_smoother.html
+++ b/tutorials/docs/adding_smoother.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/camera_calibration.html b/tutorials/docs/camera_calibration.html
index 0931e2d6c..fd5654d4c 100644
--- a/tutorials/docs/camera_calibration.html
+++ b/tutorials/docs/camera_calibration.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/filtering_of_noise-induced_obstacles.html b/tutorials/docs/filtering_of_noise-induced_obstacles.html
index ba0bc69a9..355ecb630 100644
--- a/tutorials/docs/filtering_of_noise-induced_obstacles.html
+++ b/tutorials/docs/filtering_of_noise-induced_obstacles.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/get_backtrace.html b/tutorials/docs/get_backtrace.html
index b71b9a387..b3a4d741d 100644
--- a/tutorials/docs/get_backtrace.html
+++ b/tutorials/docs/get_backtrace.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/get_profile.html b/tutorials/docs/get_profile.html
index b8272dc49..45bb5926f 100644
--- a/tutorials/docs/get_profile.html
+++ b/tutorials/docs/get_profile.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/integrating_vio.html b/tutorials/docs/integrating_vio.html
index 4cf1d91b9..412819e88 100644
--- a/tutorials/docs/integrating_vio.html
+++ b/tutorials/docs/integrating_vio.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_dynamic_point_following.html b/tutorials/docs/navigation2_dynamic_point_following.html
index 9a1150dac..276f154b0 100644
--- a/tutorials/docs/navigation2_dynamic_point_following.html
+++ b/tutorials/docs/navigation2_dynamic_point_following.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.html b/tutorials/docs/navigation2_on_real_turtlebot3.html
index 55bf6ae73..ba7ef9653 100644
--- a/tutorials/docs/navigation2_on_real_turtlebot3.html
+++ b/tutorials/docs/navigation2_on_real_turtlebot3.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_with_gps.html b/tutorials/docs/navigation2_with_gps.html
index 0fe750d47..571547261 100644
--- a/tutorials/docs/navigation2_with_gps.html
+++ b/tutorials/docs/navigation2_with_gps.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_with_keepout_filter.html b/tutorials/docs/navigation2_with_keepout_filter.html
index c4eb897cd..ee7f5e26e 100644
--- a/tutorials/docs/navigation2_with_keepout_filter.html
+++ b/tutorials/docs/navigation2_with_keepout_filter.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_with_slam.html b/tutorials/docs/navigation2_with_slam.html
index 8a6576cc0..f1ba0b931 100644
--- a/tutorials/docs/navigation2_with_slam.html
+++ b/tutorials/docs/navigation2_with_slam.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_with_speed_filter.html b/tutorials/docs/navigation2_with_speed_filter.html
index 634a8187d..d371e658c 100644
--- a/tutorials/docs/navigation2_with_speed_filter.html
+++ b/tutorials/docs/navigation2_with_speed_filter.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/navigation2_with_stvl.html b/tutorials/docs/navigation2_with_stvl.html
index 8268b8046..525f66e8c 100644
--- a/tutorials/docs/navigation2_with_stvl.html
+++ b/tutorials/docs/navigation2_with_stvl.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/using_collision_monitor.html b/tutorials/docs/using_collision_monitor.html
index 5a15701c5..848fda17d 100644
--- a/tutorials/docs/using_collision_monitor.html
+++ b/tutorials/docs/using_collision_monitor.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/using_groot.html b/tutorials/docs/using_groot.html
index e3d74e483..16f55c6dd 100644
--- a/tutorials/docs/using_groot.html
+++ b/tutorials/docs/using_groot.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/docs/using_shim_controller.html b/tutorials/docs/using_shim_controller.html
index 7f980575e..6a13419d2 100644
--- a/tutorials/docs/using_shim_controller.html
+++ b/tutorials/docs/using_shim_controller.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>
diff --git a/tutorials/index.html b/tutorials/index.html
index 6bfd7096b..278328a18 100644
--- a/tutorials/index.html
+++ b/tutorials/index.html
@@ -680,6 +680,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -956,6 +961,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <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>
 </ul>
 </li>
 </ul>