From 9c95ffea15ce58fcc18e5591c7abb9896e86a281 Mon Sep 17 00:00:00 2001 From: navigation2-ci Date: Fri, 2 Feb 2024 00:14:59 +0000 Subject: [PATCH] [skip ci] publish latest Signed-off-by: navigation2-ci --- .../Summer_2021_Student_Program.html | 2 + .../projects/assisted_teleop.html | 2 + .../create_configuration_assistant.html | 2 + 2021summerOfCode/projects/create_plugins.html | 2 + 2021summerOfCode/projects/dynamic.html | 2 + 2021summerOfCode/projects/grid_maps.html | 2 + 2021summerOfCode/projects/localization.html | 2 + 2021summerOfCode/projects/multithreading.html | 2 + .../projects/navigation_rebranding.html | 2 + 2021summerOfCode/projects/safety_node.html | 2 + 2021summerOfCode/projects/semantics.html | 2 + 2021summerOfCode/projects/spinners.html | 2 + 2021summerOfCode/projects/testing.html | 2 + 2021summerOfCode/projects/twist_n_config.html | 2 + .../packages/configuring-mppic.rst.txt | 95 ++++++++++- _sources/migration/Iron.rst.txt | 7 + about/index.html | 2 + about/related_projects.html | 2 + about/robots.html | 2 + about/ros1_comparison.html | 2 + behavior_trees/index.html | 2 + .../detailed_behavior_tree_walkthrough.html | 2 + .../overview/nav2_specific_nodes.html | 2 + behavior_trees/trees/follow_point.html | 2 + .../trees/nav_through_poses_recovery.html | 2 + ..._to_pose_and_pause_near_goal_obstacle.html | 2 + .../trees/nav_to_pose_recovery.html | 2 + ...eplanning_and_if_path_becomes_invalid.html | 2 + .../trees/odometry_calibration.html | 2 + commander_api/index.html | 2 + concepts/index.html | 2 + configuration/index.html | 2 + .../bt-plugins/actions/AssistedTeleop.html | 2 + .../packages/bt-plugins/actions/BackUp.html | 2 + .../actions/CancelAssistedTeleop.html | 2 + .../bt-plugins/actions/CancelBackUp.html | 2 + .../bt-plugins/actions/CancelControl.html | 2 + .../bt-plugins/actions/CancelCoverage.html | 2 + .../actions/CancelDriveOnHeading.html | 2 + .../bt-plugins/actions/CancelSpin.html | 2 + .../bt-plugins/actions/CancelWait.html | 2 + .../actions/ClearCostmapAroundRobot.html | 2 + .../actions/ClearCostmapExceptRegion.html | 2 + .../actions/ClearEntireCostmap.html | 2 + .../actions/ComputeCoveragePath.html | 2 + .../actions/ComputePathThroughPoses.html | 2 + .../bt-plugins/actions/ComputePathToPose.html | 2 + .../actions/ControllerSelector.html | 2 + .../bt-plugins/actions/DriveOnHeading.html | 2 + .../bt-plugins/actions/FollowPath.html | 2 + .../actions/GoalCheckerSelector.html | 2 + .../actions/NavigateThroughPoses.html | 2 + .../bt-plugins/actions/NavigateToPose.html | 2 + .../bt-plugins/actions/PlannerSelector.html | 2 + .../ReinitializeGlobalLocalization.html | 2 + .../bt-plugins/actions/RemovePassedGoals.html | 2 + .../packages/bt-plugins/actions/Smooth.html | 2 + .../bt-plugins/actions/SmootherSelector.html | 2 + .../packages/bt-plugins/actions/Spin.html | 2 + .../bt-plugins/actions/TruncatePath.html | 2 + .../bt-plugins/actions/TruncatePathLocal.html | 2 + .../packages/bt-plugins/actions/Wait.html | 2 + .../conditions/AreErrorCodesPresent.html | 2 + .../conditions/DistanceTraveled.html | 2 + .../conditions/GloballyUpdatedGoal.html | 2 + .../bt-plugins/conditions/GoalReached.html | 2 + .../bt-plugins/conditions/GoalUpdated.html | 2 + .../conditions/InitialPoseReceived.html | 2 + .../conditions/IsBatteryCharging.html | 2 + .../bt-plugins/conditions/IsBatteryLow.html | 2 + .../bt-plugins/conditions/IsPathValid.html | 2 + .../bt-plugins/conditions/IsStuck.html | 2 + .../conditions/PathExpiringTimer.html | 2 + .../bt-plugins/conditions/TimeExpired.html | 2 + .../conditions/TransformAvailable.html | 2 + .../WouldAControllerRecoveryHelp.html | 2 + .../conditions/WouldAPlannerRecoveryHelp.html | 2 + .../WouldASmootherRecoveryHelp.html | 2 + .../bt-plugins/controls/PipelineSequence.html | 2 + .../bt-plugins/controls/RecoveryNode.html | 2 + .../bt-plugins/controls/RoundRobin.html | 2 + .../decorators/DistanceController.html | 2 + .../bt-plugins/decorators/GoalUpdater.html | 2 + .../decorators/PathLongerOnApproach.html | 2 + .../bt-plugins/decorators/RateController.html | 2 + .../bt-plugins/decorators/SingleTrigger.html | 2 + .../decorators/SpeedController.html | 2 + .../configuring-collision-detector-node.html | 2 + .../configuring-collision-monitor-node.html | 2 + configuration/packages/configuring-amcl.html | 2 + .../packages/configuring-behavior-server.html | 2 + .../packages/configuring-bt-navigator.html | 2 + .../packages/configuring-bt-xml.html | 2 + .../configuring-collision-monitor.html | 2 + .../configuring-constrained-smoother.html | 2 + .../configuring-controller-server.html | 2 + .../packages/configuring-costmaps.html | 2 + .../packages/configuring-coverage-server.html | 2 + .../packages/configuring-dwb-controller.html | 2 + .../packages/configuring-lifecycle.html | 2 + .../packages/configuring-map-server.html | 2 + configuration/packages/configuring-mppic.html | 158 +++++++++++++++++- configuration/packages/configuring-navfn.html | 2 + .../packages/configuring-planner-server.html | 2 + .../packages/configuring-regulated-pp.html | 2 + .../configuring-rotation-shim-controller.html | 2 + .../configuring-savitzky-golay-smoother.html | 2 + .../packages/configuring-simple-smoother.html | 2 + .../packages/configuring-smac-planner.html | 2 + .../packages/configuring-smoother-server.html | 2 + .../packages/configuring-thetastar.html | 2 + .../configuring-velocity-smoother.html | 2 + .../configuring-waypoint-follower.html | 2 + .../costmap-plugins/binary_filter.html | 2 + .../packages/costmap-plugins/denoise.html | 2 + .../packages/costmap-plugins/inflation.html | 2 + .../costmap-plugins/keepout_filter.html | 2 + .../packages/costmap-plugins/obstacle.html | 2 + .../packages/costmap-plugins/range.html | 2 + .../costmap-plugins/speed_filter.html | 2 + .../packages/costmap-plugins/static.html | 2 + .../packages/costmap-plugins/voxel.html | 2 + .../packages/dwb-params/controller.html | 2 + .../packages/dwb-params/iterator.html | 2 + .../packages/dwb-params/kinematic.html | 2 + .../packages/dwb-params/visualization.html | 2 + .../dwb-plugins/limited_accel_generator.html | 2 + .../dwb-plugins/standard_traj_generator.html | 2 + .../pose_progress_checker.html | 2 + .../simple_goal_checker.html | 2 + .../simple_progress_checker.html | 2 + .../stopped_goal_checker.html | 2 + .../input_at_waypoint.html | 2 + .../photo_at_waypoint.html | 2 + .../wait_at_waypoint.html | 2 + .../packages/smac/configuring-smac-2d.html | 2 + .../smac/configuring-smac-hybrid.html | 2 + .../smac/configuring-smac-lattice.html | 2 + .../trajectory_critics/base_obstacle.html | 2 + .../trajectory_critics/goal_align.html | 2 + .../trajectory_critics/goal_dist.html | 2 + .../obstacle_footprint.html | 2 + .../trajectory_critics/oscillation.html | 2 + .../trajectory_critics/path_align.html | 2 + .../trajectory_critics/path_dist.html | 2 + .../trajectory_critics/prefer_forward.html | 2 + .../trajectory_critics/rotate_to_goal.html | 2 + .../packages/trajectory_critics/twirling.html | 2 + .../build_troubleshooting_guide.html | 2 + development_guides/build_docs/index.html | 2 + .../devcontainer_docs/devcontainer_guide.html | 2 + .../devcontainer_docs/index.html | 2 + development_guides/index.html | 2 + .../involvement_docs/index.html | 2 + genindex.html | 2 + getting_started/index.html | 2 + index.html | 2 + migration/Dashing.html | 2 + migration/Eloquent.html | 2 + migration/Foxy.html | 2 + migration/Galactic.html | 2 + migration/Humble.html | 2 + migration/Iron.html | 8 + migration/index.html | 2 + .../docs/writing_new_behavior_plugin.html | 2 + .../docs/writing_new_bt_plugin.html | 2 + .../docs/writing_new_costmap2d_plugin.html | 2 + .../writing_new_nav2controller_plugin.html | 2 + .../docs/writing_new_nav2planner_plugin.html | 2 + .../docs/writing_new_navigator_plugin.html | 2 + plugin_tutorials/index.html | 2 + plugins/index.html | 2 + roadmap/roadmap.html | 2 + search.html | 2 + searchindex.js | 2 +- setup_guides/algorithm/select_algorithm.html | 2 + setup_guides/footprint/setup_footprint.html | 2 + setup_guides/index.html | 2 + setup_guides/odom/setup_odom.html | 2 + setup_guides/sensors/setup_sensors.html | 2 + .../transformation/setup_transforms.html | 2 + setup_guides/urdf/setup_urdf.html | 2 + tuning/index.html | 2 + tutorials/docs/adding_a_nav2_task_server.html | 2 + tutorials/docs/adding_smoother.html | 2 + tutorials/docs/camera_calibration.html | 2 + .../filtering_of_noise-induced_obstacles.html | 2 + tutorials/docs/get_backtrace.html | 2 + tutorials/docs/get_profile.html | 2 + tutorials/docs/integrating_vio.html | 2 + .../navigation2_dynamic_point_following.html | 2 + .../docs/navigation2_on_real_turtlebot3.html | 2 + tutorials/docs/navigation2_with_gps.html | 2 + .../docs/navigation2_with_keepout_filter.html | 2 + tutorials/docs/navigation2_with_slam.html | 2 + .../docs/navigation2_with_speed_filter.html | 2 + tutorials/docs/navigation2_with_stvl.html | 2 + tutorials/docs/using_collision_monitor.html | 2 + tutorials/docs/using_groot.html | 2 + tutorials/docs/using_shim_controller.html | 2 + tutorials/index.html | 2 + 201 files changed, 659 insertions(+), 3 deletions(-) diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html index 7ecc57854..48cea14b7 100644 --- a/2021summerOfCode/Summer_2021_Student_Program.html +++ b/2021summerOfCode/Summer_2021_Student_Program.html @@ -654,6 +654,7 @@
  • Goal Angle Critic
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  • Goal Angle Critic
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  • Goal Angle Critic
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    • diff --git a/_sources/configuration/packages/configuring-mppic.rst.txt b/_sources/configuration/packages/configuring-mppic.rst.txt index 8426c49c1..1f27c194b 100644 --- a/_sources/configuration/packages/configuring-mppic.rst.txt +++ b/_sources/configuration/packages/configuring-mppic.rst.txt @@ -454,7 +454,7 @@ This critic incentivizes navigating spatially towards the goal when in reasonabl Obstacles Critic ---------------- -This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check. +This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check using distances from obstacles. :critical_weight: @@ -566,6 +566,91 @@ This critic incentivizes navigating away from obstacles and critical collisions Description Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use. + +Cost Critic +----------- + +This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check using the costmap values. + +:cost_weight: + + ============== =========================== + Type Default + -------------- --------------------------- + double 3.81 + ============== =========================== + + Description + Weight to apply to critic. + +:cost_power: + + ============== =========================== + Type Default + -------------- --------------------------- + int 1 + ============== =========================== + + Description + Power order to apply to term. + +:consider_footprint: + + ============== =========================== + Type Default + -------------- --------------------------- + bool false + ============== =========================== + + Description + Whether to use point cost (if robot is circular or low compute power) or compute SE2 footprint cost. + +:collision_cost: + + ============== =========================== + Type Default + -------------- --------------------------- + double 1000000.0 + ============== =========================== + + Description + Cost to apply to a true collision in a trajectory. + +:critical_cost: + + ============== =========================== + Type Default + -------------- --------------------------- + double 300.0 + ============== =========================== + + Description + Cost to apply to a pose with any point in in inflated space to prefer distance from obstacles. + + +:near_goal_distance: + + ============== =========================== + Type Default + -------------- --------------------------- + double 0.50 + ============== =========================== + + Description + Distance (m) near goal to stop applying preferential obstacle term to allow robot to smoothly converge to goal pose in close proximity to obstacles. + +:inflation_layer_name: + + ============== =========================== + Type Default + -------------- --------------------------- + string "" + ============== =========================== + + Description + Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use. + + Path Align Critic ----------------- @@ -887,6 +972,14 @@ Example near_goal_distance: 0.5 inflation_radius: 0.55 # (only in Humble) cost_scaling_factor: 10.0 # (only in Humble) + # CostCritic: + # enabled: true + # cost_power: 1 + # cost_weight: 3.81 + # critical_cost: 300.0 + # consider_footprint: true + # collision_cost: 1000000.0 + # near_goal_distance: 1.0 PathAlignCritic: enabled: true cost_power: 1 diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt index 3969e1d41..d7453d3fe 100644 --- a/_sources/migration/Iron.rst.txt +++ b/_sources/migration/Iron.rst.txt @@ -80,6 +80,13 @@ MPPI's Path Align Critic and Path Handler object now have options to utilize the See MPPI's configuration guide for complete information. +Addition of new MPPI Cost Critic +******************************** + +Analog to the ``ObstacleCritic``, the ``CostCritic`` is another obstacle avoiding critic alternative if the ``ObstacleCritic`` is not working well for you. +This critic uses the inflated costs in the costmap to score rather than distance to obstacles as the ``ObstaclesCritic`` does. +See the configuration guide for more information. + Move Error Code Enumerations **************************** diff --git a/about/index.html b/about/index.html index 653f1508d..1c9ec1687 100644 --- a/about/index.html +++ b/about/index.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html index f9dc13f92..c11054adf 100644 --- a/configuration/packages/bt-plugins/actions/ControllerSelector.html +++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html index e947bbee7..5dbbd983e 100644 --- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html index ce43274e9..d915e12bd 100644 --- a/configuration/packages/bt-plugins/actions/FollowPath.html +++ b/configuration/packages/bt-plugins/actions/FollowPath.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html index 12c38e77d..4b1793068 100644 --- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html index 89599fac0..6766a0dde 100644 --- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html index f9a15e59b..3cae993f9 100644 --- a/configuration/packages/bt-plugins/actions/NavigateToPose.html +++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html index 6c0182f4d..2be3fdfac 100644 --- a/configuration/packages/bt-plugins/actions/PlannerSelector.html +++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html index d67766348..016376587 100644 --- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html +++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html index cee7a977e..f94346054 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html index af0bf4138..c6b45d65c 100644 --- a/configuration/packages/bt-plugins/actions/Smooth.html +++ b/configuration/packages/bt-plugins/actions/Smooth.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html index 972262fe9..0cfdd9e44 100644 --- a/configuration/packages/bt-plugins/actions/SmootherSelector.html +++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html index 57647ea1e..1c843d4d1 100644 --- a/configuration/packages/bt-plugins/actions/Spin.html +++ b/configuration/packages/bt-plugins/actions/Spin.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html index 8d5cbff73..e78b335ed 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePath.html +++ b/configuration/packages/bt-plugins/actions/TruncatePath.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html index 7235ce7c7..931426972 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html +++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html index beb97f5f0..ad5e8b2e5 100644 --- a/configuration/packages/bt-plugins/actions/Wait.html +++ b/configuration/packages/bt-plugins/actions/Wait.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html index 71c014c0a..aafceecf2 100644 --- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html +++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html index 4d67994cd..20b581836 100644 --- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html +++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html index 12fa1b796..2318f69e7 100644 --- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html +++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html index 1af24a4ea..957753ed4 100644 --- a/configuration/packages/bt-plugins/conditions/GoalReached.html +++ b/configuration/packages/bt-plugins/conditions/GoalReached.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html index b84ef3d79..4fa84e2c2 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html index 1da819a17..aecc8d761 100644 --- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html +++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html index 8be9ccd94..4a9aed60e 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html index c47113ab4..0aa83ce47 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html index 5e2f83c49..045b7dd4e 100644 --- a/configuration/packages/bt-plugins/conditions/IsPathValid.html +++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html index 4418d73df..b25fca048 100644 --- a/configuration/packages/bt-plugins/conditions/IsStuck.html +++ b/configuration/packages/bt-plugins/conditions/IsStuck.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html index 2899c963d..284f5e8d5 100644 --- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html +++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html index b5f3e2582..46f7fed9b 100644 --- a/configuration/packages/bt-plugins/conditions/TimeExpired.html +++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html index c83d74941..46124e687 100644 --- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html +++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html index 2de666058..c71a13d48 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html index d2bc4060c..7109aab61 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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  • Changes to MPPI Path Angle Critic
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html index d0f6358f6..a1ce9b57c 100644 --- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html index 48cfff7b5..10119f8bd 100644 --- a/configuration/packages/bt-plugins/controls/PipelineSequence.html +++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html index 4314d597c..9eca65735 100644 --- a/configuration/packages/bt-plugins/controls/RecoveryNode.html +++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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  • Changes to MPPI Path Handling For Directionality
    • +
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  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html index 71e4ceff2..10c93e4b5 100644 --- a/configuration/packages/bt-plugins/controls/RoundRobin.html +++ b/configuration/packages/bt-plugins/controls/RoundRobin.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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  • Changes to MPPI Path Handling For Directionality
    • +
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  • Substitution in parameter file
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    • diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html index b12c63d2f..b177d3c50 100644 --- a/configuration/packages/bt-plugins/decorators/DistanceController.html +++ b/configuration/packages/bt-plugins/decorators/DistanceController.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html index 028d93c50..2a8470582 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html +++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html @@ -656,6 +656,7 @@
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    • @@ -929,6 +930,7 @@
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html index 126365582..dba922610 100644 --- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html +++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html @@ -656,6 +656,7 @@
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    • @@ -929,6 +930,7 @@
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    • +
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  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html index 51afcb564..821d1fab3 100644 --- a/configuration/packages/bt-plugins/decorators/RateController.html +++ b/configuration/packages/bt-plugins/decorators/RateController.html @@ -656,6 +656,7 @@
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html index 284186bc1..2375a1110 100644 --- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html +++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html index 1852eab5a..389012862 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.html +++ b/configuration/packages/bt-plugins/decorators/SpeedController.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html index 73154e2b6..ccf542bd6 100644 --- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html @@ -656,6 +656,7 @@
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    • @@ -929,6 +930,7 @@
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    • +
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  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html index 4c183f6e4..54998efdd 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html @@ -656,6 +656,7 @@
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    • +
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    • @@ -929,6 +930,7 @@
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  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html index 5b0960ad2..bce7ad36f 100644 --- a/configuration/packages/configuring-amcl.html +++ b/configuration/packages/configuring-amcl.html @@ -656,6 +656,7 @@
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    • +
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    • diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html index 9d3e95653..b96e35152 100644 --- a/configuration/packages/configuring-behavior-server.html +++ b/configuration/packages/configuring-behavior-server.html @@ -656,6 +656,7 @@
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    • +
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  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html index 53c9705f9..a70ebc739 100644 --- a/configuration/packages/configuring-bt-navigator.html +++ b/configuration/packages/configuring-bt-navigator.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • +
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    • diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html index 55f718d5f..bd8ca554f 100644 --- a/configuration/packages/configuring-bt-xml.html +++ b/configuration/packages/configuring-bt-xml.html @@ -656,6 +656,7 @@
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html index 46d2e728a..c787a6f30 100644 --- a/configuration/packages/configuring-collision-monitor.html +++ b/configuration/packages/configuring-collision-monitor.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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    • +
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    • diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html index 3572a42ff..611cacc02 100644 --- a/configuration/packages/configuring-constrained-smoother.html +++ b/configuration/packages/configuring-constrained-smoother.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
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    • diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html index 2fac508c5..ed9e966fc 100644 --- a/configuration/packages/configuring-controller-server.html +++ b/configuration/packages/configuring-controller-server.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
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    • +
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  • Substitution in parameter file
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    • diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html index 172f21da5..9c91e5eb5 100644 --- a/configuration/packages/configuring-costmaps.html +++ b/configuration/packages/configuring-costmaps.html @@ -656,6 +656,7 @@
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    • @@ -929,6 +930,7 @@
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    • diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html index d7c9b22bd..8e0fa9820 100644 --- a/configuration/packages/configuring-coverage-server.html +++ b/configuration/packages/configuring-coverage-server.html @@ -656,6 +656,7 @@
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    • +
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    • @@ -929,6 +930,7 @@
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    • diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html index d611b904b..3d6893c3c 100644 --- a/configuration/packages/configuring-dwb-controller.html +++ b/configuration/packages/configuring-dwb-controller.html @@ -656,6 +656,7 @@
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    • +
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    • diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html index a4f0aa557..98bf67bbc 100644 --- a/configuration/packages/configuring-lifecycle.html +++ b/configuration/packages/configuring-lifecycle.html @@ -656,6 +656,7 @@
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    • diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html index 141a23e61..9d64ea037 100644 --- a/configuration/packages/configuring-map-server.html +++ b/configuration/packages/configuring-map-server.html @@ -656,6 +656,7 @@
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    • diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html index 37ecd44e5..ab3fabec4 100644 --- a/configuration/packages/configuring-mppic.html +++ b/configuration/packages/configuring-mppic.html @@ -656,6 +656,7 @@
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    • @@ -1779,7 +1781,7 @@

    Goal Critic

    Obstacles Critic

    -

    This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check.

    +

    This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check using distances from obstacles.

    critical_weight
    @@ -1983,6 +1985,152 @@

    Obstacles Critic +

    Cost Critic

    +

    This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check using the costmap values.

    +
    +
    cost_weight
    +

    ++++ + + + + + + + + +

    Type

    Default

    double

    3.81

    +
    +
    Description

    Weight to apply to critic.

    +
    +
    +
    +
    cost_power
    +
    ++++ + + + + + + + + +

    Type

    Default

    int

    1

    +
    +
    Description

    Power order to apply to term.

    +
    +
    +
    +
    consider_footprint
    +
    ++++ + + + + + + + + +

    Type

    Default

    bool

    false

    +
    +
    Description

    Whether to use point cost (if robot is circular or low compute power) or compute SE2 footprint cost.

    +
    +
    +
    +
    collision_cost
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    1000000.0

    +
    +
    Description

    Cost to apply to a true collision in a trajectory.

    +
    +
    +
    +
    critical_cost
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    300.0

    +
    +
    Description

    Cost to apply to a pose with any point in in inflated space to prefer distance from obstacles.

    +
    +
    +
    +
    near_goal_distance
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    0.50

    +
    +
    Description

    Distance (m) near goal to stop applying preferential obstacle term to allow robot to smoothly converge to goal pose in close proximity to obstacles.

    +
    +
    +
    +
    inflation_layer_name
    +
    ++++ + + + + + + + + +

    Type

    Default

    string

    “”

    +
    +
    Description

    Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use.

    +
    +
    +
    +
    +

    Path Align Critic

    This critic incentivizes aligning with the global path, if relevant. It does not implement path following behavior.

    @@ -2496,6 +2644,14 @@

    Example near_goal_distance: 0.5 inflation_radius: 0.55 # (only in Humble) cost_scaling_factor: 10.0 # (only in Humble) + # CostCritic: + # enabled: true + # cost_power: 1 + # cost_weight: 3.81 + # critical_cost: 300.0 + # consider_footprint: true + # collision_cost: 1000000.0 + # near_goal_distance: 1.0 PathAlignCritic: enabled: true cost_power: 1 diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html index 0125b524f..ffe48d5b9 100644 --- a/configuration/packages/configuring-navfn.html +++ b/configuration/packages/configuring-navfn.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html index 8d2ee4fee..0b696ad91 100644 --- a/configuration/packages/configuring-planner-server.html +++ b/configuration/packages/configuring-planner-server.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html index 7b3dbdf23..9c561121e 100644 --- a/configuration/packages/configuring-regulated-pp.html +++ b/configuration/packages/configuring-regulated-pp.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html index 7821b2ecb..0e6756839 100644 --- a/configuration/packages/configuring-rotation-shim-controller.html +++ b/configuration/packages/configuring-rotation-shim-controller.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html index 763eeb3f8..9ebe9ea45 100644 --- a/configuration/packages/configuring-savitzky-golay-smoother.html +++ b/configuration/packages/configuring-savitzky-golay-smoother.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html index 78b849411..6a5fc6a38 100644 --- a/configuration/packages/configuring-simple-smoother.html +++ b/configuration/packages/configuring-simple-smoother.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html index dcf8e5f17..a90bf514f 100644 --- a/configuration/packages/configuring-smac-planner.html +++ b/configuration/packages/configuring-smac-planner.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html index 4f834a470..8438bdd5a 100644 --- a/configuration/packages/configuring-smoother-server.html +++ b/configuration/packages/configuring-smoother-server.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html index b86943f04..d5de44168 100644 --- a/configuration/packages/configuring-thetastar.html +++ b/configuration/packages/configuring-thetastar.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html index 971b6745c..c2efa5123 100644 --- a/configuration/packages/configuring-velocity-smoother.html +++ b/configuration/packages/configuring-velocity-smoother.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html index 423b6f498..08695ffa2 100644 --- a/configuration/packages/configuring-waypoint-follower.html +++ b/configuration/packages/configuring-waypoint-follower.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html index 4127e4447..f6439b541 100644 --- a/configuration/packages/costmap-plugins/binary_filter.html +++ b/configuration/packages/costmap-plugins/binary_filter.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html index 0482029fe..77e0ac094 100644 --- a/configuration/packages/costmap-plugins/denoise.html +++ b/configuration/packages/costmap-plugins/denoise.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html index d5d9ff0c0..f9c8bf26f 100644 --- a/configuration/packages/costmap-plugins/inflation.html +++ b/configuration/packages/costmap-plugins/inflation.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html index 21ee55404..9d356fc69 100644 --- a/configuration/packages/costmap-plugins/keepout_filter.html +++ b/configuration/packages/costmap-plugins/keepout_filter.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html index 188e83c69..66a97059c 100644 --- a/configuration/packages/costmap-plugins/obstacle.html +++ b/configuration/packages/costmap-plugins/obstacle.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html index 7f98b798e..e7aa3f008 100644 --- a/configuration/packages/costmap-plugins/range.html +++ b/configuration/packages/costmap-plugins/range.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html index a916f9c28..8c72b00a4 100644 --- a/configuration/packages/costmap-plugins/speed_filter.html +++ b/configuration/packages/costmap-plugins/speed_filter.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html index 794b15368..f110402f0 100644 --- a/configuration/packages/costmap-plugins/static.html +++ b/configuration/packages/costmap-plugins/static.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html index 64bc251f4..5853b1f15 100644 --- a/configuration/packages/costmap-plugins/voxel.html +++ b/configuration/packages/costmap-plugins/voxel.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html index 99f844e06..0b7d2d6ea 100644 --- a/configuration/packages/dwb-params/controller.html +++ b/configuration/packages/dwb-params/controller.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html index bfda0b672..3c57b0953 100644 --- a/configuration/packages/dwb-params/iterator.html +++ b/configuration/packages/dwb-params/iterator.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html index 98b3249d0..c5d6d9843 100644 --- a/configuration/packages/dwb-params/kinematic.html +++ b/configuration/packages/dwb-params/kinematic.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html index 34fab58bf..7d319b191 100644 --- a/configuration/packages/dwb-params/visualization.html +++ b/configuration/packages/dwb-params/visualization.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
  • Obstacles Critic
    • +
  • Cost Critic
  • Path Align Critic
  • Path Angle Critic
  • Path Follow Critic
    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html index 9a1372dc9..17e446fb6 100644 --- a/configuration/packages/dwb-plugins/limited_accel_generator.html +++ b/configuration/packages/dwb-plugins/limited_accel_generator.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html index 4361b06ea..d1aaf35a0 100644 --- a/configuration/packages/dwb-plugins/standard_traj_generator.html +++ b/configuration/packages/dwb-plugins/standard_traj_generator.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html index 8a3c74044..8ef7f6b39 100644 --- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html index fadbd9bb3..2bf367ffc 100644 --- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html index 98210c5a6..c5091bea3 100644 --- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
  • Goal Critic
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    • +
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    • @@ -929,6 +930,7 @@
  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
    • +
  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
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  • Goal Angle Critic
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    • @@ -1067,6 +1069,12 @@

    Changes to MPPI Path Handling For Directionalityenforce_path_inversion is true, the path handler will prune the path to the first time the directions change to force the controller to plan to the inversion point and then be set the rest of the path, once in tolerance. The Path Align critic also contains a parameter use_path_orientations which can be paired with it to incentivize aligning the path containing orientation information to better attempt to achieve path inversions where requested and not do them when not requested.

    See MPPI’s configuration guide for complete information.

    +
    +

    Addition of new MPPI Cost Critic

    +

    Analog to the ObstacleCritic, the CostCritic is another obstacle avoiding critic alternative if the ObstacleCritic is not working well for you. +This critic uses the inflated costs in the costmap to score rather than distance to obstacles as the ObstaclesCritic does. +See the configuration guide for more information.

    +

    Move Error Code Enumerations

    PR #3693 moves the enumeration codes from the goal to the result section.

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[96,122],acc_lim_x:[96,122],accel:173,acceler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,159,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python: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:178,cleanli:[28,97,166,177,183],cleanup:[161,164,165,166,178],clear:[19,20,22,23,24,25,27,28,39,40,41,94,115,116,119,151,156,157,158,165,168,174,180,184,191],clear_after_read:191,clear_around_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,159,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158,159],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_co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75,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[30,106,157,162,166,173],counterpart:177,coupl:[27,184,194],cours:[5,11,148,176,184],cov_path:42,covari:[87,187],cover:[2,28,116,151,156,170,177,178,182,187,188,190],coverag:[3,4,6,12,18,28,29,35,42,153,159,166,168,169,178],coverage_path:42,coverage_serv:95,coveragenavig:[42,89,168],cpp:[19,28,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,86,148,157,177,178,184],crash:[28,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,42,43,44,78,81,86,94,95,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[28,127,129,144,151,157,168],criterion:92,critic:[1,7,9,28,120,134,135,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_weight:99,cross:[146,148,153,170,171],crowd:[22,24,25,170],crtl:[148,149],crux:19,ctrl:148,cube:[171,174],cubic:92,cuda:7,cull:[22,53,168],current:[3,9,11,12,14,19,20,25,27,28,46,53,58,62,79,82,84,85,86,95,99,101,102,103,109,110,111,114,116,117,135,147,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[95,108,163,177],curvatur:[92,95,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[92,99,102],cusp_zone_length:92,custom:[10,18,19,20,22,24,25,27,28,57,58,78,80,87,88,89,95,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:158,cut:[134,135],cxprime:174,cyan:[92,176],cycl:[23,85,86,102,134,135,157,161],cycle_frequ:[88,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,86],damag:109,danc:187,danger:[92,153,192],dark:188,darker:190,dash:152,data:[1,4,7,9,10,27,28,85,86,89,91,99,105,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,178,180,183,184,187,188,190,191,192],data_typ:[94,115,119,174,191],dataset:184,date:[85,86,87,111,114,117,151,154],datum:187,david:[14,96,168],dcmake_build_typ:183,dco:150,deactiv:[28,97,161,164,165,166,178],dead:28,deadband:[109,157],deadband_veloc:109,deadlin:[86,88,89,93,101,107,109,110,159],deal:[7,28,173,175,177],dealloc:28,dealt:19,debug:[28,92,99,119,120,123,134,135,148,158,182,183],debug_optim:92,debug_trajectory_detail:[96,120,164],debug_visu:[134,135,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[87,99,113,168,174],decay_acceler:191,decay_model:191,decel_lim_i:[96,122],decel_lim_theta:[96,122],decel_lim_x:[96,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[23,87,159,175,176,178],decis:[171,187],declar:[61,63,148,151,156,159,161,163,164,165,188,190],declare_autostart_cmd:[188,190],declare_mask_yaml_file_cmd:[188,190],declare_namespace_cmd:[188,190],declare_paramet:166,declare_parameter_if_not_declar:[164,165],declare_params_file_cmd:[188,190],declare_use_sim_time_cmd:[188,190],declarelaunchargu:[173,176,188,190],declareparamet:163,decod:190,decor:[19,21,23,157,162,168,185,193],decoratornod:162,decreas:[99,158,191,192],decrement:163,dedic:14,deduc:182,deeper:[99,134,174],deepli:193,def:[157,176,188,190],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,155,162,166,185],default_control:45,default_critic_namespac:120,default_custom_ord:95,default_goal_check:48,default_headland_typ:95,default_headland_width:95,default_model_path:[173,176],default_nav_through_poses_bt_xml:[89,166],default_nav_to_pose_bt_xml:[89,159,166],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:51,default_route_typ:95,default_rviz_config_path:176,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:111,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,19,27,28,42,45,48,51,55,60,61,63,81,85,86,88,89,93,94,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[28,47,54,89,158,161,163,166,173,174,176,178],deg:[95,99],degrad:[134,135,187],degre:[11,26,85,86,134,156,159,187],delai:[85,86,187],delet:[157,173],deliv:27,deliveri:1,deloc:52,delsei:[14,168],delta:108,demand:[28,164,165,187],demo:[8,10,23,28,157,159,171,178,187,188,190],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,86,147,157,159,163,187,191,192],deni:166,denois:[94,168],denoise_lay:[112,181],denoiselay:[112,181],denot:[174,182],dens:[27,135],dense_qr:92,densiti:[87,95,99],depend:[19,28,86,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[23,92],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,92,156,157],depth:[28,86,94,115,119,168,170,174,175,176,184,191],depth_camera:174,depth_camera_control:174,deriv:[86,149,161,163,173,176,187],descent:[104,157],describ:[19,20,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,134,135,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,135,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[27,134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,147,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,159,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,99,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,135,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,147,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,134,135,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,159,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,159,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,135,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,159,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","ROS to ROS 2 Navigation","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin 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theta:[96,122],acc_lim_x:[96,122],accel:173,acceler:[88,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,159,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,95,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,159,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_p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cleaningup:178,cleanli:[28,97,166,177,183],cleanup:[161,164,165,166,178],clear:[19,20,22,23,24,25,27,28,39,40,41,94,115,116,119,151,156,157,158,165,168,174,180,184,191],clear_after_read:191,clear_around_:156,clear_around_local_costmap:39,clear_entirely_global_costmap:[19,22,23,24,25,90,162],clear_entirely_local_costmap:[19,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,159,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158,159],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,99,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishveloc:156,computeandsmoothpath:179,computecoverag:42,computecoveragepath:90,computepaththroughpos:[22,90],computepaththroughposesrecoveryfallback:22,computepathtopos:[18,19,20,21,23,24,25,51,53,79,82,84,90,162,166,179,185],computepathtoposeact:51,computepathtoposerecoveryfallback:[19,24,90],computevelocitycommand:[93,164],concaten:156,concept:[7,19,20,153,156,170,174,175,178,188,190,193],conceptu:175,concern:[149,151,157],conclus:23,concret:175,condit:[12,19,22,24,25,28,30,31,46,56,68,69,72,105,148,157,158,162,168,173,176,184,187,193,194],conditionnod:162,conf:[86,93,109,159,162],confer:153,config:[148,149,171,173,174,176,182,187,189],configur:[0,1,14,16,17,18,19,20,27,28,45,48,51,55,61,85,86,91,92,93,94,97,98,99,106,111,114,117,147,148,149,154,155,157,158,159,161,162,164,165,166,168,172,176,177,178,179,181,182,184,185,186,187,189,191,193],configured_param:[178,188,190,192],confin:[99,134,148,159,171],confirm:[171,174,180,187],conflict:155,conform:153,confus:20,conjunct:[27,99],connect:[14,20,28,95,97,100,108,112,133,148,149,155,156,157,168,170,173,174,175,176,181,187,193],connector:[42,184],consequ:23,consid:[3,14,19,30,31,46,56,85,86,87,89,90,94,99,129,134,135,144,151,155,156,158,159,161,162,164,165,166,168,170,177,178,184,187,188],consider:[4,99,177],consider_footprint:99,consist:[8,18,99,149,151,156,157,168,173,174,175,177,178,187,193],consol:192,constant:[20,95,102,164,176,177],constantli:[155,157],constrain:[29,105,156,168,177],constrainedsmooth:[92,157],constraint:[22,103,109,135,156,157,159,166,168,170,177,194],constraintcrit:99,construct:[28,151,157],constructor:[27,28,157,159,162],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:[9,11,18,22,24,25,28,47,50,91,99,106,109,115,119,134,135,150,154,155,156,157,158,159,161,163,164,165,166,168,173,174,176,177,178,179,180,182,184,188,190,192,194],container:148,containeris:148,content:[149,171,172,174,176],context:[11,13,19,20,22,23,24,25,90,147,162,168,193],contextu:[18,19,22,24,25,153,158],continu:[1,12,19,20,21,22,23,24,25,28,95,99,110,132,134,135,149,151,152,153,154,155,156,157,158,166,173,176,177,184,187,189],contractor:14,contrast:[157,187],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,28,95,134,151,159,174,177,178],contributor:[14,151],control:[2,4,7,9,11,13,17,18,19,21,22,23,24,25,27,29,34,45,47,57,58,73,74,75,77,78,79,80,84,86,94,102,106,109,117,119,121,122,123,124,125,126,127,128,129,135,136,137,138,139,140,141,142,143,144,145,153,154,155,159,161,162,163,166,167,169,171,172,173,176,178,179,182,183,184,185,186,189,190,191,192,193,195],controlcancel:23,controller_frequ:[93,96,99,102,103,194],controller_id:[19,21,22,23,24,25,27,45,47,90,156,162,185],controller_pati:156,controller_plugin:[93,96,102,103,155,164,170,194],controller_plugin_id:[120,121,122,123,124,125,136,137,138,139,140,143,144,145],controller_selector:45,controller_serv:[23,93,96,97,99,102,103,155,156,157,159,164,170,178,183,190,194],controllerselector:[22,24,25,90,156],controllerserv:157,controlnod:162,conveni:[149,159,184,190],convent:[22,24,25,28,174,175,178,187],converg:[87,92,99,187],convers:[27,98,151,188,190],convert:[0,28,95,99,110,117,134,135,153,154,156,165,175,187,188,190],convert_typ:[188,190],convex:99,cooper:2,coordin:[5,27,28,42,87,94,95,110,157,173,175,176,184,185,187],coordinates_in_cartesian_fram:95,cope:187,copi:[157,171,173,174,176,179,182,188,190,191],copyright:151,core:[7,18,28,153,158,178,179],corner:[102,152,156,180,188,193],corpor:14,correct:[28,85,86,146,148,151,157,173,174,176,186,188,190,192],correctli:[20,28,152,156,157,171,173,174,175,187,188,190,192],correl:148,correspond:[28,42,81,85,86,89,99,100,108,111,112,113,114,115,116,117,118,119,133,134,135,156,157,161,162,163,174,175,181,187,190],correspont:188,corridor:[99,170,177],cost:[9,19,27,28,85,86,88,92,94,102,106,108,113,114,123,133,134,135,148,153,156,157,163,168,174,177,181],cost_check_point:92,cost_cloud:156,cost_penalti:[134,135],cost_pow:99,cost_scaling_factor:[94,99,108,113,163,174],cost_travel_multipli:133,cost_weight:99,costamp2d:188,costcrit:[99,159],costli:28,costmap2d:[146,159,167,168,181,188,190],costmap2dro:[157,164],costmap:[1,2,4,5,7,10,19,20,21,22,24,25,29,39,40,41,86,88,91,92,93,101,102,107,108,111,112,113,114,115,116,117,118,119,133,134,135,136,139,153,154,157,163,164,165,170,171,177,181,187,195],costmap_2d:[5,17,159,163,174],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:[88,104,105,107,161,179],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:[1,2,3,6,7,9,10,21,28,85,86,93,108,148,149,155,156,157,158,162,163,164,168,175,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[30,106,157,162,166,173],counterpart:177,coupl:[27,184,194],cours:[5,11,148,176,184],cov_path:42,covari:[87,187],cover:[2,28,116,151,156,170,177,178,182,187,188,190],coverag:[3,4,6,12,18,28,29,35,42,153,159,166,168,169,178],coverage_path:42,coverage_serv:95,coveragenavig:[42,89,168],cpp:[19,28,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,86,148,157,177,178,184],crash:[28,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,42,43,44,78,81,86,94,95,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[28,127,129,144,151,157,168],criterion:92,critic:[1,7,9,28,120,134,135,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_cost:99,critical_weight:99,cross:[146,148,153,170,171],crowd:[22,24,25,170],crtl:[148,149],crux:19,ctrl:148,cube:[171,174],cubic:92,cuda:7,cull:[22,53,168],current:[3,9,11,12,14,19,20,25,27,28,46,53,58,62,79,82,84,85,86,95,99,101,102,103,109,110,111,114,116,117,135,147,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[95,108,163,177],curvatur:[92,95,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[92,99,102],cusp_zone_length:92,custom:[10,18,19,20,22,24,25,27,28,57,58,78,80,87,88,89,95,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:158,cut:[134,135],cxprime:174,cyan:[92,176],cycl:[23,85,86,102,134,135,157,161],cycle_frequ:[88,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,86],damag:109,danc:187,danger:[92,153,192],dark:188,darker:190,dash:152,data:[1,4,7,9,10,27,28,85,86,89,91,99,105,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,178,180,183,184,187,188,190,191,192],data_typ:[94,115,119,174,191],dataset:184,date:[85,86,87,111,114,117,151,154],datum:187,david:[14,96,168],dcmake_build_typ:183,dco:150,deactiv:[28,97,161,164,165,166,178],dead:28,deadband:[109,157],deadband_veloc:109,deadlin:[86,88,89,93,101,107,109,110,159],deal:[7,28,173,175,177],dealloc:28,dealt:19,debug:[28,92,99,119,120,123,134,135,148,158,182,183],debug_optim:92,debug_trajectory_detail:[96,120,164],debug_visu:[134,135,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[87,99,113,168,174],decay_acceler:191,decay_model:191,decel_lim_i:[96,122],decel_lim_theta:[96,122],decel_lim_x:[96,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[23,87,159,175,176,178],decis:[171,187],declar:[61,63,148,151,156,159,161,163,164,165,188,190],declare_autostart_cmd:[188,190],declare_mask_yaml_file_cmd:[188,190],declare_namespace_cmd:[188,190],declare_paramet:166,declare_parameter_if_not_declar:[164,165],declare_params_file_cmd:[188,190],declare_use_sim_time_cmd:[188,190],declarelaunchargu:[173,176,188,190],declareparamet:163,decod:190,decor:[19,21,23,157,162,168,185,193],decoratornod:162,decreas:[99,158,191,192],decrement:163,dedic:14,deduc:182,deeper:[99,134,174],deepli:193,def:[157,176,188,190],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,155,162,166,185],default_control:45,default_critic_namespac:120,default_custom_ord:95,default_goal_check:48,default_headland_typ:95,default_headland_width:95,default_model_path:[173,176],default_nav_through_poses_bt_xml:[89,166],default_nav_to_pose_bt_xml:[89,159,166],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:51,default_route_typ:95,default_rviz_config_path:176,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:111,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,19,27,28,42,45,48,51,55,60,61,63,81,85,86,88,89,93,94,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[28,47,54,89,158,161,163,166,173,174,176,178],deg:[95,99],degrad:[134,135,187],degre:[11,26,85,86,134,156,159,187],delai:[85,86,187],delet:[157,173],deliv:27,deliveri:1,deloc:52,delsei:[14,168],delta:108,demand:[28,164,165,187],demo:[8,10,23,28,157,159,171,178,187,188,190],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,86,147,157,159,163,187,191,192],deni:166,denois:[94,168],denoise_lay:[112,181],denoiselay:[112,181],denot:[174,182],dens:[27,135],dense_qr:92,densiti:[87,95,99],depend:[19,28,86,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[23,92],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,92,156,157],depth:[28,86,94,115,119,16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_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,27,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,159,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,99,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,135,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,147,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,134,135,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,159,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,159,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,135,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,159,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,10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top:[93,117,190],speed_mask:190,speed_param:190,speedcontrol:[19,90,155],speedfilt:[94,117,156,190],spend:19,spent:183,sphere:[171,174,176],sphere_inertia:176,spheric:[176,187],spherical_coordin:187,sphinx_doc:168,spike:[134,135,157],spin:[11,19,20,22,23,24,25,26,27,28,37,90,145,155,156,157,158,161,162,168],spin_dist:[19,22,23,24,25,26,27,56,90,162],spin_error_cod:56,spinner:11,spiral:[95,157,177],spiritu:153,spite:173,spline:3,split:[17,155,187],splitter:176,sponsor:14,spot:[22,24,25,135,152,161],squar:[26,39,40,85,86,94,159,180],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:[102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,27,28,79,82,84,93,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[28,94,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[86,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,87,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[96,120],star:[29,170,177],start:[4,5,12,17,20,21,22,24,25,27,28,43,44,58,85,86,92,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,28,97,146,148,152,155,178,180,188,190],state:[3,15,17,20,22,24,25,27,62,86,92,93,94,96,97,99,102,103,106,109,111,127,129,133,152,153,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[86,158],statement:151,static_lay:[94,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[94,174],station:[28,170],statist:[4,9,183],statu:[18,28,151,157,161,162,188],status1:176,status:[27,166],std:[60,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[92,133,157,174,177,184],step:[20,28,86,88,95,99,135,174,176,182,183,184],step_siz:27,stereo:[86,180,184],stereolab:184,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,99,153,168,182,184],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,189,191],steven:153,sticki:1,still:[19,20,27,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,21,28,76,86,91,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[86,192],stoppedgoalcheck:[93,168],storag:[148,166],store:[87,94,115,119,148,153,158,163,164,166,174,175,183,187],stori:10,strace:148,strafe_theta:143,strafe_x:143,straight:[134,135,165,176,177,179],straightforward:174,strategi:[151,187],stream:157,streamlin:[147,149],stretch:149,strictli:[6,135,158],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:28,structur:[6,8,19,28,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,19,22,24,25,28,30,31,46,56,69,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[94,191],style:[22,24,25,177,191],sub:[0,22,24,25,157,159],subcommand:148,subfield:184,subject:[28,99,173],submit:[13,151,168],suboptim:[99,177,184],subproject:13,subscrib:[28,45,48,51,55,66,67,80,86,87,93,116,118,156,159,173,174,185,187],subscribe_to_upd:[94,118],subscript:[80,85,86,156,166,168,173,178],subsect:[148,174],subsequ:[20,28,87,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[89,176,185,188,190],subtleti:166,subtli:157,subtre:[18,20,22,23,24,25,28,39,40,41,90,162,168],succe:[19,20,76,77,168],succeed:[27,83,157,161,165],success:[14,19,20,23,28,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,99,156,157,158,159,161,162,168,176,181,187,194],successfulli:[1,19,28,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,19,28,99,135,144,166,181,183,184],suffix:183,suggest:[20,92,99,170,175,176],suit:[0,148],suitabl:[92,103,157,168,170,175,194],sum:[87,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summari:17,summer:[5,11],superior:158,suppli:[11,28,79,82,84,89],support:[2,6,13,14,27,28,45,48,51,55,85,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,27,89,99,115,119,146,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[28,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:28,swap:[157,158],swath:[42,95],sweep:[176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","ROS to ROS 2 Navigation","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration 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Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General 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\ No newline at end of file diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html index 19ea52e45..7e3b04312 100644 --- a/setup_guides/algorithm/select_algorithm.html +++ b/setup_guides/algorithm/select_algorithm.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/setup_guides/footprint/setup_footprint.html b/setup_guides/footprint/setup_footprint.html index c498f2cef..b2172672d 100644 --- a/setup_guides/footprint/setup_footprint.html +++ b/setup_guides/footprint/setup_footprint.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/setup_guides/index.html b/setup_guides/index.html index a86e71a35..2fe9c4f81 100644 --- a/setup_guides/index.html +++ b/setup_guides/index.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Changes to MPPI Goal Critic
  • Changes to MPPI Path Angle Critic
  • Changes to MPPI Path Handling For Directionality
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  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/setup_guides/odom/setup_odom.html b/setup_guides/odom/setup_odom.html index 130ed8056..2eadc5eb6 100644 --- a/setup_guides/odom/setup_odom.html +++ b/setup_guides/odom/setup_odom.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Move Error Code Enumerations
  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/setup_guides/sensors/setup_sensors.html b/setup_guides/sensors/setup_sensors.html index 69ece972d..2c24369c9 100644 --- a/setup_guides/sensors/setup_sensors.html +++ b/setup_guides/sensors/setup_sensors.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Substitution in parameter file
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    • diff --git a/setup_guides/transformation/setup_transforms.html b/setup_guides/transformation/setup_transforms.html index 2726d6396..55cb4a090 100644 --- a/setup_guides/transformation/setup_transforms.html +++ b/setup_guides/transformation/setup_transforms.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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    • diff --git a/setup_guides/urdf/setup_urdf.html b/setup_guides/urdf/setup_urdf.html index 6d4ee77ec..544e220c3 100644 --- a/setup_guides/urdf/setup_urdf.html +++ b/setup_guides/urdf/setup_urdf.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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    • diff --git a/tuning/index.html b/tuning/index.html index d1e0ca0db..405fdde8c 100644 --- a/tuning/index.html +++ b/tuning/index.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Substitution in parameter file
  • Allow Behavior Server Plugins to Access The Action Result
    • diff --git a/tutorials/docs/adding_a_nav2_task_server.html b/tutorials/docs/adding_a_nav2_task_server.html index 981184429..28dc64fea 100644 --- a/tutorials/docs/adding_a_nav2_task_server.html +++ b/tutorials/docs/adding_a_nav2_task_server.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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    • diff --git a/tutorials/docs/adding_smoother.html b/tutorials/docs/adding_smoother.html index 158873133..151028144 100644 --- a/tutorials/docs/adding_smoother.html +++ b/tutorials/docs/adding_smoother.html @@ -656,6 +656,7 @@
  • Goal Angle Critic
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  • Path Follow Critic
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  • Changes to MPPI Goal Critic
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  • Changes to MPPI Path Handling For Directionality
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  • Addition of new MPPI Cost Critic
  • Move Error Code Enumerations
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