[skip ci] publish latest

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

_sources/tuning/index.rst.txt

@@ -43,7 +43,7 @@ This was added due to quirks in some existing controllers whereas tuning the con
 
 Note: If using a non-holonomic, kinematically feasible planner (e.g. Smac Hybrid-A\*, Smac State Lattice), this is not a necessary behavioral optimization. This class of planner will create plans that take into account the robot's starting heading, not requiring any rotation behaviors. 
 
-This behavior is most optimially for: 
+This behavior is most optimally for: 
 
 - Robots that can rotate in place, such as differential and omnidirectional robots.
 - Preference to rotate in place when starting to track a new path that is at a significantly different heading than the robot’s current heading – or when tuning your controller for its task makes tight rotations difficult.

tuning/index.html

@@ -1136,7 +1136,7 @@ <h2>Rotate in Place Behavior<a class="headerlink" href="#rotate-in-place-behavio
 <p>Using the <a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#configuring-rotation-shim"><span class="std std-ref">Rotation Shim Controller</span></a>, a robot will simply rotate in place before starting to track a holonomic path. This allows a developer to tune a controller plugin to be optimized for path tracking and give you clean rotations, out of the box.</p>
 <p>This was added due to quirks in some existing controllers whereas tuning the controller for a task can make it rigid – or the algorithm simply doesn’t rotate in place when working with holonomic paths (if that’s a desirable trait). The result is an awkward, stuttering, or whipping around behavior when your robot’s initial and path heading’s are significantly divergent. Giving a controller a better starting point to start tracking a path makes tuning the controllers significantly easier and creates more intuitive results for on-lookers (in one maintainer’s opinion).</p>
 <p>Note: If using a non-holonomic, kinematically feasible planner (e.g. Smac Hybrid-A*, Smac State Lattice), this is not a necessary behavioral optimization. This class of planner will create plans that take into account the robot’s starting heading, not requiring any rotation behaviors.</p>
-<p>This behavior is most optimially for:</p>
+<p>This behavior is most optimally for:</p>
 <ul class="simple">
 <li><p>Robots that can rotate in place, such as differential and omnidirectional robots.</p></li>
 <li><p>Preference to rotate in place when starting to track a new path that is at a significantly different heading than the robot’s current heading – or when tuning your controller for its task makes tight rotations difficult.</p></li>