diff --git a/_sources/tuning/index.rst.txt b/_sources/tuning/index.rst.txt
index df9ca6f01..7e6085750 100644
--- a/_sources/tuning/index.rst.txt
+++ b/_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.
diff --git a/searchindex.js b/searchindex.js
index 225f2175e..434658bba 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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24, 26, 27, 41, 90, 91, 110, 114, 161, 164, 165, 167, 168, 171, 175, 179, 180, 182, 183, 185, 186, 190, 191, 192, 193, 194, 198, 199, 200, 201, 202, 203, 205], "backup": [1, 18, 19, 21, 22, 23, 24, 26, 32, 95, 162, 165, 166, 167, 170, 177], "case": [1, 6, 12, 18, 19, 21, 27, 29, 30, 46, 54, 59, 70, 90, 91, 100, 103, 107, 110, 111, 112, 125, 128, 135, 137, 141, 142, 143, 156, 161, 163, 164, 167, 168, 170, 171, 172, 173, 175, 177, 180, 182, 183, 184, 185, 187, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204], "autonomi": [1, 26, 27, 101, 162, 165, 166, 187, 197, 203, 204], "failur": [1, 17, 18, 19, 20, 21, 23, 24, 27, 29, 30, 46, 59, 64, 66, 67, 68, 70, 71, 72, 73, 74, 75, 77, 78, 79, 80, 81, 82, 88, 107, 161, 162, 164, 165, 171, 177, 187, 192, 195], "primari": [1, 6, 18, 111, 112, 165, 167, 183, 185, 187], "function": [1, 3, 4, 9, 11, 17, 22, 26, 27, 97, 98, 107, 114, 116, 121, 142, 143, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 182, 183, 184, 186, 190, 191, 192, 193, 198, 200, 203, 204], "e": [1, 21, 22, 23, 24, 26, 27, 41, 42, 43, 47, 50, 67, 86, 90, 91, 94, 98, 100, 101, 105, 107, 108, 110, 113, 114, 116, 122, 141, 142, 143, 155, 156, 158, 163, 164, 165, 166, 167, 168, 170, 171, 172, 174, 175, 177, 178, 182, 183, 184, 186, 188, 189, 190, 192, 193, 194, 197, 198, 200, 201, 202, 203, 204], "g": [1, 21, 22, 23, 24, 26, 27, 41, 42, 43, 47, 50, 67, 86, 90, 91, 94, 100, 107, 110, 113, 114, 116, 122, 141, 142, 143, 155, 156, 158, 163, 164, 165, 166, 167, 170, 171, 172, 174, 175, 177, 178, 182, 183, 184, 186, 188, 189, 192, 193, 194, 197, 198, 200, 201, 202, 204], "telepres": 1, "project": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 27, 90, 91, 93, 100, 101, 107, 110, 133, 155, 156, 157, 159, 165, 172, 178, 180, 182, 183, 184, 185, 187, 190, 191, 197, 198, 200, 202, 203, 204, 205], "aim": [1, 7, 9, 10, 13, 117, 168, 181, 185, 186, 193], "creat": [1, 4, 5, 6, 8, 9, 10, 11, 13, 14, 21, 22, 23, 24, 27, 41, 42, 43, 83, 86, 91, 99, 100, 104, 105, 107, 113, 114, 142, 155, 157, 159, 161, 162, 163, 164, 165, 166, 167, 168, 172, 177, 179, 180, 182, 183, 184, 185, 186, 187, 190, 191, 194, 196, 197, 198, 200, 201, 202, 203, 204, 205], "featur": [1, 4, 6, 8, 9, 14, 27, 92, 98, 100, 110, 113, 117, 142, 156, 159, 164, 165, 168, 177, 178, 185, 186, 190, 197, 198, 203], "new": [1, 4, 5, 6, 8, 9, 11, 14, 17, 18, 20, 21, 23, 24, 26, 27, 90, 91, 93, 94, 107, 111, 123, 127, 154, 156, 157, 159, 160, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 190, 192, 194, 195, 196, 197, 198, 199, 200, 201, 204, 205, 206], "behavior": [1, 2, 3, 11, 19, 20, 21, 22, 23, 24, 25, 28, 29, 30, 31, 32, 35, 36, 37, 44, 46, 49, 50, 51, 52, 53, 59, 63, 65, 67, 81, 82, 83, 86, 90, 91, 105, 107, 110, 111, 114, 118, 141, 142, 156, 161, 162, 168, 173, 175, 176, 179, 182, 187, 188, 190, 197, 201, 203, 205, 206], "tree": [1, 2, 11, 20, 21, 22, 23, 24, 25, 28, 29, 30, 50, 51, 59, 63, 65, 67, 81, 82, 83, 84, 85, 86, 87, 88, 89, 154, 160, 161, 162, 165, 167, 172, 175, 176, 179, 183, 184, 185, 187, 188, 194, 197, 203, 206], "file": [1, 2, 17, 27, 41, 91, 93, 94, 101, 104, 106, 116, 139, 143, 154, 156, 157, 159, 160, 161, 163, 164, 165, 171, 172, 177, 180, 184, 185, 186, 187, 188, 189, 190, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "defin": [1, 5, 9, 10, 18, 26, 27, 41, 44, 49, 52, 53, 58, 64, 65, 67, 86, 90, 91, 93, 94, 98, 99, 106, 107, 109, 115, 118, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 156, 161, 162, 163, 164, 165, 166, 167, 168, 171, 172, 174, 175, 179, 180, 182, 183, 184, 185, 187, 191, 192, 196, 197, 198, 200, 201, 204], "flow": [1, 18, 19, 21, 23, 24, 82, 83, 159, 171, 204], "inform": [1, 2, 4, 10, 19, 20, 27, 90, 91, 96, 99, 103, 106, 107, 110, 111, 114, 117, 119, 122, 123, 125, 127, 128, 141, 142, 143, 155, 159, 162, 163, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 177, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204], "plugin": [1, 5, 11, 12, 13, 17, 19, 26, 27, 41, 42, 43, 45, 47, 57, 62, 92, 94, 97, 101, 103, 107, 108, 110, 111, 112, 113, 115, 116, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 160, 161, 168, 178, 180, 181, 185, 187, 191, 193, 195, 197, 198, 200, 202, 204, 205, 206], "should": [1, 2, 3, 6, 9, 11, 17, 18, 22, 27, 41, 55, 78, 79, 80, 82, 89, 90, 91, 93, 94, 97, 98, 99, 103, 106, 107, 109, 110, 115, 117, 118, 120, 123, 125, 127, 142, 143, 157, 159, 160, 162, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 203, 204, 205], "make": [1, 2, 7, 9, 10, 11, 12, 13, 14, 19, 21, 23, 24, 25, 27, 41, 60, 61, 94, 98, 101, 103, 107, 110, 111, 116, 123, 125, 127, 142, 153, 154, 156, 157, 159, 163, 164, 165, 166, 167, 168, 170, 173, 174, 175, 177, 179, 180, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 205], "sure": [1, 2, 7, 12, 26, 94, 107, 123, 127, 154, 156, 159, 164, 167, 168, 172, 175, 177, 180, 182, 183, 186, 189, 191, 192, 194, 196, 197, 198, 199, 200, 201, 202, 203], "local": [1, 3, 9, 10, 11, 18, 21, 23, 24, 26, 44, 49, 52, 53, 58, 92, 93, 98, 103, 104, 105, 107, 110, 117, 128, 131, 135, 137, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 172, 173, 174, 175, 177, 179, 180, 184, 186, 190, 191, 198, 200, 201, 202, 203, 206], "costmap": [1, 2, 4, 5, 7, 10, 18, 19, 20, 21, 23, 24, 28, 38, 39, 40, 55, 91, 93, 96, 97, 98, 101, 103, 109, 110, 115, 116, 119, 120, 121, 122, 123, 124, 125, 126, 127, 141, 142, 143, 144, 147, 161, 162, 165, 172, 173, 174, 179, 180, 186, 191, 197, 206], "sensor": [1, 5, 7, 9, 21, 23, 24, 27, 90, 91, 96, 99, 101, 120, 123, 127, 156, 161, 163, 164, 166, 177, 179, 180, 181, 182, 184, 185, 186, 187, 190, 191, 194, 197, 201, 202, 203], "data": [1, 4, 7, 9, 10, 26, 27, 90, 91, 93, 94, 96, 98, 107, 113, 117, 123, 124, 127, 141, 142, 143, 156, 161, 164, 166, 167, 177, 182, 183, 184, 186, 187, 189, 190, 193, 194, 197, 198, 200, 201, 202, 203], "order": [1, 11, 27, 41, 99, 100, 104, 107, 118, 121, 125, 161, 162, 164, 165, 167, 168, 171, 172, 173, 175, 180, 182, 183, 185, 186, 187, 188, 189, 190, 194, 198, 200, 203, 204], "avoid": [1, 27, 55, 91, 93, 94, 96, 97, 98, 99, 101, 107, 109, 110, 115, 118, 122, 124, 143, 156, 161, 164, 165, 167, 172, 179, 180, 182, 183, 184, 185, 186, 190, 202], "take": [1, 9, 12, 17, 21, 22, 26, 27, 41, 42, 43, 47, 50, 51, 66, 67, 68, 69, 86, 89, 90, 91, 92, 93, 94, 98, 100, 104, 107, 109, 111, 112, 113, 115, 118, 126, 139, 141, 142, 156, 159, 160, 162, 164, 165, 166, 167, 170, 171, 173, 174, 175, 177, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 200, 203, 205], "posit": [1, 4, 61, 90, 91, 98, 101, 103, 135, 136, 137, 160, 162, 164, 165, 167, 171, 172, 173, 174, 175, 182, 183, 184, 185, 186, 191, 194, 195, 196, 197, 199], "veloc": [1, 4, 9, 13, 28, 73, 89, 90, 91, 93, 96, 98, 101, 103, 105, 110, 111, 125, 129, 130, 133, 137, 148, 151, 152, 161, 164, 167, 170, 173, 177, 178, 179, 182, 186, 202, 205], "command": [1, 9, 22, 29, 44, 49, 52, 53, 58, 85, 91, 98, 105, 110, 111, 117, 133, 155, 156, 157, 161, 163, 168, 170, 172, 173, 174, 175, 177, 179, 182, 183, 184, 185, 192, 194, 195, 196, 199, 200, 205], "attempt": [1, 18, 20, 21, 23, 24, 26, 27, 86, 101, 104, 106, 107, 113, 120, 141, 142, 143, 157, 167, 190, 192, 194, 198, 203], "follow": [1, 2, 3, 9, 10, 17, 18, 21, 23, 24, 26, 28, 47, 57, 85, 91, 93, 97, 98, 99, 103, 106, 109, 110, 117, 125, 138, 139, 140, 142, 143, 155, 157, 159, 160, 161, 162, 163, 164, 165, 166, 168, 170, 172, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 198, 199, 200, 201, 202, 203, 205, 206], "exampl": [1, 7, 15, 16, 17, 18, 19, 22, 27, 114, 123, 124, 126, 127, 155, 156, 157, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 90, 91, 93, 94, 97, 98, 101, 107, 109, 115, 118, 154, 156, 161, 162, 165, 166, 167, 168, 170, 172, 175, 177, 179, 186, 187, 190, 191, 192, 193, 194, 195, 197, 200, 201, 203, 204, 205], "drive": [1, 25, 26, 35, 46, 97, 107, 110, 114, 142, 143, 161, 164, 173, 177, 179, 180, 182, 183, 185, 186, 197, 198, 203], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 104, 107, 116, 123, 127, 142, 143, 156, 159, 160, 161, 163, 164, 165, 166, 167, 172, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 192, 193, 194, 197, 198, 199, 200, 201, 203, 205], "space": [1, 4, 10, 20, 27, 90, 91, 92, 99, 106, 107, 108, 110, 116, 119, 123, 126, 127, 141, 142, 143, 156, 157, 164, 165, 177, 179, 182, 186, 190, 191, 196, 198, 203], "visit": [1, 27, 142, 143, 159, 197], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 157, 158, 160, 161, 165, 166, 170, 171, 172, 173, 174, 175, 184, 191, 192, 193, 195, 197, 198, 200, 201, 202, 203], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 74, 165, 177, 186], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 97, 100, 107, 111, 119, 143, 159, 161, 162, 165, 166, 167, 171, 173, 174, 175, 177, 184, 185, 186, 190, 197, 203, 204], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 142, 143, 154, 156, 157, 159, 161, 167, 172, 180, 182, 183, 184, 185, 186, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 201, 204], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 100, 107, 118, 140, 142, 143, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 175, 182, 185, 186, 190, 194, 197, 199, 202], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 84, 87, 88, 89, 91, 97, 98, 99, 107, 108, 111, 113, 114, 116, 126, 141, 142, 143, 155, 159, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 175, 177, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 197, 198, 200, 201, 202, 203, 204, 205], "excel": [1, 7, 9, 197, 205], "chanc": [1, 7, 9, 19, 165], "substanti": [1, 107, 142, 159, 162, 186], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 91, 92, 98, 104, 105, 107, 117, 155, 156, 157, 159, 160, 161, 162, 165, 167, 168, 175, 179, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 196, 202, 203], "hundr": [1, 27], "futur": [1, 4, 8, 11, 21, 27, 90, 91, 92, 101, 119, 122, 125, 163, 165, 167, 195], "could": [1, 2, 3, 6, 7, 9, 10, 20, 27, 90, 91, 98, 116, 156, 157, 163, 164, 165, 166, 171, 172, 173, 177, 184, 186, 188, 190, 192, 195, 197, 198, 200, 201, 202], "also": [1, 3, 4, 6, 7, 11, 18, 19, 20, 21, 22, 23, 24, 26, 27, 90, 91, 92, 93, 95, 98, 99, 100, 101, 104, 106, 107, 109, 110, 111, 112, 114, 115, 117, 118, 121, 142, 143, 155, 156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 197, 198, 199, 200, 201, 202, 203, 205], "good": [1, 6, 27, 92, 107, 116, 117, 142, 159, 161, 167, 170, 172, 173, 174, 175, 180, 181, 185, 186, 189, 190, 192, 194, 197], "candid": [1, 7, 100, 107, 159, 179], "roscon": [1, 199, 201], "talk": [1, 156, 161, 182, 184, 190, 192, 199, 201], "event": [1, 13, 159, 165, 190, 203], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 178], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 107, 161, 177, 190, 192, 194], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 110, 161, 177], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 199, 201], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 101, 159, 161, 186, 187, 203], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 19, 116, 159, 165, 182, 183, 184, 185, 190, 197, 202], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 22, 27, 55, 89, 101, 107, 116, 124, 143, 155, 162, 164, 170, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 187, 190, 191, 192, 193, 197, 198, 199, 200, 201, 203, 204, 205], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 107, 192, 206], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 91, 99, 100, 105, 107, 141, 142, 143, 161, 164, 165, 168, 171, 172, 179, 182, 183, 184, 185, 187, 188, 192, 193, 194, 197, 198, 200, 202, 203, 204], "either": [1, 18, 19, 26, 27, 91, 92, 101, 106, 107, 124, 126, 156, 157, 166, 167, 177, 179, 182, 183, 186, 190, 193, 200, 203, 204], "set": [1, 2, 3, 9, 10, 13, 17, 21, 23, 24, 26, 27, 29, 30, 41, 42, 43, 45, 46, 47, 48, 55, 57, 59, 61, 62, 64, 71, 90, 91, 92, 97, 98, 99, 100, 101, 103, 104, 106, 107, 108, 110, 111, 114, 116, 117, 118, 119, 123, 125, 126, 127, 128, 141, 142, 143, 154, 155, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 177, 181, 186, 187, 188, 189, 190, 192, 193, 195, 196, 197, 198, 199, 200, 201, 202, 203, 205], "successfulli": [1, 18, 27, 165, 170, 175, 182, 184, 185, 187, 190, 195, 203], "user": [1, 2, 3, 7, 9, 14, 17, 21, 22, 23, 24, 26, 27, 28, 41, 82, 86, 90, 91, 92, 113, 118, 123, 124, 126, 127, 138, 142, 156, 157, 159, 161, 163, 164, 165, 166, 167, 168, 175, 177, 181, 183, 186, 187, 190, 192, 193, 194, 197, 199, 201, 202, 203, 205], "without": [1, 4, 14, 26, 27, 61, 90, 91, 97, 98, 105, 107, 112, 120, 122, 123, 124, 126, 127, 142, 156, 157, 163, 164, 165, 167, 168, 172, 175, 180, 181, 183, 186, 190, 192, 194, 195, 197, 198, 199, 205], "collis": [1, 7, 9, 27, 28, 29, 30, 46, 55, 57, 59, 93, 97, 99, 101, 107, 110, 111, 115, 121, 122, 124, 152, 161, 162, 164, 165, 170, 177, 178, 179, 180, 182, 183, 185, 186, 205, 206], "allot": [1, 9, 11], "tune": [1, 9, 25, 106, 107, 111, 116, 142, 165, 181, 194, 197, 198, 200, 202, 205], "ad": [1, 9, 10, 13, 21, 23, 24, 41, 92, 94, 107, 142, 143, 156, 157, 159, 162, 163, 170, 172, 173, 174, 175, 179, 180, 184, 186, 191, 192, 193, 194, 197, 198, 200, 201, 202, 205, 206], "critic": [1, 7, 9, 27, 128, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 162, 179, 186, 187, 192], "dwb": [1, 3, 9, 21, 23, 24, 27, 28, 129, 130, 131, 132, 133, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 162, 163, 177, 179, 186, 205], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 21, 22, 23, 24, 28, 42, 43, 52, 79, 91, 96, 97, 99, 100, 107, 110, 111, 112, 113, 117, 122, 131, 149, 150, 161, 162, 163, 168, 170, 172, 176, 178, 180, 181, 187, 188, 195, 198, 201, 205], "improv": [1, 7, 9, 11, 12, 25, 27, 97, 112, 114, 142, 143, 156, 162, 163, 164, 166, 167, 168, 178, 193, 194], "perform": [1, 3, 4, 7, 9, 11, 17, 22, 26, 28, 30, 46, 59, 90, 91, 92, 96, 97, 107, 114, 118, 142, 143, 156, 161, 164, 165, 166, 167, 170, 171, 172, 173, 174, 180, 183, 186, 187, 190, 191, 192, 194, 195, 197, 203, 204], "box": [1, 9, 27, 91, 101, 118, 165, 166, 167, 168, 180, 182, 183, 185, 186, 194, 201, 202, 203, 204], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 192], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 26, 93, 115, 159, 166, 182, 189, 192, 193, 203], "xml": [1, 2, 17, 18, 27, 28, 50, 51, 94, 101, 161, 163, 165, 167, 170, 171, 172, 173, 174, 175, 182, 185, 187, 195, 203, 204], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 25, 155, 156, 157, 161, 165, 185, 192, 194, 196], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 27, 90, 91, 101, 104, 107, 110, 112, 113, 156, 159, 160, 165, 167, 173, 179, 180, 182, 183, 184, 185, 186, 188, 190, 194, 196, 197, 199, 201, 202, 203, 204, 205], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 105, 154, 160, 167, 168, 170, 171, 172, 173, 174, 175, 180, 181, 185, 186, 190, 191, 196, 198, 200, 201], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 91, 94, 107, 111, 132, 133, 154, 160, 167, 170, 172, 173, 174, 175, 180, 181, 185, 186, 190, 192, 193, 196, 197, 198, 199, 200, 201], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 100, 107, 161, 162, 167, 170, 171, 175, 194, 197], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117, 118, 123, 127, 154, 156, 158, 159, 160, 161, 165, 170, 171, 172, 173, 174, 175, 180, 181, 182, 183, 184, 185, 189, 190, 192, 194, 196, 197, 198, 199, 200, 201, 202, 203], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 110, 159, 166, 183, 186, 187, 190, 192, 196, 199], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 110, 155, 156, 157, 161, 170, 172, 173, 174, 178, 180, 182, 183, 185, 186, 190, 196, 198, 199, 200, 201], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 27, 154, 159, 163, 164, 165, 186, 192, 204], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 26, 27, 39, 81, 91, 92, 93, 94, 100, 104, 107, 110, 112, 114, 116, 117, 120, 124, 142, 147, 155, 156, 157, 159, 161, 162, 163, 164, 165, 167, 168, 170, 173, 174, 175, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 197, 198, 200, 201, 204, 205], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 100, 142, 159, 167, 183, 186, 187], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 20, 94, 123, 126, 127, 156, 157, 159, 163, 164, 165, 166, 170, 171, 177, 179, 180, 182, 183, 185, 188, 190, 192, 194, 197, 201, 203], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 159], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 20, 21, 22, 23, 24, 25, 26, 29, 30, 41, 45, 46, 48, 55, 56, 57, 59, 60, 61, 62, 63, 65, 67, 71, 73, 76, 84, 86, 87, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 130, 131, 133, 134, 135, 136, 137, 138, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 159, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 187, 189, 190, 192, 198, 200, 202, 203, 205], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 19, 91, 107, 166, 170, 171, 172, 173, 175, 200], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 22, 65, 67, 91, 94, 99, 100, 107, 110, 112, 117, 122, 123, 124, 126, 127, 143, 156, 157, 159, 160, 161, 164, 165, 166, 167, 170, 171, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 200, 201, 202, 203, 204, 205], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 18, 19, 21, 22, 23, 24, 26, 55, 56, 65, 66, 68, 75, 76, 90, 91, 93, 94, 95, 96, 97, 98, 107, 109, 110, 115, 116, 118, 124, 134, 135, 136, 137, 141, 142, 143, 154, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 175, 177, 180, 182, 183, 184, 185, 186, 192, 193, 194, 196, 197, 198, 200, 202, 203, 204, 205], "long": [2, 4, 9, 14, 22, 27, 73, 93, 94, 98, 109, 114, 115, 118, 123, 127, 131, 143, 165, 167, 175, 179, 183, 186, 190, 191, 197, 203], "qt": 2, "setup": [2, 27, 101, 154, 155, 156, 157, 160, 167, 172, 180, 183, 184, 185, 186, 187, 190, 192, 194, 198, 199, 200, 202, 203], "help": [2, 3, 4, 5, 8, 11, 16, 21, 23, 24, 27, 41, 97, 107, 110, 143, 158, 159, 162, 164, 165, 166, 167, 168, 170, 172, 174, 177, 179, 181, 182, 184, 185, 186, 187, 190, 193, 194, 198, 201, 204, 205], "udrf": 2, "need": [2, 4, 11, 13, 21, 22, 23, 24, 26, 27, 41, 44, 49, 52, 53, 58, 86, 91, 93, 94, 97, 98, 99, 100, 107, 109, 110, 115, 118, 142, 155, 156, 157, 159, 161, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204], "A": [2, 3, 6, 10, 13, 17, 18, 19, 22, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 67, 78, 79, 80, 84, 85, 86, 87, 89, 90, 91, 92, 94, 97, 100, 101, 103, 104, 106, 107, 108, 111, 114, 116, 118, 119, 122, 125, 128, 141, 143, 156, 157, 159, 161, 163, 164, 165, 166, 168, 171, 177, 179, 180, 182, 183, 184, 186, 187, 188, 189, 190, 192, 194, 195, 196, 197, 200, 201, 203, 205], "extrem": [2, 18, 90, 103, 107, 122, 164, 183], "benefici": [2, 27, 107, 122, 175, 192], "wai": [2, 9, 18, 21, 23, 24, 27, 86, 94, 104, 107, 118, 120, 142, 143, 153, 155, 164, 165, 166, 167, 180, 184, 186, 187, 188, 190, 192, 197, 199, 201, 203, 205], "minim": [2, 11, 107, 155, 160, 165, 166, 175, 179, 182, 186, 194], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 91, 92, 94, 95, 99, 101, 106, 107, 112, 117, 123, 127, 149, 150, 155, 156, 157, 159, 160, 161, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 194, 195, 196, 197, 199, 203, 204], "gui": [2, 157, 160, 182, 185, 189, 190, 197, 204], "tool": [2, 4, 15, 27, 154, 155, 156, 157, 159, 161, 163, 164, 175, 181, 183, 184, 185, 190, 192, 193, 197, 198, 203], "cover": [2, 27, 91, 124, 159, 164, 167, 179, 186, 187, 190, 192, 197, 198, 200, 202], "broad": [2, 7, 181, 186, 203], "stroke": [2, 181], "visual": [2, 90, 91, 94, 95, 99, 110, 156, 157, 161, 165, 167, 182, 186, 188, 193, 194, 197, 199, 200, 201, 202], "show": [2, 26, 125, 143, 157, 160, 165, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "what": [2, 6, 19, 27, 107, 128, 158, 159, 160, 165, 168, 178, 182, 183, 184, 185, 187, 188, 190, 196, 197, 203], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 94, 106, 107, 114, 118, 141, 142, 156, 157, 159, 160, 161, 164, 165, 167, 170, 171, 172, 175, 177, 180, 181, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 195, 197, 198, 199, 200, 201, 203, 204, 205], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 90, 91, 92, 107, 108, 111, 116, 119, 120, 121, 122, 123, 124, 125, 126, 127, 141, 142, 143, 156, 157, 164, 166, 168, 171, 172, 177, 180, 181, 183, 185, 188, 191, 192, 193, 195, 198, 200, 203, 204, 205], "layer": [2, 4, 7, 10, 11, 99, 119, 122, 124, 125, 141, 142, 144, 156, 161, 162, 164, 165, 172, 183, 186, 190, 197, 198, 201], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 82, 93, 94, 95, 161, 162, 163, 166, 170, 171, 175, 177, 188], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 84, 87, 89, 102, 156, 162, 163, 168, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 185, 186, 187, 188, 189, 191, 192, 193, 194, 196, 197, 198, 200, 202, 203, 204, 205], "urdf": [2, 27, 160, 180, 181, 184, 186, 194, 199], "footprint": [2, 55, 90, 91, 93, 99, 101, 107, 115, 122, 123, 126, 127, 142, 143, 147, 165, 166, 167, 168, 172, 177, 179, 181, 185, 202], "frame": [2, 27, 41, 56, 61, 65, 67, 77, 84, 90, 91, 92, 93, 94, 97, 99, 100, 101, 105, 106, 115, 118, 119, 122, 123, 125, 127, 131, 154, 162, 173, 174, 180, 182, 183, 184, 185, 189, 194, 197, 202, 203], "option": [2, 3, 6, 9, 42, 43, 90, 91, 92, 97, 100, 107, 142, 157, 164, 165, 166, 172, 183, 185, 188, 189, 190, 191, 192, 193, 194, 195, 201, 203, 204], "compli": [2, 179, 182, 197], "standard": [2, 6, 10, 92, 107, 159, 183, 184, 189, 197, 198, 200, 203, 204], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 78, 79, 80, 82, 83, 84, 85, 89, 91, 99, 101, 110, 114, 117, 125, 127, 129, 130, 131, 132, 133, 134, 135, 136, 137, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 161, 162, 163, 168, 170, 171, 172, 175, 176, 178, 180, 181, 182, 185, 187, 188, 190, 192, 193, 194, 195, 196, 199, 200, 201, 202, 203, 204, 206], "minimum": [2, 9, 27, 71, 89, 90, 91, 92, 93, 97, 99, 100, 101, 103, 106, 107, 110, 117, 120, 123, 127, 130, 134, 136, 142, 143, 148, 151, 164, 165, 166, 167, 168, 177, 179, 183, 184], "maximum": [2, 27, 45, 57, 61, 62, 89, 90, 91, 92, 93, 97, 98, 99, 100, 101, 103, 106, 107, 110, 111, 113, 117, 123, 125, 127, 130, 134, 136, 141, 142, 143, 164, 165, 166, 167, 173, 177, 183, 191, 194, 198, 200, 203], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 89, 91, 93, 97, 98, 99, 106, 107, 110, 117, 122, 130, 141, 142, 143, 155, 156, 164, 165, 167, 173, 175, 177, 179, 186, 194, 197, 202, 203, 206], "kinemat": [2, 101, 102, 107, 111, 113, 114, 161, 164, 167, 177, 179, 182, 185, 186, 197, 205], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100, 101, 103, 105, 106, 107, 110, 111, 112, 116, 117, 118, 123, 125, 126, 127, 141, 142, 143, 145, 148, 149, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 191, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "dropdown": 2, "possibl": [2, 14, 27, 93, 103, 107, 110, 156, 161, 164, 165, 166, 167, 173, 175, 179, 180, 186, 191, 192, 194, 197, 198, 200, 202], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 91, 92, 93, 97, 98, 99, 100, 101, 104, 105, 106, 109, 110, 115, 117, 118, 122, 125, 143, 159, 161, 165, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 196, 197, 198, 200, 201, 203, 204, 205], "throughout": [2, 66, 156, 162, 165, 185, 187, 194], "prompt": [2, 157, 190, 192], "aid": [2, 22], "appropri": [2, 18, 98, 107, 109, 117, 125, 159, 160, 165, 166, 167, 168, 175, 179, 182, 184, 185, 186, 192, 194, 202, 204], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 90, 91, 92, 97, 98, 101, 102, 103, 107, 110, 111, 117, 119, 122, 125, 141, 142, 143, 151, 155, 156, 157, 159, 161, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 95, 99, 107, 110, 143, 156, 157, 162, 163, 164, 165, 166, 167, 168, 171, 173, 174, 175, 179, 182, 183, 184, 186, 188, 189, 190, 192, 198, 199, 203, 204, 205], "after": [2, 10, 20, 21, 23, 24, 26, 27, 91, 92, 94, 101, 107, 110, 111, 112, 117, 126, 128, 135, 137, 140, 141, 142, 143, 159, 160, 164, 165, 167, 168, 172, 173, 174, 175, 180, 182, 183, 185, 186, 187, 189, 190, 191, 192, 193, 195, 197, 198, 200, 201, 202, 203, 204, 205], "item": [2, 11, 18, 26, 27, 178], "preview": 2, "how": [2, 7, 17, 26, 27, 82, 91, 92, 95, 97, 103, 107, 116, 123, 127, 131, 145, 146, 149, 150, 156, 158, 159, 162, 166, 168, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "effect": [2, 4, 91, 97, 124, 141, 156, 163, 165, 182, 186, 198], "high": [2, 3, 4, 5, 6, 8, 27, 91, 103, 107, 110, 113, 116, 117, 127, 141, 142, 143, 159, 161, 162, 164, 177, 179, 182, 186, 191, 194], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 84, 89, 90, 91, 92, 93, 94, 97, 99, 101, 103, 105, 106, 107, 112, 114, 115, 119, 122, 125, 134, 142, 143, 144, 145, 146, 147, 149, 150, 155, 156, 157, 159, 161, 162, 164, 165, 166, 168, 170, 171, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 191, 192, 194, 197, 198, 200, 201, 202, 204], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 90, 110, 114, 154, 156, 157, 161, 162, 163, 166, 168, 177, 179, 183, 185, 186, 190, 191, 198, 200, 201, 203, 204], "panel": [2, 114, 185, 204], "displai": [2, 90, 109, 142, 143, 164, 168, 180, 182, 183, 185, 186, 190, 191, 197, 200, 204], "python3": [2, 12, 13, 26, 161, 164, 165, 166], "json": [2, 156, 157], "pars": [2, 27, 100, 156], "3d": [2, 4, 9, 27, 107, 127, 160, 177, 182, 183, 185, 186, 196, 197, 201], "program": [2, 26, 27, 97, 114, 142, 143, 156, 161, 165, 190, 192, 193, 195], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 85, 91, 97, 99, 141, 142, 143, 158, 163, 164, 167, 180, 182, 183, 185, 188, 197, 198, 200], "number": [3, 11, 26, 27, 41, 45, 82, 90, 91, 92, 97, 98, 99, 100, 101, 107, 112, 113, 116, 120, 127, 129, 141, 142, 143, 162, 163, 164, 165, 166, 167, 168, 170, 171, 174, 177, 182, 183, 184, 185, 186, 189, 190, 191, 192, 200, 203, 204], "interfac": [3, 5, 13, 19, 27, 91, 94, 115, 156, 157, 161, 162, 163, 166, 170, 171, 172, 175, 177, 183, 188, 190, 196, 197, 201], "plan": [3, 10, 17, 18, 20, 21, 22, 27, 57, 84, 97, 100, 103, 107, 108, 110, 113, 114, 116, 123, 126, 127, 128, 131, 141, 142, 143, 159, 161, 162, 164, 165, 166, 167, 171, 173, 174, 175, 177, 178, 179, 180, 183, 184, 186, 188, 198, 201, 203], "two": [3, 18, 19, 27, 82, 90, 91, 97, 108, 114, 116, 141, 156, 164, 165, 166, 167, 170, 173, 174, 175, 179, 182, 183, 184, 185, 187, 190, 191, 193, 194, 197, 200, 201, 202, 203], "area": [3, 7, 27, 38, 39, 91, 99, 119, 122, 124, 125, 141, 142, 143, 159, 164, 165, 166, 167, 170, 172, 177, 183, 185, 186, 189, 190, 193, 198, 200], "algorithm": [3, 15, 17, 21, 23, 24, 27, 97, 101, 107, 110, 112, 113, 114, 141, 159, 161, 162, 164, 165, 166, 167, 172, 173, 177, 180, 183, 185, 186, 188, 191, 193, 194], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 75, 84, 86, 94, 95, 97, 98, 100, 101, 103, 106, 108, 109, 110, 111, 112, 113, 114, 115, 116, 128, 139, 141, 142, 143, 144, 149, 150, 154, 155, 156, 161, 163, 164, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 182, 183, 185, 186, 188, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 203, 204, 205], "refer": [3, 18, 27, 65, 67, 84, 91, 93, 94, 98, 99, 103, 110, 112, 114, 119, 122, 125, 155, 156, 157, 162, 163, 165, 166, 167, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 190, 191, 195, 197, 198, 200, 202, 203, 204], "trajectori": [3, 4, 10, 91, 96, 103, 117, 128, 131, 133, 144, 145, 146, 147, 149, 150, 151, 164, 166, 167, 174, 177, 179, 180, 186], "simpl": [3, 27, 28, 101, 112, 120, 142, 143, 157, 159, 162, 170, 171, 172, 174, 177, 179, 180, 184, 185, 186, 188, 192, 195, 197, 199, 203, 204, 205], "tutori": [3, 8, 15, 18, 90, 91, 94, 95, 164, 166, 167, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 190, 192, 193, 194, 202, 203, 204, 205], "found": [3, 8, 19, 22, 26, 27, 77, 91, 96, 107, 111, 114, 128, 141, 142, 143, 156, 157, 161, 162, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 182, 183, 185, 187, 193, 196, 197, 198, 199, 200, 201], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 84, 87, 89, 90, 91, 94, 100, 101, 107, 109, 110, 111, 117, 118, 119, 122, 124, 125, 143, 155, 159, 161, 163, 164, 165, 166, 167, 168, 170, 171, 173, 174, 175, 177, 182, 183, 184, 185, 186, 187, 190, 195, 197, 202, 203, 204, 205], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 81, 85, 91, 97, 104, 107, 112, 143, 156, 157, 163, 164, 165, 167, 168, 171, 172, 175, 179, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204, 205], "navfn": [3, 28, 107, 111, 112, 114, 162, 177, 179, 180, 186, 188, 205], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 73, 84, 85, 87, 89, 90, 91, 92, 93, 94, 97, 98, 99, 101, 103, 104, 106, 107, 109, 110, 114, 115, 117, 118, 119, 120, 122, 124, 125, 156, 160, 162, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 194, 195, 196, 197, 198, 199, 200, 202, 203, 204], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 82, 92, 93, 94, 98, 99, 100, 101, 103, 104, 106, 107, 108, 109, 110, 114, 115, 116, 117, 118, 123, 124, 126, 127, 141, 142, 143, 157, 159, 162, 164, 165, 166, 167, 170, 173, 174, 175, 177, 179, 180, 182, 183, 186, 187, 188, 199, 201, 203, 204], "dijkstra": [3, 108, 165, 177, 179], "teb": 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198, 199, 200, 201, 202, 203, 204, 205], "qualiti": [3, 8, 25, 27, 97, 107, 113, 114, 142, 143, 159, 161, 165, 167, 182, 194, 197, 203], "altern": [3, 22, 27, 61, 156, 157, 164, 167, 180, 182, 192], "consid": [3, 14, 18, 29, 30, 46, 55, 59, 73, 90, 91, 92, 94, 95, 99, 107, 137, 142, 143, 152, 159, 163, 164, 166, 167, 170, 171, 173, 174, 175, 177, 179, 181, 186, 187, 190, 194, 197, 198, 202, 203], "approv": [3, 159], "phase": [3, 6, 143], "discuss": [3, 6, 19, 27, 94, 159, 163, 164, 165, 173, 174, 179, 180, 181, 182, 183, 184, 185, 187, 190, 197, 203, 205], "d": [3, 20, 105, 124, 159, 167, 168, 175, 180, 182, 185, 190, 192, 193, 194, 196, 199, 203, 204, 205], "variant": [3, 6, 27, 107, 110, 164, 177, 179, 190], "vornoi": 3, "graph": [3, 10, 116, 143, 166, 178, 193], "rout": [3, 10, 26, 27, 41, 100, 107, 142, 175, 178, 186, 187], "state": [3, 15, 19, 21, 23, 24, 26, 66, 91, 97, 98, 99, 101, 102, 103, 104, 107, 110, 111, 114, 117, 119, 135, 137, 141, 160, 161, 163, 164, 165, 168, 170, 171, 173, 174, 175, 177, 179, 180, 182, 183, 184, 186, 187, 197, 199, 200, 203, 204, 205], "lattic": [3, 111, 114, 141, 142, 161, 165, 166, 177, 178, 179, 186, 205], "kinodynam": 3, "method": [3, 4, 6, 17, 21, 23, 24, 26, 27, 100, 101, 104, 107, 123, 127, 145, 146, 149, 150, 159, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 192, 193, 203, 204], "given": [3, 6, 22, 26, 27, 30, 33, 34, 46, 57, 59, 91, 93, 100, 107, 112, 113, 119, 163, 164, 165, 166, 167, 171, 172, 173, 174, 177, 179, 182, 186, 188, 190, 193, 197, 203, 204], "static": [3, 27, 90, 91, 92, 99, 123, 127, 142, 143, 159, 161, 165, 171, 177, 180, 183, 186, 187, 191, 197, 201, 202, 203], "cilqr": 3, "ilqr": 3, "mpc": [3, 107, 166, 177, 179], "spline": 3, "addit": [3, 11, 19, 21, 22, 23, 24, 27, 41, 90, 91, 94, 96, 142, 155, 156, 164, 165, 166, 171, 175, 179, 182, 183, 185, 186, 192, 193, 194, 197, 202], "complet": [3, 4, 5, 12, 17, 18, 19, 22, 26, 27, 34, 57, 91, 100, 101, 103, 107, 110, 111, 135, 137, 142, 143, 152, 156, 159, 160, 161, 162, 163, 164, 165, 166, 167, 170, 171, 175, 177, 178, 179, 180, 182, 183, 185, 187, 188, 189, 190, 193, 194, 196, 197, 199, 201, 203, 204, 205], "50": [3, 91, 101, 107, 119, 165, 183, 192, 197, 200, 203], "greater": [3, 103, 107, 116, 156, 173, 187], "coverag": [3, 4, 6, 12, 17, 27, 28, 34, 41, 161, 167, 175, 177, 178, 186, 187], "motion": [3, 4, 27, 92, 97, 101, 103, 142, 143, 151, 152, 164, 177, 179, 182, 184, 194, 197, 202, 204], "pluginlib": [3, 27, 162, 170, 172, 173, 174, 175, 188, 190, 201], "robust": [4, 6, 27, 204], "wide": [4, 18, 27, 142, 167, 170, 186, 194], "rang": [4, 7, 71, 90, 91, 92, 99, 110, 123, 125, 127, 156, 163, 164, 167, 168, 172, 177, 178, 185, 186, 187, 191, 192, 194, 198, 200, 202, 203], "environ": [4, 5, 9, 10, 12, 27, 101, 103, 114, 154, 155, 156, 157, 159, 160, 161, 179, 180, 182, 183, 184, 186, 190, 194, 197, 198, 201, 202, 203], "been": [4, 6, 14, 18, 19, 21, 23, 24, 27, 56, 65, 90, 93, 94, 96, 98, 107, 109, 114, 115, 116, 118, 141, 142, 143, 156, 159, 163, 164, 165, 166, 167, 168, 172, 173, 174, 177, 180, 183, 184, 185, 186, 190, 193, 197, 201, 202, 203], "oper": [4, 5, 21, 23, 24, 27, 91, 97, 100, 107, 110, 117, 119, 157, 160, 161, 164, 165, 166, 167, 170, 172, 173, 174, 175, 179, 182, 183, 184, 186, 187, 189, 190, 194, 197, 202, 204], "presenc": [4, 107, 168, 186, 198], "explicitli": [4, 26, 157, 198], "model": [4, 27, 28, 90, 91, 92, 97, 101, 114, 123, 127, 142, 156, 160, 161, 163, 164, 177, 179, 182, 183, 185, 186, 196, 197, 201, 202], "characterist": [4, 12, 113, 182], "howev": [4, 6, 9, 14, 20, 21, 23, 24, 27, 90, 91, 94, 107, 112, 142, 156, 163, 164, 165, 168, 170, 175, 180, 182, 185, 186, 188, 190, 192, 194, 197, 198, 200, 201, 202, 203, 205], "field": [4, 26, 41, 45, 67, 90, 91, 92, 98, 100, 125, 141, 163, 164, 165, 166, 167, 170, 172, 174, 175, 182, 183, 185, 187, 189, 190, 192, 194, 197, 198, 200, 201, 203], "progress": [4, 74, 98, 107, 110, 134, 136, 156, 159, 166, 178, 186, 205], "deploi": [4, 107, 161, 167, 179, 190], "fill": [4, 159, 163, 171, 189, 198, 200, 204], "consider": [4, 107, 186, 190], "must": [4, 14, 19, 26, 27, 65, 73, 92, 99, 100, 103, 106, 110, 113, 117, 120, 123, 127, 134, 136, 142, 143, 144, 155, 159, 163, 165, 166, 167, 170, 171, 173, 174, 175, 177, 179, 182, 183, 184, 187, 188, 189, 190, 193, 196, 199, 201, 202, 203, 204], "taken": [4, 67, 82, 90, 91, 97, 107, 125, 139, 164, 172, 175, 198, 200], "respect": [4, 27, 111, 122, 164, 165, 171, 178, 179, 182, 183, 185, 186, 197, 201, 205], "peopl": [4, 9, 21, 23, 24, 91, 181], "cart": 4, "anim": [4, 191], "exist": [4, 8, 11, 12, 27, 41, 90, 91, 101, 106, 107, 120, 141, 154, 156, 159, 163, 164, 165, 167, 168, 173, 175, 186, 190, 193, 194, 195, 197, 203, 204], "machin": [4, 27, 156, 157, 182, 183, 184, 187, 190, 204], "learn": [4, 7, 11, 18, 27, 95, 157, 161, 170, 171, 174, 183, 184, 185, 190], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 17, 26, 27, 90, 91, 94, 98, 99, 100, 105, 117, 119, 156, 157, 159, 164, 166, 167, 168, 170, 175, 179, 181, 182, 184, 186, 190, 194, 197, 199, 204], "tie": 4, "them": [4, 7, 21, 26, 27, 90, 98, 100, 107, 118, 122, 123, 127, 143, 156, 157, 159, 161, 162, 164, 165, 166, 167, 170, 171, 172, 173, 174, 180, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204, 205], "scope": [4, 156, 167, 182, 183, 194, 195, 202], "retrain": 4, "otherwis": [4, 19, 64, 67, 70, 71, 72, 73, 74, 75, 78, 79, 80, 92, 107, 112, 124, 142, 143, 164, 165, 167, 177, 182, 186, 187, 190, 200], "becom": [4, 11, 17, 18, 27, 99, 104, 107, 116, 162, 165, 167, 182, 184, 185, 194], "expert": [4, 14], "some": [4, 7, 11, 13, 17, 18, 19, 21, 26, 27, 44, 49, 50, 51, 52, 53, 58, 90, 93, 94, 98, 107, 109, 112, 114, 115, 117, 118, 122, 142, 156, 159, 160, 162, 164, 165, 167, 168, 171, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 190, 191, 192, 194, 195, 197, 198, 202, 203, 204], "basic": [4, 5, 17, 18, 26, 27, 143, 162, 164, 165, 172, 175, 179, 180, 181, 182, 183, 184, 190, 192, 194, 201], "knowledg": [4, 7, 11, 159, 192, 201], "alreadi": [4, 7, 107, 163, 164, 165, 170, 180, 182, 185, 186, 190, 192, 194, 197, 203], "start": [4, 5, 12, 19, 20, 21, 23, 24, 26, 27, 42, 43, 61, 90, 91, 97, 101, 103, 107, 110, 111, 127, 142, 158, 159, 161, 163, 164, 165, 167, 170, 172, 173, 174, 175, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 201, 202, 203, 204, 205], "point": [4, 9, 10, 14, 17, 18, 19, 21, 22, 23, 24, 26, 27, 55, 56, 90, 91, 97, 99, 100, 103, 107, 108, 110, 111, 112, 113, 116, 118, 119, 122, 128, 141, 142, 143, 145, 147, 149, 159, 161, 163, 164, 165, 166, 168, 172, 173, 174, 175, 177, 180, 182, 183, 184, 185, 186, 187, 189, 190, 192, 194, 196, 197, 201, 202, 203, 204, 205], "driven": [4, 186], "includ": [4, 6, 7, 10, 13, 14, 18, 26, 27, 82, 94, 95, 114, 119, 133, 155, 156, 157, 158, 159, 161, 162, 163, 164, 168, 170, 171, 172, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 190, 192, 193, 195, 198, 199, 200, 201, 202, 203, 205], "go": [4, 14, 18, 22, 26, 27, 86, 91, 104, 107, 116, 123, 127, 159, 160, 161, 164, 165, 167, 171, 173, 180, 182, 183, 184, 186, 187, 188, 190, 192, 194, 195, 197, 198, 200, 202, 203], "yolact": 4, "edg": [4, 100, 107, 167, 184, 198], "replac": [4, 5, 10, 11, 94, 97, 105, 160, 162, 165, 166, 167, 168, 170, 172, 174, 175, 186, 188, 190, 191, 194, 197, 199, 201, 202, 203], "detectron2": 4, "benchmark": [4, 7, 11], "capabl": [4, 7, 10, 15, 26, 156, 157, 161, 164, 167, 168, 178, 183, 194, 195, 197, 205], "gpu": [4, 156, 203], "verifi": [4, 27, 147, 157, 182, 183, 185, 197], "suffici": [4, 18, 27, 107, 143, 152, 175, 191, 193, 194], "tangent": [4, 189, 197], "involv": [4, 5, 6, 11, 18, 20, 107, 110, 158, 164, 166, 167, 168, 180, 187, 190, 194], "identifi": [4, 7, 11, 13, 156, 164, 172, 179, 193], "few": [4, 11, 14, 19, 26, 86, 97, 100, 155, 156, 167, 179, 183, 186, 190, 192, 203], "produc": [4, 27, 90, 91, 93, 94, 98, 103, 107, 109, 115, 118, 165, 166, 167, 170, 174, 179, 183, 186, 194, 197, 202], "about": [4, 7, 9, 11, 21, 22, 23, 24, 27, 90, 119, 122, 125, 154, 155, 156, 157, 159, 161, 164, 166, 167, 170, 171, 172, 174, 175, 182, 183, 184, 185, 186, 190, 191, 192, 193, 194, 196, 197, 200, 203, 204], "power": [4, 18, 97, 107, 157, 161, 165, 186, 190], "intel": [4, 14, 107, 165], "cpu": [4, 7, 91, 156, 165, 186, 187, 194], "nvidia": [4, 101, 167, 190, 194, 203], "jetson": [4, 190, 194, 203], "soc": 4, "extern": [4, 21, 23, 24, 26, 90, 98, 101, 104, 138, 155, 156, 162, 163, 166, 167, 187, 190, 194, 206], "next": [4, 5, 18, 19, 21, 22, 23, 24, 27, 41, 107, 117, 118, 138, 140, 156, 160, 162, 163, 170, 172, 173, 174, 175, 177, 179, 180, 182, 183, 184, 185, 190, 191, 200, 204], "mark": [4, 27, 97, 99, 123, 124, 127, 147, 166, 175, 183, 186, 191, 198, 200, 201, 204], "ensur": [4, 9, 11, 13, 20, 21, 23, 24, 27, 91, 98, 104, 107, 110, 117, 156, 157, 159, 162, 164, 165, 166, 167, 179, 180, 184, 185, 186, 187, 190, 193, 201], "doe": [4, 9, 19, 21, 22, 23, 24, 90, 91, 96, 101, 107, 122, 124, 142, 143, 155, 156, 164, 165, 166, 167, 170, 173, 174, 175, 180, 182, 186, 187, 188, 190, 197, 198, 200, 203, 204], "collid": [4, 9, 180], "permit": [4, 159, 198], "direct": [4, 61, 91, 97, 107, 110, 114, 117, 129, 142, 143, 148, 155, 156, 164, 167, 178, 179, 184, 189, 196, 197, 202], "collabor": [4, 14, 159], "member": [4, 159, 170, 173, 174, 175], "detect": [4, 27, 57, 61, 90, 91, 96, 97, 101, 110, 156, 167, 180, 182, 183, 186, 189, 195, 203], "real": [4, 9, 12, 27, 91, 98, 117, 159, 182, 183, 184, 185, 189, 190, 195, 197], "live": [4, 27, 157, 164, 170, 184, 186, 190, 196, 199, 204], "demonstr": [4, 10, 26, 91, 155, 165, 167, 168, 172, 197, 201, 202, 203], "85": [4, 12], "higher": [4, 6, 9, 12, 18, 27, 91, 97, 98, 99, 100, 101, 103, 105, 107, 117, 119, 142, 143, 161, 164, 165, 166, 167, 168, 175, 186, 187, 195, 198, 200, 203, 204], "python": [4, 10, 143, 161, 164, 167, 182, 197, 198, 200, 203], "geometri": [4, 5, 9, 91, 182, 183, 185, 190], "statist": [4, 9, 193], "relat": [4, 11, 13, 14, 25, 27, 91, 96, 119, 120, 122, 125, 155, 156, 164, 165, 167, 181, 184, 185, 197], "wa": [5, 11, 18, 19, 21, 23, 26, 27, 45, 57, 62, 90, 91, 93, 94, 98, 107, 108, 109, 110, 115, 116, 118, 139, 141, 142, 143, 156, 159, 162, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 183, 185, 186, 187, 191, 192, 193, 197, 198, 200, 202, 203, 204, 205], "eth": 5, "zurich": 5, "later": [5, 107, 142, 143, 156, 157, 159, 165, 170, 171, 172, 173, 174, 175, 183, 190, 193, 201, 203, 204], "transfer": 5, "anybot": 5, "univers": [5, 184], "librari": [5, 6, 7, 10, 15, 26, 27, 41, 94, 100, 162, 163, 165, 170, 172, 173, 174, 175, 183, 184, 188, 190, 192, 201, 204], "basi": [5, 107, 186, 190], "variou": [5, 27, 93, 107, 115, 155, 156, 165, 166, 177, 178, 182, 184, 185, 190], "form": [5, 41, 91, 116, 167, 172, 183, 184, 190], "avail": [5, 9, 26, 27, 77, 90, 91, 99, 100, 107, 110, 116, 154, 155, 157, 159, 162, 164, 165, 172, 177, 179, 182, 183, 186, 187, 188, 189, 190, 192, 195, 197, 201, 203], "top": [5, 7, 11, 18, 99, 170, 172, 173, 174, 175, 184, 188, 189, 191, 193, 198, 200, 204], "download": [5, 156, 189, 190], "packag": [5, 8, 17, 26, 27, 90, 91, 94, 95, 96, 99, 101, 103, 107, 110, 111, 114, 117, 143, 154, 155, 156, 159, 160, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 200, 202, 203, 205], "grid_map": 5, "metapackag": [5, 167], "costmap_2d": [5, 167, 172, 183], "code": [5, 6, 15, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 64, 78, 79, 80, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117, 118, 141, 156, 157, 159, 162, 163, 165, 168, 170, 171, 172, 173, 174, 175, 177, 180, 182, 183, 185, 188, 190, 191, 192, 197, 201, 203, 205], "analyz": [5, 6, 7, 10, 26, 27, 171, 193], "abstract": [5, 11, 27, 165, 166, 203, 204], "allow": [5, 6, 8, 9, 10, 17, 18, 19, 21, 22, 23, 24, 27, 86, 91, 92, 93, 94, 99, 100, 103, 107, 108, 110, 116, 125, 141, 142, 143, 144, 147, 152, 156, 157, 159, 161, 163, 164, 165, 168, 170, 172, 173, 174, 179, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 194, 195, 197, 198, 200, 202, 203], "expect": [5, 11, 26, 92, 107, 109, 123, 127, 159, 161, 163, 164, 167, 175, 182, 187, 188, 190, 197, 203], "full": [5, 7, 12, 19, 27, 92, 99, 107, 122, 128, 142, 154, 159, 163, 164, 165, 178, 179, 180, 181, 182, 184, 185, 186, 190, 191, 194, 195, 197, 198, 200, 202, 203, 204, 205], "process": [5, 7, 8, 11, 22, 26, 27, 28, 57, 92, 94, 98, 99, 107, 109, 110, 112, 124, 142, 143, 155, 156, 158, 160, 163, 164, 166, 167, 170, 171, 175, 177, 181, 185, 186, 187, 190, 191, 192, 193, 194, 197, 201, 202, 203, 204, 205], "over": [5, 6, 8, 11, 14, 18, 20, 26, 27, 55, 56, 89, 91, 99, 107, 144, 159, 161, 164, 165, 166, 167, 175, 179, 180, 182, 183, 186, 187, 189, 190, 194, 197, 198, 201, 202, 205], "cours": [5, 11, 156, 185, 194], "summer": [5, 11], 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201], "pick": [5, 26, 27, 99, 118, 180, 196, 197], "befor": [5, 11, 18, 21, 22, 23, 24, 25, 27, 44, 49, 52, 53, 58, 65, 82, 84, 86, 91, 92, 98, 100, 103, 106, 107, 113, 122, 123, 127, 138, 141, 142, 143, 151, 156, 157, 162, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 182, 183, 185, 186, 187, 188, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 203, 204, 205], "coordin": [5, 26, 27, 41, 92, 99, 100, 118, 165, 182, 184, 185, 194, 195, 197], "transform": [5, 15, 27, 77, 90, 91, 92, 93, 94, 99, 101, 103, 107, 110, 115, 119, 122, 125, 128, 154, 160, 161, 163, 164, 165, 173, 177, 180, 181, 182, 183, 185, 186, 194, 198, 199], "amcl": [6, 7, 26, 27, 28, 54, 69, 160, 163, 177, 183, 184, 186, 194, 197], "engin": [6, 155, 157, 162, 193, 194], "last": [6, 14, 19, 21, 23, 48, 60, 61, 91, 92, 97, 100, 107, 108, 114, 116, 117, 133, 141, 142, 143, 145, 146, 149, 150, 156, 165, 167, 175, 179, 180, 182, 184, 185, 187, 194, 198, 200, 202], "10": [6, 11, 14, 24, 26, 27, 29, 30, 31, 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110, 117, 141, 142, 143, 156, 157, 159, 160, 161, 162, 163, 165, 166, 167, 168, 170, 172, 175, 183, 185, 186, 187, 190, 192, 193, 194, 197, 198, 200, 201, 202, 203, 205], "dd": [11, 156], "particip": [11, 159], "network": [11, 27, 156, 162, 165, 171, 190, 203], "import": [11, 17, 26, 27, 41, 97, 107, 114, 117, 156, 159, 175, 178, 180, 183, 184, 185, 186, 187, 191, 192, 193, 197, 198, 200, 203, 204, 205], "overhead": [11, 186, 203], "each": [11, 18, 21, 23, 24, 25, 26, 27, 66, 90, 91, 92, 93, 94, 98, 99, 107, 109, 111, 115, 117, 140, 157, 159, 161, 162, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 179, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 197, 198, 200, 202, 203, 204], "usag": [11, 26, 119, 156, 167, 168, 184, 185, 187, 190, 197, 202], "executor": [11, 26, 27, 118, 164, 166], "further": [11, 19, 22, 107, 113, 142, 143, 156, 159, 165, 167, 184, 192, 194], "dai": [11, 91, 190], "when": [11, 18, 19, 20, 21, 23, 27, 41, 61, 65, 69, 71, 76, 84, 86, 87, 89, 90, 91, 92, 93, 98, 99, 100, 101, 103, 104, 107, 109, 110, 111, 116, 117, 118, 119, 122, 125, 139, 142, 143, 148, 152, 154, 156, 157, 159, 161, 163, 164, 165, 170, 171, 172, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 197, 198, 200, 202, 203, 204, 205], "built": [11, 156, 159, 172, 180, 181, 182, 183, 185, 186, 189, 190, 191, 192, 197, 198, 199, 200, 201, 202, 203, 205], "were": [11, 14, 18, 27, 93, 162, 163, 164, 165, 166, 167, 168, 184, 185, 186, 187, 190, 198, 200, 202], "mani": [11, 17, 18, 21, 23, 24, 27, 82, 91, 92, 101, 161, 162, 163, 167, 172, 177, 183, 184, 186, 188, 190, 192, 193, 194, 195, 198, 200, 203, 204, 205], "handl": [11, 18, 22, 26, 27, 91, 93, 94, 98, 100, 101, 104, 106, 109, 115, 118, 156, 164, 165, 166, 170, 171, 172, 173, 174, 175, 183, 185, 186, 187, 192, 203], "action": [11, 18, 26, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 63, 82, 84, 85, 86, 87, 90, 91, 93, 94, 98, 99, 100, 101, 107, 109, 115, 118, 160, 161, 162, 166, 170, 171, 175, 177, 179, 180, 182, 183, 184, 185, 186, 187, 188, 190, 195, 196, 197, 198, 200, 202, 204], "request": [11, 14, 18, 20, 26, 27, 93, 94, 98, 100, 105, 106, 107, 108, 109, 111, 115, 141, 142, 143, 156, 157, 159, 163, 164, 165, 166, 167, 168, 170, 171, 173, 175, 177, 186, 187, 188, 192, 199, 200, 203, 204, 205], "callback": [11, 13, 27, 164, 175], "now": [11, 18, 19, 21, 22, 91, 160, 162, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 188, 190, 192, 193, 194, 195, 196, 197, 201, 203, 204], "spinner": 11, "group": [11, 13, 14, 27, 87, 120, 159, 166, 177, 191], "individu": [11, 27, 90, 91, 96, 114, 159, 162, 165, 166, 186, 190, 199, 203], "f": [11, 110, 156, 161, 199], "bt": [11, 17, 18, 19, 20, 21, 22, 23, 24, 27, 56, 73, 83, 94, 97, 101, 160, 161, 163, 175, 177, 187, 195, 203, 204, 206], "spin": [11, 18, 19, 21, 22, 23, 24, 25, 26, 27, 36, 95, 153, 163, 164, 165, 166, 167, 170, 171, 177, 190], "messag": [11, 26, 27, 29, 30, 41, 42, 43, 44, 45, 46, 49, 52, 53, 58, 59, 62, 90, 91, 92, 93, 96, 98, 99, 101, 109, 123, 125, 127, 156, 159, 164, 166, 167, 168, 170, 171, 173, 175, 182, 187, 194, 197, 198, 200, 202, 203], "trigger": [11, 18, 19, 21, 23, 24, 27, 54, 84, 86, 88, 90, 91, 101, 103, 107, 110, 111, 119, 156, 163, 164, 165, 166, 177, 187, 188, 190, 202, 203, 205], "own": [11, 17, 27, 91, 92, 114, 156, 159, 162, 163, 164, 168, 170, 171, 172, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 187, 190, 193, 194, 197, 198, 199, 200, 202, 203], "suppli": [11, 27, 84, 87, 89, 94], "context": [11, 13, 18, 19, 21, 22, 23, 24, 95, 155, 171, 177, 190, 204], "trust": [11, 157, 161, 194, 197], "me": [11, 159, 167], "sai": [11, 18, 19, 27, 159, 192], "achiev": [11, 97, 107, 110, 114, 117, 118, 164, 165, 166, 167, 185, 186, 194, 197], "goal": [11, 17, 18, 19, 20, 21, 23, 24, 26, 27, 33, 34, 42, 43, 47, 48, 50, 51, 55, 56, 60, 66, 67, 68, 74, 85, 86, 89, 93, 94, 95, 97, 98, 100, 101, 103, 108, 109, 110, 111, 115, 116, 118, 128, 134, 135, 136, 137, 141, 142, 143, 145, 146, 152, 153, 160, 162, 163, 170, 171, 173, 174, 175, 182, 185, 186, 187, 188, 195, 197, 199, 200, 202, 203, 205], "let": [11, 18, 19, 27, 100, 138, 140, 154, 157, 164, 165, 170, 171, 174, 182, 183, 184, 185, 186, 190, 194, 195, 197, 200, 202], "hood": [11, 165], "rclcpp": [11, 100, 172, 173, 174, 175], "give": [11, 91, 98, 107, 117, 159, 160, 161, 163, 167, 170, 171, 178, 179, 182, 183, 184, 185, 186, 187, 190, 192, 200, 203, 205], "insight": [11, 165, 178, 186], "career": 11, "put": [11, 97, 165, 172, 177, 185, 187, 190, 197, 202], "know": [11, 14, 27, 100, 110, 114, 154, 159, 163, 164, 171, 172, 177, 184, 185, 190, 194, 197, 200, 203, 204], "degre": [11, 25, 90, 91, 142, 164, 167, 197], "remov": [11, 20, 21, 55, 56, 60, 61, 100, 106, 112, 120, 123, 127, 142, 143, 156, 162, 163, 177, 182, 183, 186, 188, 191, 192, 193, 194, 197, 201, 202, 204, 205], "excess": 11, "determinist": [11, 27, 104, 112, 187], "compos": [11, 165, 172, 186, 187, 190, 192, 193, 198, 203], "had": [12, 14, 165, 166, 167, 183, 197], "focu": [12, 18, 26, 185, 202, 204], "ci": [12, 14, 155, 156, 157, 159, 178], "entir": [12, 19, 21, 23, 24, 91, 155, 156, 159, 177, 179, 186, 194, 202], "increas": [12, 27, 97, 101, 103, 107, 116, 121, 142, 165, 166, 184, 186, 187, 189, 190], "90": [12, 25, 91, 98, 110, 117, 178, 197], "realist": [12, 203], "activ": [12, 26, 27, 64, 78, 79, 80, 91, 93, 94, 98, 100, 104, 109, 115, 118, 154, 159, 160, 163, 164, 165, 166, 170, 173, 174, 175, 182, 183, 186, 187, 197, 203], "block": [12, 13, 26, 27, 91, 154, 165, 172, 174, 182, 185, 186, 201, 205], "worst": 12, "condit": [12, 18, 21, 23, 24, 27, 29, 30, 46, 59, 72, 74, 77, 113, 156, 165, 166, 168, 171, 177, 182, 185, 194, 197, 198, 204, 205], "line": [12, 26, 112, 116, 141, 163, 166, 170, 172, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 188, 190, 192, 193, 197, 202], "report": [12, 92, 107, 159, 164, 166, 171, 183], "codecov": 12, "advantag": [12, 27, 166, 205], "fault": [12, 26, 27], "un": [12, 18], "gtest": 12, "repo": [12, 27, 116, 155, 157, 195, 197, 201], "compris": [13, 161, 185], "smaller": [13, 18, 27, 103, 110, 120, 142, 143, 165, 194, 198, 200], "easili": [13, 18, 27, 94, 156, 163, 164, 165, 167, 186, 193, 202, 203], "subproject": 13, "place": [13, 26, 27, 59, 99, 103, 110, 111, 121, 123, 126, 127, 141, 143, 159, 164, 165, 166, 167, 170, 172, 173, 174, 175, 177, 179, 185, 188, 189, 191, 198, 200, 202, 205], "cmd_vel": [13, 90, 91, 105, 167, 168, 173, 182, 193, 202], "thing": [13, 27, 157, 165, 166, 172, 173, 174, 182, 185, 186, 190, 192, 193, 200], "yuk": 13, "previous": [13, 164, 165, 166, 167, 173, 175, 183, 190, 192, 193, 197, 202], "shown": [13, 18, 26, 107, 159, 160, 164, 171, 175, 179, 180, 182, 183, 187, 188, 195, 197, 200, 202, 203, 204], "onc": [13, 18, 19, 22, 77, 88, 91, 92, 100, 101, 104, 107, 111, 141, 142, 143, 155, 156, 157, 159, 160, 163, 164, 165, 167, 175, 183, 184, 185, 190, 192, 193, 196, 197, 202, 203, 205], "ve": [13, 26, 154, 159, 160, 171, 184, 187, 203, 205], "submit": [13, 159, 177], "pr": [13, 93, 94, 98, 109, 115, 118, 159, 163, 164, 165, 166, 167, 168], "instead": [13, 18, 21, 23, 24, 85, 90, 92, 93, 94, 101, 107, 108, 109, 113, 116, 128, 133, 141, 142, 143, 155, 156, 162, 163, 164, 165, 166, 167, 168, 170, 172, 173, 174, 175, 179, 182, 183, 184, 186, 187, 188, 190, 192, 194, 195, 196, 197, 198, 202, 203], "b": [13, 159, 161, 172, 189, 195, 199, 200, 201], "reconfigur": [13, 17, 164, 165, 179, 187, 197], "meantim": 13, "wait": [13, 18, 19, 21, 22, 23, 24, 26, 27, 37, 55, 92, 93, 94, 95, 99, 101, 118, 138, 140, 157, 160, 162, 165, 167, 170, 171, 177, 183, 187, 190, 203], "done": [13, 18, 19, 27, 91, 156, 162, 163, 164, 172, 173, 174, 175, 178, 179, 183, 192, 193, 194, 203, 204], "via": [13, 19, 20, 21, 23, 24, 27, 41, 44, 49, 52, 53, 69, 90, 91, 92, 96, 114, 155, 156, 157, 159, 161, 165, 166, 167, 170, 175, 177, 184, 186, 187, 188, 193, 196, 199, 201, 203, 204], "remain": [13, 18, 19, 20, 27, 73, 97, 107, 131, 156, 157, 162, 163, 164, 165, 167, 170, 171, 172, 173, 174, 190, 191, 205], "miss": [13, 91, 98, 117, 155, 164, 167, 185, 186, 190, 193, 204], "lock": [13, 173, 175], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 86, 89, 92, 94, 124, 154, 155, 156, 160, 167, 170, 171, 173, 174, 183, 188, 190, 198, 200, 201, 204], "lower": [14, 18, 71, 91, 93, 107, 119, 142, 165, 166, 183, 186, 187], "barrier": 14, "entri": [14, 182, 188, 192, 193, 202, 203], "flagship": 14, "along": [14, 26, 27, 61, 72, 89, 103, 107, 110, 111, 119, 122, 125, 142, 143, 147, 163, 164, 165, 166, 177, 179, 183, 185, 187, 188, 192, 194, 197, 198, 200, 203], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 82, 107, 164, 165, 166, 167, 170, 171, 177, 185, 191, 197, 203, 205], "nav": [14, 26, 100, 164, 165], "educ": 14, "industri": [14, 27, 91, 110, 164, 177, 179, 198], "thank": [14, 101, 167, 203], "david": [14, 102, 177], "lu": [14, 102, 161, 177], "mike": 14, "ferguson": [14, 161], "tireless": 14, "span": [14, 161, 197, 202], "keep": [14, 18, 27, 91, 100, 107, 156, 163, 164, 167, 168, 171, 173, 174, 177, 182, 184, 185, 190, 197, 198, 204], "aliv": 14, "happen": [14, 18, 159, 173, 190], "asla": 14, "move": [14, 18, 22, 27, 86, 90, 91, 103, 107, 119, 134, 136, 138, 142, 143, 148, 151, 161, 162, 163, 164, 165, 166, 168, 174, 177, 178, 184, 185, 186, 189, 190, 194, 195, 196, 197, 198, 199, 202, 203], "rememb": [14, 110, 154, 156, 184, 185, 197], "fondli": 14, "ish": 14, "With": [14, 17, 27, 142, 184, 190, 197, 201], "redesign": 14, "flexibl": [14, 94, 107, 170], "feedback": [14, 26, 27, 94, 103, 117, 159, 165, 168, 175, 203], "gather": [14, 27], "strive": [14, 159], "alik": 14, "pull": [14, 155, 156, 157, 159, 160, 163, 164, 165, 168, 177, 186, 190, 192, 204], "kept": [14, 120], "dedic": [14, 110], "past": [14, 180, 182, 183, 185, 190, 197, 201], "contributor": [14, 159], "organ": [14, 155, 156, 173, 174, 190, 204], "sponsor": [14, 101, 167, 203], "lead": [14, 107, 139, 159, 164, 165, 200], "leadership": 14, "team": [14, 157, 195], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 90, 91, 95, 100, 101, 108, 116, 141, 142, 143, 156, 157, 168, 171, 173, 174, 175, 177, 182, 190, 192, 195, 202, 203, 204], "role": [14, 27, 171, 175, 179, 180, 192], "ruffin": [14, 156, 161], "white": [14, 156, 161, 191, 198], "uc": 14, "san": [14, 194], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 177], "wallac": [14, 161, 177], "locu": 14, "joshuawallac": 14, "former": [14, 90, 91], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 177], "wilcox": [14, 177], "bpwilcox": 14, "carl": [14, 177], "delsei": [14, 177], "crdelsei": 14, "alexei": [14, 161, 177], "merzlyakov": [14, 161, 177], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 161], "org": [14, 15, 159, 161, 163, 185, 186], "intention": [14, 97, 198], "find": [14, 27, 61, 93, 94, 98, 100, 103, 107, 109, 110, 115, 117, 118, 142, 143, 156, 157, 159, 160, 163, 164, 166, 167, 168, 173, 175, 179, 185, 186, 188, 190, 191, 192, 193, 195, 196, 203], "inquiri": 14, "bug": [14, 159, 178, 197], "privat": 14, "connect": [14, 19, 27, 100, 104, 108, 116, 120, 141, 156, 157, 163, 164, 165, 177, 179, 182, 183, 184, 185, 191, 197, 204], "independ": [14, 27, 93, 125, 161, 164, 166, 171, 183, 194, 202, 203], "consult": 14, "contractor": 14, "offici": [15, 155, 160, 180, 182, 183, 184, 185, 190], "websit": [15, 18, 167], "navigation2_tutori": [15, 167, 172, 180, 182, 185, 198, 200], "navigation2_dynam": 15, "robot_loc": [15, 27, 118, 182, 184, 194, 197], "tom": 15, "moor": [15, 161], "estim": [15, 91, 92, 112, 117, 160, 162, 164, 172, 173, 174, 175, 182, 183, 184, 196, 197], "odometri": [15, 17, 73, 90, 91, 92, 94, 98, 101, 105, 117, 131, 168, 175, 181, 183, 184, 206], "fusion": [15, 27, 182, 184, 194, 197], "gp": [15, 27, 41, 100, 118, 177, 178, 182, 183, 194, 206], "slam_toolbox": [15, 155, 192, 199], "default": [15, 17, 18, 19, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 71, 73, 76, 77, 78, 79, 80, 82, 84, 85, 86, 87, 89, 90, 91, 92, 94, 97, 100, 101, 102, 103, 104, 105, 106, 107, 108, 110, 111, 112, 113, 115, 116, 117, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 155, 156, 157, 160, 162, 163, 165, 171, 172, 175, 177, 179, 180, 181, 182, 183, 186, 189, 190, 191, 194, 195, 197, 198, 202, 203, 204], "ship": [16, 26], "encount": [16, 179, 183, 192, 193], "click": [16, 157, 160, 168, 172, 173, 174, 175, 180, 183, 189, 196, 197, 204], "imag": [16, 22, 27, 97, 112, 139, 143, 162, 164, 185, 188, 189, 191, 197, 198, 200], "introduct": [17, 95, 185, 190], "To": [17, 20, 26, 27, 91, 98, 107, 116, 117, 141, 142, 144, 155, 156, 157, 159, 161, 164, 166, 167, 170, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 189, 191, 192, 193, 195, 197, 198, 199, 200, 201, 203, 204], "walkthrough": [17, 190], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 85, 92, 97, 101, 103, 107, 108, 110, 116, 133, 135, 137, 141, 142, 143, 145, 146, 154, 160, 161, 162, 163, 164, 165, 167, 168, 172, 173, 174, 175, 177, 182, 183, 185, 186, 194, 195, 197, 199, 202, 203], "paus": [17, 140, 160, 162, 164, 165, 166], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 84, 89, 95, 128, 142, 143, 163, 164, 186, 195], "And": [17, 18, 167, 184, 185, 188, 189, 191, 198], "invalid": [17, 26, 156, 166, 175], "calibr": [17, 197, 206], "incredibli": 17, "across": [17, 27, 107, 113, 121, 142, 143, 156, 166, 167, 175, 178, 183, 184, 186, 190, 197, 204], "statu": [17, 27, 159, 161, 165, 168, 170, 171, 190, 198, 203], "checker": [17, 47, 98, 111, 128, 162, 170, 205], "section": [17, 18, 27, 91, 97, 107, 158, 159, 161, 165, 167, 172, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 190, 191, 192, 194, 200], "guid": [17, 18, 19, 155, 157, 163, 165, 166, 167, 168, 172, 174, 178, 179, 180, 182, 183, 184, 185, 187, 194, 201, 202], "These": [17, 18, 27, 107, 156, 161, 162, 163, 164, 165, 166, 167, 171, 172, 173, 175, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 197, 198, 200, 203, 204], "exemplari": 17, "nav2_bt_navig": [17, 18, 94, 163, 164, 167, 175, 195, 204], "ones": [17, 142, 143, 165, 179, 183, 197], "seen": [17, 22, 114, 143, 165, 167, 168, 171, 172, 182, 187, 190, 204], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 155, 156, 157, 165, 170, 171, 173, 174, 175, 182, 183, 185, 190, 195, 203, 204], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 171, 195], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 171, 195], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 95, 161, 171, 177, 195, 204], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 95, 171, 195], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 95, 171, 195], "distancecontrol": [17, 18, 95, 97, 163], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 84, 92, 93, 97, 100, 101, 103, 107, 110, 111, 128, 133, 142, 143, 148, 162, 163, 164, 167, 173, 177, 179, 182, 183, 184, 186, 195, 203, 205], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 84, 87, 89, 95, 171, 175, 188, 195], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 95, 98, 102, 103, 107, 110, 111, 163, 166, 167, 171, 173, 175, 179, 195, 205], "simpli": [17, 107, 142, 156, 159, 164, 165, 167, 170, 171, 182, 185, 186, 190, 192, 198, 200, 201, 204], "everi": [17, 19, 21, 23, 24, 61, 88, 97, 99, 103, 107, 110, 123, 127, 142, 159, 164, 165, 167, 171, 172], "meter": [17, 25, 26, 27, 92, 99, 100, 108, 111, 141, 142, 143, 189, 191, 197, 205], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 86, 89, 94, 165, 166, 171, 175, 187, 188, 204], "retri": [17, 21, 23, 24, 45, 82, 101, 168, 177, 203], "contextu": [17, 18, 21, 23, 24, 161, 166, 203], "automat": [17, 27, 94, 100, 107, 110, 124, 156, 159, 160, 164, 165, 167, 168, 180, 182, 184, 185, 186, 187, 190, 197, 198, 200, 203], "door": 17, "elev": [17, 27, 91, 98, 117, 157, 159, 167, 197], "api": [17, 27, 57, 161, 162, 164, 170, 172, 175, 183, 188, 190, 197], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 95, 171, 177], "dock": [17, 18, 26, 27, 28, 45, 62, 93, 167, 177, 178, 179, 206], "serv": [18, 22, 161, 165, 183, 190], "behavior_tre": [18, 26, 50, 51, 94, 163, 167, 175, 204], "sometim": [18, 159, 186, 204], "walk": [18, 19, 27, 156, 194, 197], "navigate_to_pose_w_replanning_and_recoveri": [18, 175], "familiar": [18, 27, 185, 190], "short": [18, 64, 78, 79, 80, 143, 170, 183, 184, 194, 204], "explan": [18, 96, 114, 203], "cpp": [18, 27, 161, 162, 163, 164, 165, 171, 172, 177, 192, 204], "v3": [18, 162, 163, 164], "describ": [18, 19, 107, 159, 160, 167, 172, 173, 174, 175, 179, 182, 185, 190, 192, 193, 197, 200, 201, 202, 204], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 86, 92, 93, 95, 97, 99, 103, 107, 109, 110, 118, 123, 124, 126, 127, 131, 142, 143, 149, 150, 162, 163, 165, 166, 172, 173, 174, 177, 180, 182, 183, 184, 185, 186, 191, 196, 198, 200, 201], "period": [18, 90, 91, 92, 93, 94, 95, 97, 98, 106, 109, 115, 117, 118, 156, 162, 165, 167, 172, 175, 177], "hz": [18, 20, 21, 22, 23, 24, 87, 89, 90, 91, 92, 95, 98, 101, 107, 117, 171, 182, 189, 195], "primarili": [18, 165, 180, 186], "recoverynod": [18, 19, 21, 22, 23, 24, 95, 171], "number_of_retri": [18, 19, 21, 22, 23, 24, 82, 95, 171], "navigaterecoveri": [18, 21, 22, 23, 24, 95, 171], "ratecontrol": [18, 20, 21, 22, 23, 24, 95, 171, 195], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 95, 171, 188, 195], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 95, 108, 109, 116, 141, 142, 143, 164, 171, 174, 179, 188, 195], "reactivefallback": [18, 19, 21, 22, 23, 24, 95, 171], "computepathtoposerecoveryfallback": [18, 95], "goalupd": [18, 19, 21, 22, 23, 24, 66, 95, 171], "clearentirecostmap": [18, 21, 22, 23, 24, 95, 164, 171], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 95, 171], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 95, 171], "global_costmap": [18, 21, 22, 23, 24, 55, 93, 95, 99, 112, 113, 115, 119, 122, 125, 126, 168, 170, 171, 172, 180, 183, 188, 191, 197, 198, 200, 201], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 95, 171], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 95, 164, 167, 171, 195], "followpathrecoveryfallback": [18, 95], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 95, 171], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 91, 93, 95, 99, 101, 120, 122, 123, 124, 127, 168, 170, 171, 172, 180, 183, 191, 198, 200], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 95, 171], "recoveryfallback": [18, 21, 22, 23, 95, 171], "roundrobin": [18, 21, 22, 23, 24, 95], "recoveryact": [18, 21, 22, 23, 24, 95, 171], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 95, 107, 156, 166, 172, 177, 182, 187, 188, 190, 195], "clearingact": [18, 21, 22, 23, 24, 95], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 95, 171], "57": [18, 21, 22, 23, 24, 26, 59, 95, 101, 171, 197, 203], "wait_dur": [18, 21, 22, 23, 24, 63, 95, 171], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 95, 164], "15": [18, 26, 30, 46, 75, 93, 94, 95, 97, 98, 99, 101, 109, 115, 118, 127, 167, 183, 185, 201, 203], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 95, 164], "025": [18, 26, 30, 46, 95, 102, 133, 185], "still": [18, 19, 26, 104, 110, 117, 122, 154, 156, 157, 164, 165, 166, 167, 182, 183, 185, 186, 190, 192, 194, 197, 198], "bit": [18, 165, 186, 190, 192, 197], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 81, 82, 83, 86, 177, 193], "known": [18, 22, 26, 27, 92, 110, 165, 168, 175, 177, 186, 189, 197, 201], "mainli": [18, 183, 184, 185], "actual": [18, 57, 91, 97, 107, 111, 142, 165, 175, 180, 184, 185, 186, 189, 190, 194, 196, 197, 202, 205], "calcul": [18, 26, 90, 91, 110, 119, 165, 172, 173, 174, 179, 182, 191, 197], "dealt": 18, "intern": [18, 21, 23, 24, 111, 161, 166, 167, 172, 175, 182, 187, 194, 197, 205], "hopefulli": [18, 107], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 98, 101, 104, 118, 141, 142, 143, 162, 164, 165, 166, 170, 175, 177, 190, 192], "enough": [18, 73, 166, 180, 186, 189, 190, 197, 203], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 84, 87, 88, 89, 107, 123, 127, 141, 142, 143, 161, 162, 164, 165, 166, 167, 170, 171, 173, 174, 175, 177, 182, 183, 185, 187, 188, 190, 192, 198, 200, 203], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 99, 123, 124, 126, 127, 159, 164, 165, 166, 167, 174, 177, 183, 186, 189, 194, 201, 203], "until": [18, 19, 20, 26, 27, 81, 91, 111, 128, 142, 143, 154, 156, 164, 173, 175, 177, 182, 192, 195, 197, 201, 203], "parent": [18, 19, 77, 123, 124, 126, 127, 156, 164, 170, 172, 173, 174, 182, 183, 184, 185, 192, 197], "exceed": [18, 99, 166], "gone": 18, "between": [18, 26, 27, 41, 90, 91, 92, 95, 100, 105, 107, 108, 112, 116, 141, 142, 143, 156, 157, 163, 164, 165, 166, 168, 169, 175, 179, 180, 182, 183, 184, 185, 186, 190, 194, 197, 198, 203, 204, 205], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 81, 84, 87, 88, 89, 165, 171, 177], "succe": [18, 19, 81, 82, 177], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 91, 100, 104, 107, 117, 118, 142, 143, 154, 156, 160, 162, 184, 185, 190, 192, 195, 198, 203, 204], "recov": [18, 92, 104], "toler": [18, 27, 61, 67, 93, 94, 97, 99, 101, 103, 107, 108, 110, 111, 113, 115, 126, 128, 135, 137, 141, 142, 143, 152, 164, 165, 167, 174, 177, 188, 196, 203, 205], "outlin": [18, 20, 164, 180, 184, 190], "center": [18, 27, 38, 39, 100, 107, 122, 141, 142, 143, 165, 170, 180, 184, 185, 189, 196, 197], "decor": [18, 20, 22, 165, 171, 177, 195, 204], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 82, 89, 90, 91, 94, 98, 99, 101, 106, 107, 123, 124, 126, 127, 139, 140, 142, 143, 155, 156, 157, 163, 164, 165, 166, 167, 168, 171, 172, 173, 174, 177, 179, 182, 183, 184, 186, 189, 190, 193, 197, 202, 203], "frequenc": [18, 19, 90, 93, 98, 99, 101, 107, 109, 117, 142, 143, 167, 182, 194, 197], "flood": 18, "too": [18, 107, 116, 142, 143, 164, 165, 167, 186, 188], "useless": 18, "100hz": 18, "depend": [18, 27, 91, 103, 107, 125, 155, 156, 157, 162, 164, 165, 166, 167, 170, 171, 173, 174, 175, 179, 180, 182, 185, 186, 190, 191, 192, 194, 196, 197, 198, 202, 203], "speedcontrol": [18, 95, 163], "big": [18, 197], "half": [18, 110, 142, 143, 183], "snippet": [18, 170, 173, 174, 175, 180, 182, 183, 185, 187, 192], "rest": [18, 38, 39, 91, 98, 107, 117, 139, 157, 167, 182, 183, 184, 187, 193, 197], "asynchron": [18, 19, 27, 163], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 85, 90, 91, 98, 111, 114, 117, 124, 126, 163, 165, 166, 167, 170, 173, 175, 177, 182, 183, 184, 186, 195, 197, 205], "halt": [18, 19, 22, 167], "quick": [18, 142, 143, 184, 198], "reaction": 18, "preempt": [18, 20, 26, 163, 171, 175, 177], "portion": [18, 91, 98, 117, 167, 188], "common": [18, 26, 27, 91, 101, 107, 156, 157, 161, 164, 165, 175, 182, 190, 194, 197, 202, 203], "pattern": [18, 19, 100, 189], "unless": [18, 19, 103, 104, 110, 143, 159], "pair": [18, 19, 107, 113, 125, 164, 167, 186, 189, 194, 197, 198, 200, 205], "imagin": [18, 27, 170, 177, 197], "wrap": [18, 26, 27], "whole": [18, 61, 159, 167, 172, 183, 189, 200, 202], "isbatterylow": [18, 19, 95], "batteri": [18, 19, 27, 70, 71, 101, 165, 166, 177, 190, 195, 203], "enter": [18, 21, 23, 24, 27, 107, 170, 173, 174, 175, 198, 203], "recharg": [18, 27], "never": [18, 27, 107, 142, 143, 165, 190, 198, 200], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 77, 81, 82, 84, 87, 88, 89, 165, 167, 177, 182, 183, 184, 185, 197], "sake": 18, "assum": [18, 19, 157, 164, 172, 173, 177, 180, 184, 185, 191, 192, 197, 198, 199, 200, 201, 202, 203, 204], "again": [18, 19, 20, 22, 82, 154, 156, 160, 162, 178, 182, 185, 190], "BUT": 18, "onto": [18, 21, 23, 107, 111, 165, 175, 177, 182, 184, 205], "hypothet": 18, "scenario": [18, 22, 103, 179, 202], "indefinit": [18, 19, 26, 55, 159, 195], "unlik": [18, 90, 170, 191], "vocabulari": 19, "larg": [19, 27, 91, 97, 103, 107, 110, 142, 143, 161, 163, 178, 182, 185, 186, 189, 203], "confus": 19, "first": [19, 27, 41, 81, 82, 90, 91, 107, 121, 126, 155, 156, 159, 161, 165, 166, 167, 173, 177, 178, 180, 182, 183, 184, 185, 186, 187, 188, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 86, 91, 92, 93, 94, 98, 99, 100, 103, 104, 107, 109, 110, 111, 115, 117, 118, 119, 120, 142, 143, 156, 163, 164, 165, 166, 167, 168, 173, 175, 177, 184, 186, 190, 191, 192, 193, 194, 195, 197, 198, 199, 202, 203, 205], "actionnod": 19, "necessarili": 19, "often": [19, 27, 97, 165, 182, 190, 197], "quit": [19, 157, 165, 192, 194, 197], "fashion": 19, "commonli": [19, 44, 49, 52, 53, 58, 175, 183, 194, 197], "nav2_behavior_tre": [19, 27, 95, 163, 164, 167, 171, 175, 204], "folder": [19, 156, 157, 183, 189, 197], "client": [19, 27, 100, 162, 164, 165, 170, 171, 175, 188, 203], "clearcostmapservic": 19, "believ": [19, 194], "correctli": [19, 27, 160, 164, 165, 180, 182, 183, 184, 197, 198, 200, 202], "servic": [19, 27, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 92, 94, 106, 110, 156, 157, 163, 164, 166, 168, 170, 177, 179, 182, 189, 190, 197], "goalreach": [19, 84, 87, 89, 95, 167], "initialposereceiv": [19, 95], "intial_pos": 19, "listen": [19, 90, 91, 93, 154, 163, 190], "probe": [19, 156], "aspect": [19, 156, 157, 188, 189], "kei": [19, 92, 100, 155, 156, 159, 160, 175, 186, 187, 190, 191, 194, 197, 203], "Will": [19, 57, 91, 177], "travel": [19, 27, 46, 65, 84, 107, 141, 142, 143, 165, 177, 182, 183], "certain": [19, 55, 107, 163, 165, 168, 172, 179, 181, 183, 195], "constant": [19, 100, 103, 110, 167, 173, 185, 186], "expos": [19, 27, 115, 164, 166, 190, 197], "port": [19, 94, 159, 163, 164, 165, 171, 183, 188, 190, 195, 204], "subsequ": [19, 27, 92, 142, 143, 156, 177, 194], "proport": [19, 101, 107, 142, 143, 198, 201], "previou": [19, 24, 62, 91, 107, 142, 159, 164, 166, 167, 172, 175, 177, 180, 181, 182, 183, 185, 186, 190, 197, 200, 201], "properti": [19, 91, 156, 182, 183, 202], "prior": [19, 86, 92, 162, 165], "resembl": 19, "water": 19, "pipe": [19, 166], "action_a": 19, "action_b": 19, "action_c": 19, "idl": 19, "therefor": [19, 22, 90, 107, 185, 186, 187, 192, 197, 198, 200, 202, 204], "retick": 19, "ing": 19, "even": [19, 20, 21, 23, 106, 107, 110, 117, 121, 142, 157, 161, 163, 164, 165, 167, 168, 177, 179, 180, 181, 182, 186, 190, 192, 194, 198, 203], "though": [19, 21, 101, 107, 143, 186, 187, 190, 194, 197, 198, 200, 202], "recal": [19, 183], "loop": [19, 27, 90, 91, 98, 101, 103, 107, 110, 117, 165, 174, 175, 194, 203], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 114, 156, 164, 172, 182, 184, 187, 192, 193, 197, 198], "togeth": [19, 27, 100, 182, 184, 194, 197], "suggest": [19, 97, 107, 179, 184, 185, 190], "promot": 19, "respons": [19, 21, 23, 24, 27, 38, 39, 40, 55, 91, 104, 165, 170, 175, 179, 187], "round": [19, 83, 91, 177, 181], "robin": [19, 83, 177], "untick": 19, "That": [19, 27, 142, 159, 164, 165, 179, 180, 190], "retain": [19, 66, 112, 113, 141, 142, 143], "rather": [19, 21, 23, 24, 27, 92, 97, 99, 107, 142, 156, 162, 163, 164, 165, 167, 168, 175, 177, 184, 186, 192, 199, 203], "step": [19, 27, 91, 93, 100, 101, 107, 143, 183, 185, 190, 192, 193, 194, 202], "did": [19, 20, 167, 168, 170, 173, 174, 183, 185, 192, 193, 203], "On": [19, 177, 180, 183, 187, 191, 197], "circl": [19, 27, 90, 91, 186, 189, 202], "person": [20, 22, 26, 156, 159, 195], "virtual": [20, 91, 107, 160, 165, 167, 170, 171, 172, 173, 174, 175, 182, 185, 203], "carrot": [20, 110, 167], "anyth": [20, 27, 90, 164, 171, 172, 175, 186, 190, 198, 204], "publish": [20, 44, 49, 52, 53, 58, 90, 91, 92, 93, 94, 98, 99, 101, 102, 105, 106, 107, 109, 110, 115, 117, 118, 119, 122, 125, 127, 128, 138, 142, 143, 160, 162, 163, 164, 165, 167, 170, 173, 175, 177, 180, 182, 183, 186, 188, 189, 190, 194, 195, 196, 197, 199, 202, 203], "goalupdat": [20, 95, 195], "newest": [20, 101, 186], "truncatepath": [20, 95, 163, 195], "least": [20, 91, 156, 159, 164, 182, 202, 203], "awai": [20, 97, 103, 107, 111, 141, 166, 183, 186, 189, 203, 204, 205], "smooth": [20, 26, 27, 57, 89, 97, 101, 103, 107, 111, 112, 113, 115, 117, 141, 142, 143, 161, 164, 165, 166, 167, 177, 182, 186, 188, 197, 202, 205], "off": [20, 107, 111, 117, 119, 159, 165, 166, 167, 170, 185, 190, 192, 203, 205], "toward": [20, 74, 90, 91, 97, 107, 111, 142, 143, 165, 167, 174, 177, 186, 189, 196, 197, 205], "probabl": [20, 106, 124, 142, 143, 166, 183, 188], "occupi": [20, 27, 55, 99, 106, 107, 123, 124, 126, 127, 166, 183, 198], "truncat": [20, 60, 61, 97, 177], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 76, 99, 104, 107, 111, 128, 144, 155, 165, 177, 193, 195, 198, 203, 205], "keeprunninguntilfailur": [20, 195], "mode": [20, 91, 100, 107, 117, 156, 166, 167, 194, 197, 198, 200, 204], "infinit": [20, 98, 123, 127, 142, 143, 194, 203], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 110, 116, 141, 142, 143, 160, 171, 173, 175, 177, 195], "controllerselector": [20, 21, 22, 23, 24, 95, 164], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 106, 168, 198, 200], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 95, 164], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 85, 195], "output_go": [20, 21, 55, 56, 85, 195], "updated_go": [20, 85, 195], "error_code_id": [20, 21, 22, 23, 24, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 188], "compute_path_error_cod": [20, 21, 22, 23, 24, 42, 43, 94, 188], "input_path": [20, 60, 61, 195], "output_path": [20, 60, 61, 195], "truncated_path": [20, 60, 195], "follow_path_error_cod": [20, 21, 22, 23, 24, 47, 78, 94], "intermediari": [21, 143, 161, 164], "constraint": [21, 111, 117, 143, 164, 165, 175, 177, 179, 186, 205], "final": [21, 22, 26, 27, 103, 104, 107, 141, 142, 143, 156, 164, 171, 175, 183, 186, 187, 188, 190, 194, 197, 205], "freespac": [21, 23, 24, 186], "opportun": [21, 23, 24, 167, 171, 175], "computepaththroughpos": [21, 55, 56, 95], "util": [21, 22, 23, 24, 27, 41, 100, 107, 143, 156, 161, 164, 165, 166, 167, 171, 179, 180, 182, 185, 190, 193, 198, 200, 201, 203], "By": [21, 23, 24, 27, 71, 156, 159, 160, 163, 167, 180, 183, 190, 192, 194, 198, 202], "convent": [21, 23, 24, 27, 183, 184, 187, 197], "style": [21, 23, 24, 105, 168, 186, 201], "worri": [21, 23, 24, 27, 157, 186, 192], "want": [21, 23, 24, 26, 27, 90, 107, 156, 164, 167, 168, 170, 171, 172, 173, 174, 175, 182, 184, 185, 186, 187, 188, 190, 192, 193, 194, 196, 197, 199, 203, 204], "caller": [21, 23, 24, 203], "ampl": [21, 23, 24], "transient": [21, 23, 24, 44, 49, 52, 53, 58], "crowd": [21, 23, 24, 179], "temporari": [21, 22, 23, 24, 93, 94, 98, 109, 115, 118, 194, 200], "nomin": [21, 23, 24], "vector": [21, 27, 41, 42, 50, 55, 56, 66, 68, 89, 90, 91, 93, 94, 98, 99, 100, 101, 104, 107, 108, 109, 112, 115, 116, 117, 122, 123, 124, 127, 128, 141, 165, 166, 167, 172, 174, 175, 177, 179, 180, 186, 192, 198, 200, 201], "removepassedgo": [21, 95, 164, 167], "cull": [21, 55, 56, 177], "awar": [21, 23, 24, 97, 107, 114, 116, 141, 142, 143, 161, 164, 183, 186, 203], "similarli": [21, 23, 90, 96, 110, 167, 182, 190], "impact": [21, 23, 100, 107, 167, 186, 192], "worth": [21, 23, 27, 107, 181, 186, 190, 191], "reactiv": [21, 23, 195], "fallback": [21, 23, 24, 91, 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187, 193, 200, 205], "conclus": 22, "readi": [22, 155, 156, 159, 160, 165, 172, 185, 186, 190, 192, 194, 198, 200, 202, 203], "organiz": 22, "prox_len": [22, 86], "length_factor": [22, 86], "retryuntilsuccess": 22, "num_attempt": 22, "cancelingcontrolandwait": 22, "controlcancel": 22, "video": [22, 156, 172, 190, 194, 195, 196, 201, 203, 204], "matur": [23, 24], "version": [23, 24, 27, 93, 94, 97, 108, 109, 116, 128, 141, 142, 143, 154, 155, 157, 160, 164, 170, 172, 173, 174, 175, 179, 183, 185, 190], "backup_code_id": 23, "ratecontrollercomputepathtopos": 24, "recoverycomputepathtopos": 24, "fallbackcomputepathtopos": 24, "checkifnewpathneed": 24, "invert": [24, 107, 164], "globalupdatedgo": [24, 66], "ispathvalid": [24, 95, 99], "recoveryfollowpath": 24, "fallbackrecoveri": 24, "spinrecoveri": 24, "waitrecoveri": 24, "backuprecoveri": 24, "ccw": 25, "squar": [25, 38, 39, 90, 91, 99, 167, 189], "three": [25, 27, 114, 166, 184, 186, 187, 197], "driveonhead": [25, 26, 95, 166, 167], 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179, 180, 183, 185, 191, 198, 200], "getsizeincellsi": 26, "height": [26, 90, 91, 99, 103, 110, 123, 127, 172, 183, 185, 197], "getsizeinmetersx": 26, "x": [26, 90, 91, 92, 99, 101, 107, 117, 129, 130, 142, 148, 151, 164, 165, 167, 173, 174, 175, 182, 184, 185, 189, 197, 199, 203], "axi": [26, 107, 117, 172, 185, 197], "size": [26, 27, 38, 39, 100, 126, 142, 143, 165, 172, 178, 179, 180, 182, 183, 185, 186, 189, 190, 191, 194, 197, 198, 200, 201], "getsizeinmetersi": 26, "y": [26, 90, 91, 92, 99, 101, 117, 129, 130, 154, 155, 164, 165, 167, 173, 174, 175, 182, 184, 185, 189, 190, 194, 197, 199, 203], "getoriginx": 26, "getorigini": 26, "getresolut": 26, "resolut": [26, 99, 107, 127, 141, 142, 143, 164, 172, 177, 179, 180, 183, 196, 198, 200], "getglobalframeid": [26, 174], "frame_id": [26, 67, 106, 123, 127, 167, 173, 174, 182, 198, 199, 200], "getcostmaptimestamp": 26, "timestamp": [26, 139, 167, 182], "getcostxi": 26, "mx": 26, "my": [26, 159, 195, 203], "np": 26, "uint8": 26, "int": 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117, 142, 159, 161, 163, 164, 166, 184, 185, 186, 197, 198], "complex": [27, 94, 107, 142, 161, 166, 183, 184, 185, 186, 192, 204], "crash": [27, 104, 163, 165, 186, 187, 190, 204], "eloqu": [27, 169], "increasingli": [27, 194], "scalabl": 27, "oppos": [27, 143], "finit": [27, 107, 142, 194, 204], "fsm": 27, "dozen": [27, 203], "soccer": [27, 197], "plai": [27, 180, 190, 194], "game": [27, 194], "challeng": 27, "error": [27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 64, 78, 79, 80, 90, 91, 92, 94, 103, 107, 120, 154, 155, 163, 164, 165, 168, 177, 180, 183, 188, 190, 191, 194, 196, 197, 201, 203], "prone": 27, "shoot": 27, "particularli": [27, 112, 156, 183, 198], "unclear": 27, "kick": [27, 170], "ball": 27, "reus": [27, 156, 170, 175, 185, 187], "book": 27, "strongli": 27, "chapter": [27, 198, 200], "nomenclatur": 27, "workflow": [27, 156, 157], "minut": [27, 93, 94, 98, 109, 115, 118, 167, 189, 190], "formal": [27, 161, 191], "valid": [27, 72, 90, 91, 92, 97, 100, 101, 111, 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142, 143, 165, 166, 186, 189, 194, 203], "backup_serv": [30, 46], "address": [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 47, 162, 163, 164, 165, 166, 167, 168, 170], "remap": [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 47, 105, 123, 124, 126, 127, 164, 165, 168, 182, 183, 187, 188, 192, 193, 194, 195, 197, 202], "assisted_teleop": [31, 93], "compute_complete_coverag": 34, "drive_on_head": [35, 93], "reset_dist": [38, 39, 164], "won": [38, 107, 164, 167, 170, 171, 173, 174, 175, 180, 185, 190, 191, 197, 198], "clear_around_local_costmap": 38, "region": [39, 41, 90, 107, 177], "clear_except_local_costmap": 39, "opennav_coverag": [41, 100], "fields2cov": [41, 100, 167], "generate_headland": 41, "whether": [41, 45, 55, 57, 90, 91, 92, 93, 97, 98, 99, 100, 101, 103, 104, 105, 107, 108, 110, 112, 113, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 131, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 147, 159, 162, 164, 168, 170, 172, 173, 177, 182, 183, 185, 186, 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"SimpleProgressChecker": [[136, "simpleprogresschecker"]], "StoppedGoalChecker": [[137, "stoppedgoalchecker"]], "InputAtWaypoint": [[138, "inputatwaypoint"]], "PhotoAtWaypoint": [[139, "photoatwaypoint"]], "WaitAtWaypoint": [[140, "waitatwaypoint"]], "Smac 2D Planner": [[141, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[142, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[143, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[144, "baseobstaclecritic"]], "GoalAlignCritic": [[145, "goalaligncritic"]], "GoalDistCritic": [[146, "goaldistcritic"]], "ObstacleFootprintCritic": [[147, "obstaclefootprintcritic"]], "OscillationCritic": [[148, "oscillationcritic"]], "PathAlignCritic": [[149, "pathaligncritic"]], "PathDistCritic": [[150, "pathdistcritic"]], "PreferForwardCritic": [[151, "preferforwardcritic"]], "RotateToGoalCritic": [[152, "rotatetogoalcritic"]], "TwirlingCritic": [[153, "twirlingcritic"]], "Build Troubleshooting Guide": [[154, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[154, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[154, "reporting-issue"]], "Build and Install": [[155, "build-and-install"]], "Install": [[155, "install"]], "For Iron and Older": [[155, "for-iron-and-older"]], "For Jazzy and Newer": [[155, "for-jazzy-and-newer"]], "Build": [[155, "build"]], "Released Distribution Binaries": [[155, "released-distribution-binaries"]], "Rolling Development Source": [[155, "rolling-development-source"]], "Docker Container Images": [[155, "docker-container-images"]], "Generate Doxygen": [[155, "generate-doxygen"]], "Help": [[155, "help"]], "Dev Container Guide": [[156, "dev-container-guide"]], "Creating Dev Containers": [[156, "creating-dev-containers"]], "Building the image": [[156, "building-the-image"]], "Starting the container": [[156, "starting-the-container"]], "Using Dev Containers": [[156, "using-dev-containers"]], "Terminals": [[156, "terminals"]], "Lifecycle": [[156, "lifecycle"]], "Rebuilding": [[156, "rebuilding"]], "Dev Containers": [[157, "dev-containers"]], "What, Why, How?": [[157, "what-why-how"]], "What is a Dev Container?": [[157, "what-is-a-dev-container"]], "Why use a Dev Container?": [[157, "why-use-a-dev-container"]], "How do Dev Containers work?": [[157, "how-do-dev-containers-work"]], "Getting started": [[157, "getting-started"]], "Security": [[157, "security"]], "Development Guides": [[158, "development-guides"]], "Getting Involved": [[159, "getting-involved"], [159, "id1"]], "Process": [[159, "process"]], "Licensing": [[159, "licensing"]], "Developer Certification of Origin (DCO)": [[159, "developer-certification-of-origin-dco"]], "Getting Started": [[160, "getting-started"]], "Installation": [[160, "installation"]], "Running the Example": [[160, "running-the-example"]], "Navigating": [[160, "navigating"]], "Nav2": [[161, "lpn"]], "Our Sponsors": [[161, "our-sponsors"]], "Services": [[161, "services"]], "Citations": [[161, "citations"]], "Dashing to Eloquent": [[162, "dashing-to-eloquent"]], "New Packages": [[162, "new-packages"]], "New Plugins": [[162, "new-plugins"], [163, "new-plugins"], [164, "new-plugins"]], "Navigation2 Architectural Changes": [[162, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[163, "eloquent-to-foxy"]], "General": [[163, "general"]], "Server Updates": [[163, "server-updates"]], "Map Server Re-Work": [[163, "map-server-re-work"]], "New Particle Filter Messages": [[163, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[163, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[163, "followpoint-capability"]], "New Costmap Layer": [[163, "new-costmap-layer"]], "Foxy to Galactic": [[164, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[164, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[164, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[164, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[164, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[164, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[164, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[164, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[164, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[164, "followpath-goal-checker-id-attribute"]], "Groot Support": [[164, "groot-support"]], "SmacPlanner": [[164, "smacplanner"]], "ThetaStarPlanner": [[164, "thetastarplanner"]], "RegulatedPurePursuitController": [[164, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[164, "costmap2d-current-usage"]], "Standard time units in parameters": [[164, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[164, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[164, "obstacle-marking-parameters"]], "Recovery Action Changes": [[164, "recovery-action-changes"]], "Default Behavior Tree Changes": [[164, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[164, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[164, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[164, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[164, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[164, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[164, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[164, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[165, "galactic-to-humble"]], "Major improvements to Smac Planners": [[165, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[165, "simple-python-commander"]], "Reduce Nodes and Executors": [[165, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[165, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[165, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[165, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[165, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[165, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[165, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[165, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[165, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[165, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[165, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[165, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[165, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[165, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[165, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[165, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[165, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[165, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[165, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[165, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[165, "dynamic-composition"]], "BT Cancel Node": [[165, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[165, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[165, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[165, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[165, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[165, "euclidean-distance-2d"]], "Recovery To Behavior": [[165, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[165, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[165, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[165, "goal-checker-api-changed"]], "Added Assisted Teleop": [[165, "added-assisted-teleop"]], "Humble to Iron": [[166, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[166, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[166, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[166, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[166, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[166, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[166, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[166, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[166, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[166, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[166, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[166, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[166, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[166, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[166, "smootherselector-bt-node"]], "Publish Costmap Layers": [[166, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[166, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[166, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[166, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[166, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[166, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[166, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[166, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[166, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[166, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[166, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[166, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[166, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[166, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[166, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[166, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[166, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[167, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[167, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[167, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[167, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[167, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[167, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[167, "opennav-coverage-project"]], "opennav_docking Project": [[167, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[167, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[167, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[167, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[167, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[167, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[167, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[167, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[167, "mppi-acceleration"]], "Move Error Code Enumerations": [[167, "move-error-code-enumerations"]], "Substitution in parameter file": [[167, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[167, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[167, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[167, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[167, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[167, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[167, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[167, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[167, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[167, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[167, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[167, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[167, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[167, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[167, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[167, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[167, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[167, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[167, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[167, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[167, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[167, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[167, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[167, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[167, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[167, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[167, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[167, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[167, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[167, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[167, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[167, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[167, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[167, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[168, "jazzy-to-k-turtle"]], "TwistStamped Default CmdVel Change": [[168, "twiststamped-default-cmdvel-change"]], "New Nav2 Loopback Simulator": [[168, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[168, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[168, "new-rviz-panel-for-docking"]], "New BT Nodes": [[168, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[168, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[168, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[168, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[168, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Added optional collision checking for the Docking Server": [[168, "added-optional-collision-checking-for-the-docking-server"]], "Revamped multirobot bringup and config files to use namespaces": [[168, "revamped-multirobot-bringup-and-config-files-to-use-namespaces"]], "Removed global map_topic from Costmap node": [[168, "removed-global-map-topic-from-costmap-node"]], "Simplified Costmap2DROS constructors": [[168, "simplified-costmap2dros-constructors"]], "Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions": [[168, "option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions"]], "Migration Guides": [[169, "migration-guides"]], "Writing a New Behavior Plugin": [[170, "writing-a-new-behavior-plugin"]], "Requirements": [[170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [175, "requirements"], [188, "requirements"], [189, "requirements"], [191, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [200, "requirements"], [202, "requirements"], [203, "requirements"]], "Tutorial Steps": [[170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [175, "tutorial-steps"], [188, "tutorial-steps"], [189, "tutorial-steps"], [191, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"], [201, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[170, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[170, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[170, "pass-the-plugin-name-through-params-file"], [174, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[170, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[171, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[171, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[171, "exporting-the-planner-plugin"], [174, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[171, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[171, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[172, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[172, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[172, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[172, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[172, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[173, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[173, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[173, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[173, "pass-the-plugin-name-through-the-params-file"], [175, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[173, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[174, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[174, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[174, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[175, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[175, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[175, "exporting-the-navigator-plugin"]], "4- Run plugin": [[175, "run-plugin"]], "Plugin Tutorials": [[176, "plugin-tutorials"]], "Navigation Plugins": [[177, "navigation-plugins"]], "Behavior-Tree Navigators": [[177, "behavior-tree-navigators"]], "Costmap Layers": [[177, "costmap-layers"]], "Waypoint Task Executors": [[177, "waypoint-task-executors"]], "Goal Checkers": [[177, "goal-checkers"]], "Progress Checkers": [[177, "progress-checkers"]], "Behavior Tree Nodes": [[177, "behavior-tree-nodes"]], "Roadmaps": [[178, "roadmaps"]], "Jazzy Roadmap": [[178, "jazzy-roadmap"]], "Iron Roadmap": [[178, "iron-roadmap"]], "Humble Roadmap": [[178, "humble-roadmap"]], "Setting Up Navigation Plugins": [[179, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[179, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[179, "selecting-the-algorithm-plugins"]], "Summary": [[179, "summary"], [179, "id1"]], "Example Configuration": [[179, "example-configuration"], [179, "id2"]], "Conclusion": [[179, "conclusion"], [180, "conclusion"], [182, "conclusion"], [183, "conclusion"], [184, "conclusion"], [185, "conclusion"], [187, "conclusion"], [190, "conclusion"], [197, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[180, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[180, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[180, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[180, "build-run-and-verification"], [182, "build-run-and-verification"], [182, "id4"], [183, "build-run-and-verification"], [183, "id2"]], "Visualizing Footprint in RViz": [[180, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[181, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[182, "setting-up-odometry"]], "Odometry Introduction": [[182, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[182, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[182, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[182, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[182, "adding-gazebo-plugins-to-a-urdf"], [183, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[182, "launch-and-build-files"], [182, "id3"], [183, "launch-and-build-files"]], "Robot Localization Demo": [[182, "robot-localization-demo"]], "Configuring Robot Localization": [[182, 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Prepare filter mask": [[198, "prepare-filter-mask"], [200, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[198, "configure-costmap-filter-info-publisher-server"], [200, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[198, "enable-keepout-filter"]], "4. Run Nav2 stack": [[198, "run-nav2-stack"], [200, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[199, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[199, "launch-robot-interfaces"]], "1- Launch Navigation2": [[199, "launch-navigation2"]], "2- Launch SLAM": [[199, "launch-slam"]], "3- Working with SLAM": [[199, "working-with-slam"]], "4- Getting Started Simplification": [[199, "getting-started-simplification"]], "Navigating with Speed Limits": [[200, "navigating-with-speed-limits"]], "3. 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\ No newline at end of file
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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. 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15, 16, 17, 18, 19, 22, 27, 114, 123, 124, 126, 127, 155, 156, 157, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 90, 91, 93, 94, 97, 98, 101, 107, 109, 115, 118, 154, 156, 161, 162, 165, 166, 167, 168, 170, 172, 175, 177, 179, 186, 187, 190, 191, 192, 193, 194, 195, 197, 200, 201, 203, 204, 205], "drive": [1, 25, 26, 35, 46, 97, 107, 110, 114, 142, 143, 161, 164, 173, 177, 179, 180, 182, 183, 185, 186, 197, 198, 203], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 104, 107, 116, 123, 127, 142, 143, 156, 159, 160, 161, 163, 164, 165, 166, 167, 172, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 192, 193, 194, 197, 198, 199, 200, 201, 203, 205], "space": [1, 4, 10, 20, 27, 90, 91, 92, 99, 106, 107, 108, 110, 116, 119, 123, 126, 127, 141, 142, 143, 156, 157, 164, 165, 177, 179, 182, 186, 190, 191, 196, 198, 203], "visit": [1, 27, 142, 143, 159, 197], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 157, 158, 160, 161, 165, 166, 170, 171, 172, 173, 174, 175, 184, 191, 192, 193, 195, 197, 198, 200, 201, 202, 203], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 74, 165, 177, 186], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 97, 100, 107, 111, 119, 143, 159, 161, 162, 165, 166, 167, 171, 173, 174, 175, 177, 184, 185, 186, 190, 197, 203, 204], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 142, 143, 154, 156, 157, 159, 161, 167, 172, 180, 182, 183, 184, 185, 186, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 201, 204], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 100, 107, 118, 140, 142, 143, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 175, 182, 185, 186, 190, 194, 197, 199, 202], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 84, 87, 88, 89, 91, 97, 98, 99, 107, 108, 111, 113, 114, 116, 126, 141, 142, 143, 155, 159, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 175, 177, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 197, 198, 200, 201, 202, 203, 204, 205], "excel": [1, 7, 9, 197, 205], "chanc": [1, 7, 9, 19, 165], "substanti": [1, 107, 142, 159, 162, 186], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 91, 92, 98, 104, 105, 107, 117, 155, 156, 157, 159, 160, 161, 162, 165, 167, 168, 175, 179, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 196, 202, 203], "hundr": [1, 27], "futur": [1, 4, 8, 11, 21, 27, 90, 91, 92, 101, 119, 122, 125, 163, 165, 167, 195], "could": [1, 2, 3, 6, 7, 9, 10, 20, 27, 90, 91, 98, 116, 156, 157, 163, 164, 165, 166, 171, 172, 173, 177, 184, 186, 188, 190, 192, 195, 197, 198, 200, 201, 202], "also": [1, 3, 4, 6, 7, 11, 18, 19, 20, 21, 22, 23, 24, 26, 27, 90, 91, 92, 93, 95, 98, 99, 100, 101, 104, 106, 107, 109, 110, 111, 112, 114, 115, 117, 118, 121, 142, 143, 155, 156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 197, 198, 199, 200, 201, 202, 203, 205], "good": [1, 6, 27, 92, 107, 116, 117, 142, 159, 161, 167, 170, 172, 173, 174, 175, 180, 181, 185, 186, 189, 190, 192, 194, 197], "candid": [1, 7, 100, 107, 159, 179], "roscon": [1, 199, 201], "talk": [1, 156, 161, 182, 184, 190, 192, 199, 201], "event": [1, 13, 159, 165, 190, 203], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 178], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 107, 161, 177, 190, 192, 194], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 110, 161, 177], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 199, 201], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 101, 159, 161, 186, 187, 203], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 19, 116, 159, 165, 182, 183, 184, 185, 190, 197, 202], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 22, 27, 55, 89, 101, 107, 116, 124, 143, 155, 162, 164, 170, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 187, 190, 191, 192, 193, 197, 198, 199, 200, 201, 203, 204, 205], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 107, 192, 206], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 91, 99, 100, 105, 107, 141, 142, 143, 161, 164, 165, 168, 171, 172, 179, 182, 183, 184, 185, 187, 188, 192, 193, 194, 197, 198, 200, 202, 203, 204], "either": [1, 18, 19, 26, 27, 91, 92, 101, 106, 107, 124, 126, 156, 157, 166, 167, 177, 179, 182, 183, 186, 190, 193, 200, 203, 204], "set": [1, 2, 3, 9, 10, 13, 17, 21, 23, 24, 26, 27, 29, 30, 41, 42, 43, 45, 46, 47, 48, 55, 57, 59, 61, 62, 64, 71, 90, 91, 92, 97, 98, 99, 100, 101, 103, 104, 106, 107, 108, 110, 111, 114, 116, 117, 118, 119, 123, 125, 126, 127, 128, 141, 142, 143, 154, 155, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 177, 181, 186, 187, 188, 189, 190, 192, 193, 195, 196, 197, 198, 199, 200, 201, 202, 203, 205], "successfulli": [1, 18, 27, 165, 170, 175, 182, 184, 185, 187, 190, 195, 203], "user": [1, 2, 3, 7, 9, 14, 17, 21, 22, 23, 24, 26, 27, 28, 41, 82, 86, 90, 91, 92, 113, 118, 123, 124, 126, 127, 138, 142, 156, 157, 159, 161, 163, 164, 165, 166, 167, 168, 175, 177, 181, 183, 186, 187, 190, 192, 193, 194, 197, 199, 201, 202, 203, 205], "without": [1, 4, 14, 26, 27, 61, 90, 91, 97, 98, 105, 107, 112, 120, 122, 123, 124, 126, 127, 142, 156, 157, 163, 164, 165, 167, 168, 172, 175, 180, 181, 183, 186, 190, 192, 194, 195, 197, 198, 199, 205], "collis": [1, 7, 9, 27, 28, 29, 30, 46, 55, 57, 59, 93, 97, 99, 101, 107, 110, 111, 115, 121, 122, 124, 152, 161, 162, 164, 165, 170, 177, 178, 179, 180, 182, 183, 185, 186, 205, 206], "allot": [1, 9, 11], "tune": [1, 9, 25, 106, 107, 111, 116, 142, 165, 181, 194, 197, 198, 200, 202, 205], "ad": [1, 9, 10, 13, 21, 23, 24, 41, 92, 94, 107, 142, 143, 156, 157, 159, 162, 163, 170, 172, 173, 174, 175, 179, 180, 184, 186, 191, 192, 193, 194, 197, 198, 200, 201, 202, 205, 206], "critic": [1, 7, 9, 27, 128, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 162, 179, 186, 187, 192], "dwb": [1, 3, 9, 21, 23, 24, 27, 28, 129, 130, 131, 132, 133, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 162, 163, 177, 179, 186, 205], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 21, 22, 23, 24, 28, 42, 43, 52, 79, 91, 96, 97, 99, 100, 107, 110, 111, 112, 113, 117, 122, 131, 149, 150, 161, 162, 163, 168, 170, 172, 176, 178, 180, 181, 187, 188, 195, 198, 201, 205], "improv": [1, 7, 9, 11, 12, 25, 27, 97, 112, 114, 142, 143, 156, 162, 163, 164, 166, 167, 168, 178, 193, 194], "perform": [1, 3, 4, 7, 9, 11, 17, 22, 26, 28, 30, 46, 59, 90, 91, 92, 96, 97, 107, 114, 118, 142, 143, 156, 161, 164, 165, 166, 167, 170, 171, 172, 173, 174, 180, 183, 186, 187, 190, 191, 192, 194, 195, 197, 203, 204], "box": [1, 9, 27, 91, 101, 118, 165, 166, 167, 168, 180, 182, 183, 185, 186, 194, 201, 202, 203, 204], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 192], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 26, 93, 115, 159, 166, 182, 189, 192, 193, 203], "xml": [1, 2, 17, 18, 27, 28, 50, 51, 94, 101, 161, 163, 165, 167, 170, 171, 172, 173, 174, 175, 182, 185, 187, 195, 203, 204], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 25, 155, 156, 157, 161, 165, 185, 192, 194, 196], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 27, 90, 91, 101, 104, 107, 110, 112, 113, 156, 159, 160, 165, 167, 173, 179, 180, 182, 183, 184, 185, 186, 188, 190, 194, 196, 197, 199, 201, 202, 203, 204, 205], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 105, 154, 160, 167, 168, 170, 171, 172, 173, 174, 175, 180, 181, 185, 186, 190, 191, 196, 198, 200, 201], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 91, 94, 107, 111, 132, 133, 154, 160, 167, 170, 172, 173, 174, 175, 180, 181, 185, 186, 190, 192, 193, 196, 197, 198, 199, 200, 201], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 100, 107, 161, 162, 167, 170, 171, 175, 194, 197], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117, 118, 123, 127, 154, 156, 158, 159, 160, 161, 165, 170, 171, 172, 173, 174, 175, 180, 181, 182, 183, 184, 185, 189, 190, 192, 194, 196, 197, 198, 199, 200, 201, 202, 203], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 110, 159, 166, 183, 186, 187, 190, 192, 196, 199], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 110, 155, 156, 157, 161, 170, 172, 173, 174, 178, 180, 182, 183, 185, 186, 190, 196, 198, 199, 200, 201], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 27, 154, 159, 163, 164, 165, 186, 192, 204], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 26, 27, 39, 81, 91, 92, 93, 94, 100, 104, 107, 110, 112, 114, 116, 117, 120, 124, 142, 147, 155, 156, 157, 159, 161, 162, 163, 164, 165, 167, 168, 170, 173, 174, 175, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 197, 198, 200, 201, 204, 205], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 100, 142, 159, 167, 183, 186, 187], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 20, 94, 123, 126, 127, 156, 157, 159, 163, 164, 165, 166, 170, 171, 177, 179, 180, 182, 183, 185, 188, 190, 192, 194, 197, 201, 203], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 159], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 20, 21, 22, 23, 24, 25, 26, 29, 30, 41, 45, 46, 48, 55, 56, 57, 59, 60, 61, 62, 63, 65, 67, 71, 73, 76, 84, 86, 87, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 130, 131, 133, 134, 135, 136, 137, 138, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 159, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 187, 189, 190, 192, 198, 200, 202, 203, 205], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 19, 91, 107, 166, 170, 171, 172, 173, 175, 200], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 22, 65, 67, 91, 94, 99, 100, 107, 110, 112, 117, 122, 123, 124, 126, 127, 143, 156, 157, 159, 160, 161, 164, 165, 166, 167, 170, 171, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 200, 201, 202, 203, 204, 205], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 18, 19, 21, 22, 23, 24, 26, 55, 56, 65, 66, 68, 75, 76, 90, 91, 93, 94, 95, 96, 97, 98, 107, 109, 110, 115, 116, 118, 124, 134, 135, 136, 137, 141, 142, 143, 154, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 170, 171, 172, 173, 175, 177, 180, 182, 183, 184, 185, 186, 192, 193, 194, 196, 197, 198, 200, 202, 203, 204, 205], "long": [2, 4, 9, 14, 22, 27, 73, 93, 94, 98, 109, 114, 115, 118, 123, 127, 131, 143, 165, 167, 175, 179, 183, 186, 190, 191, 197, 203], "qt": 2, "setup": [2, 27, 101, 154, 155, 156, 157, 160, 167, 172, 180, 183, 184, 185, 186, 187, 190, 192, 194, 198, 199, 200, 202, 203], "help": [2, 3, 4, 5, 8, 11, 16, 21, 23, 24, 27, 41, 97, 107, 110, 143, 158, 159, 162, 164, 165, 166, 167, 168, 170, 172, 174, 177, 179, 181, 182, 184, 185, 186, 187, 190, 193, 194, 198, 201, 204, 205], "udrf": 2, "need": [2, 4, 11, 13, 21, 22, 23, 24, 26, 27, 41, 44, 49, 52, 53, 58, 86, 91, 93, 94, 97, 98, 99, 100, 107, 109, 110, 115, 118, 142, 155, 156, 157, 159, 161, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204], "A": [2, 3, 6, 10, 13, 17, 18, 19, 22, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 67, 78, 79, 80, 84, 85, 86, 87, 89, 90, 91, 92, 94, 97, 100, 101, 103, 104, 106, 107, 108, 111, 114, 116, 118, 119, 122, 125, 128, 141, 143, 156, 157, 159, 161, 163, 164, 165, 166, 168, 171, 177, 179, 180, 182, 183, 184, 186, 187, 188, 189, 190, 192, 194, 195, 196, 197, 200, 201, 203, 205], "extrem": [2, 18, 90, 103, 107, 122, 164, 183], "benefici": [2, 27, 107, 122, 175, 192], "wai": [2, 9, 18, 21, 23, 24, 27, 86, 94, 104, 107, 118, 120, 142, 143, 153, 155, 164, 165, 166, 167, 180, 184, 186, 187, 188, 190, 192, 197, 199, 201, 203, 205], "minim": [2, 11, 107, 155, 160, 165, 166, 175, 179, 182, 186, 194], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 91, 92, 94, 95, 99, 101, 106, 107, 112, 117, 123, 127, 149, 150, 155, 156, 157, 159, 160, 161, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 194, 195, 196, 197, 199, 203, 204], "gui": [2, 157, 160, 182, 185, 189, 190, 197, 204], "tool": [2, 4, 15, 27, 154, 155, 156, 157, 159, 161, 163, 164, 175, 181, 183, 184, 185, 190, 192, 193, 197, 198, 203], "cover": [2, 27, 91, 124, 159, 164, 167, 179, 186, 187, 190, 192, 197, 198, 200, 202], "broad": [2, 7, 181, 186, 203], "stroke": [2, 181], "visual": [2, 90, 91, 94, 95, 99, 110, 156, 157, 161, 165, 167, 182, 186, 188, 193, 194, 197, 199, 200, 201, 202], "show": [2, 26, 125, 143, 157, 160, 165, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "what": [2, 6, 19, 27, 107, 128, 158, 159, 160, 165, 168, 178, 182, 183, 184, 185, 187, 188, 190, 196, 197, 203], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 94, 106, 107, 114, 118, 141, 142, 156, 157, 159, 160, 161, 164, 165, 167, 170, 171, 172, 175, 177, 180, 181, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 195, 197, 198, 199, 200, 201, 203, 204, 205], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 90, 91, 92, 107, 108, 111, 116, 119, 120, 121, 122, 123, 124, 125, 126, 127, 141, 142, 143, 156, 157, 164, 166, 168, 171, 172, 177, 180, 181, 183, 185, 188, 191, 192, 193, 195, 198, 200, 203, 204, 205], "layer": [2, 4, 7, 10, 11, 99, 119, 122, 124, 125, 141, 142, 144, 156, 161, 162, 164, 165, 172, 183, 186, 190, 197, 198, 201], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 82, 93, 94, 95, 161, 162, 163, 166, 170, 171, 175, 177, 188], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 84, 87, 89, 102, 156, 162, 163, 168, 170, 171, 172, 173, 174, 175, 179, 180, 182, 183, 185, 186, 187, 188, 189, 191, 192, 193, 194, 196, 197, 198, 200, 202, 203, 204, 205], "urdf": [2, 27, 160, 180, 181, 184, 186, 194, 199], "footprint": [2, 55, 90, 91, 93, 99, 101, 107, 115, 122, 123, 126, 127, 142, 143, 147, 165, 166, 167, 168, 172, 177, 179, 181, 185, 202], "frame": [2, 27, 41, 56, 61, 65, 67, 77, 84, 90, 91, 92, 93, 94, 97, 99, 100, 101, 105, 106, 115, 118, 119, 122, 123, 125, 127, 131, 154, 162, 173, 174, 180, 182, 183, 184, 185, 189, 194, 197, 202, 203], "option": [2, 3, 6, 9, 42, 43, 90, 91, 92, 97, 100, 107, 142, 157, 164, 165, 166, 172, 183, 185, 188, 189, 190, 191, 192, 193, 194, 195, 201, 203, 204], "compli": [2, 179, 182, 197], "standard": [2, 6, 10, 92, 107, 159, 183, 184, 189, 197, 198, 200, 203, 204], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 78, 79, 80, 82, 83, 84, 85, 89, 91, 99, 101, 110, 114, 117, 125, 127, 129, 130, 131, 132, 133, 134, 135, 136, 137, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 161, 162, 163, 168, 170, 171, 172, 175, 176, 178, 180, 181, 182, 185, 187, 188, 190, 192, 193, 194, 195, 196, 199, 200, 201, 202, 203, 204, 206], "minimum": [2, 9, 27, 71, 89, 90, 91, 92, 93, 97, 99, 100, 101, 103, 106, 107, 110, 117, 120, 123, 127, 130, 134, 136, 142, 143, 148, 151, 164, 165, 166, 167, 168, 177, 179, 183, 184], "maximum": [2, 27, 45, 57, 61, 62, 89, 90, 91, 92, 93, 97, 98, 99, 100, 101, 103, 106, 107, 110, 111, 113, 117, 123, 125, 127, 130, 134, 136, 141, 142, 143, 164, 165, 166, 167, 173, 177, 183, 191, 194, 198, 200, 203], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 89, 91, 93, 97, 98, 99, 106, 107, 110, 117, 122, 130, 141, 142, 143, 155, 156, 164, 165, 167, 173, 175, 177, 179, 186, 194, 197, 202, 203, 206], "kinemat": [2, 101, 102, 107, 111, 113, 114, 161, 164, 167, 177, 179, 182, 185, 186, 197, 205], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100, 101, 103, 105, 106, 107, 110, 111, 112, 116, 117, 118, 123, 125, 126, 127, 141, 142, 143, 145, 148, 149, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 191, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "dropdown": 2, "possibl": [2, 14, 27, 93, 103, 107, 110, 156, 161, 164, 165, 166, 167, 173, 175, 179, 180, 186, 191, 192, 194, 197, 198, 200, 202], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 91, 92, 93, 97, 98, 99, 100, 101, 104, 105, 106, 109, 110, 115, 117, 118, 122, 125, 143, 159, 161, 165, 167, 168, 170, 171, 172, 173, 174, 175, 180, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 196, 197, 198, 200, 201, 203, 204, 205], "throughout": [2, 66, 156, 162, 165, 185, 187, 194], "prompt": [2, 157, 190, 192], "aid": [2, 22], "appropri": [2, 18, 98, 107, 109, 117, 125, 159, 160, 165, 166, 167, 168, 175, 179, 182, 184, 185, 186, 192, 194, 202, 204], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 90, 91, 92, 97, 98, 101, 102, 103, 107, 110, 111, 117, 119, 122, 125, 141, 142, 143, 151, 155, 156, 157, 159, 161, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 95, 99, 107, 110, 143, 156, 157, 162, 163, 164, 165, 166, 167, 168, 171, 173, 174, 175, 179, 182, 183, 184, 186, 188, 189, 190, 192, 198, 199, 203, 204, 205], "after": [2, 10, 20, 21, 23, 24, 26, 27, 91, 92, 94, 101, 107, 110, 111, 112, 117, 126, 128, 135, 137, 140, 141, 142, 143, 159, 160, 164, 165, 167, 168, 172, 173, 174, 175, 180, 182, 183, 185, 186, 187, 189, 190, 191, 192, 193, 195, 197, 198, 200, 201, 202, 203, 204, 205], "item": [2, 11, 18, 26, 27, 178], "preview": 2, "how": [2, 7, 17, 26, 27, 82, 91, 92, 95, 97, 103, 107, 116, 123, 127, 131, 145, 146, 149, 150, 156, 158, 159, 162, 166, 168, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "effect": [2, 4, 91, 97, 124, 141, 156, 163, 165, 182, 186, 198], "high": [2, 3, 4, 5, 6, 8, 27, 91, 103, 107, 110, 113, 116, 117, 127, 141, 142, 143, 159, 161, 162, 164, 177, 179, 182, 186, 191, 194], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 84, 89, 90, 91, 92, 93, 94, 97, 99, 101, 103, 105, 106, 107, 112, 114, 115, 119, 122, 125, 134, 142, 143, 144, 145, 146, 147, 149, 150, 155, 156, 157, 159, 161, 162, 164, 165, 166, 168, 170, 171, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 191, 192, 194, 197, 198, 200, 201, 202, 204], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 90, 110, 114, 154, 156, 157, 161, 162, 163, 166, 168, 177, 179, 183, 185, 186, 190, 191, 198, 200, 201, 203, 204], "panel": [2, 114, 185, 204], "displai": [2, 90, 109, 142, 143, 164, 168, 180, 182, 183, 185, 186, 190, 191, 197, 200, 204], "python3": [2, 12, 13, 26, 161, 164, 165, 166], "json": [2, 156, 157], "pars": [2, 27, 100, 156], "3d": [2, 4, 9, 27, 107, 127, 160, 177, 182, 183, 185, 186, 196, 197, 201], "program": [2, 26, 27, 97, 114, 142, 143, 156, 161, 165, 190, 192, 193, 195], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 85, 91, 97, 99, 141, 142, 143, 158, 163, 164, 167, 180, 182, 183, 185, 188, 197, 198, 200], "number": [3, 11, 26, 27, 41, 45, 82, 90, 91, 92, 97, 98, 99, 100, 101, 107, 112, 113, 116, 120, 127, 129, 141, 142, 143, 162, 163, 164, 165, 166, 167, 168, 170, 171, 174, 177, 182, 183, 184, 185, 186, 189, 190, 191, 192, 200, 203, 204], "interfac": [3, 5, 13, 19, 27, 91, 94, 115, 156, 157, 161, 162, 163, 166, 170, 171, 172, 175, 177, 183, 188, 190, 196, 197, 201], "plan": [3, 10, 17, 18, 20, 21, 22, 27, 57, 84, 97, 100, 103, 107, 108, 110, 113, 114, 116, 123, 126, 127, 128, 131, 141, 142, 143, 159, 161, 162, 164, 165, 166, 167, 171, 173, 174, 175, 177, 178, 179, 180, 183, 184, 186, 188, 198, 201, 203], "two": [3, 18, 19, 27, 82, 90, 91, 97, 108, 114, 116, 141, 156, 164, 165, 166, 167, 170, 173, 174, 175, 179, 182, 183, 184, 185, 187, 190, 191, 193, 194, 197, 200, 201, 202, 203], "area": [3, 7, 27, 38, 39, 91, 99, 119, 122, 124, 125, 141, 142, 143, 159, 164, 165, 166, 167, 170, 172, 177, 183, 185, 186, 189, 190, 193, 198, 200], "algorithm": [3, 15, 17, 21, 23, 24, 27, 97, 101, 107, 110, 112, 113, 114, 141, 159, 161, 162, 164, 165, 166, 167, 172, 173, 177, 180, 183, 185, 186, 188, 191, 193, 194], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 75, 84, 86, 94, 95, 97, 98, 100, 101, 103, 106, 108, 109, 110, 111, 112, 113, 114, 115, 116, 128, 139, 141, 142, 143, 144, 149, 150, 154, 155, 156, 161, 163, 164, 168, 170, 171, 172, 173, 174, 175, 177, 179, 180, 182, 183, 185, 186, 188, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 203, 204, 205], "refer": [3, 18, 27, 65, 67, 84, 91, 93, 94, 98, 99, 103, 110, 112, 114, 119, 122, 125, 155, 156, 157, 162, 163, 165, 166, 167, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 190, 191, 195, 197, 198, 200, 202, 203, 204], "trajectori": [3, 4, 10, 91, 96, 103, 117, 128, 131, 133, 144, 145, 146, 147, 149, 150, 151, 164, 166, 167, 174, 177, 179, 180, 186], "simpl": [3, 27, 28, 101, 112, 120, 142, 143, 157, 159, 162, 170, 171, 172, 174, 177, 179, 180, 184, 185, 186, 188, 192, 195, 197, 199, 203, 204, 205], "tutori": [3, 8, 15, 18, 90, 91, 94, 95, 164, 166, 167, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 190, 192, 193, 194, 202, 203, 204, 205], "found": [3, 8, 19, 22, 26, 27, 77, 91, 96, 107, 111, 114, 128, 141, 142, 143, 156, 157, 161, 162, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 182, 183, 185, 187, 193, 196, 197, 198, 199, 200, 201], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 84, 87, 89, 90, 91, 94, 100, 101, 107, 109, 110, 111, 117, 118, 119, 122, 124, 125, 143, 155, 159, 161, 163, 164, 165, 166, 167, 168, 170, 171, 173, 174, 175, 177, 182, 183, 184, 185, 186, 187, 190, 195, 197, 202, 203, 204, 205], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 81, 85, 91, 97, 104, 107, 112, 143, 156, 157, 163, 164, 165, 167, 168, 171, 172, 175, 179, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204, 205], "navfn": [3, 28, 107, 111, 112, 114, 162, 177, 179, 180, 186, 188, 205], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 73, 84, 85, 87, 89, 90, 91, 92, 93, 94, 97, 98, 99, 101, 103, 104, 106, 107, 109, 110, 114, 115, 117, 118, 119, 120, 122, 124, 125, 156, 160, 162, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 194, 195, 196, 197, 198, 199, 200, 202, 203, 204], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 82, 92, 93, 94, 98, 99, 100, 101, 103, 104, 106, 107, 108, 109, 110, 114, 115, 116, 117, 118, 123, 124, 126, 127, 141, 142, 143, 157, 159, 162, 164, 165, 166, 167, 170, 173, 174, 175, 177, 179, 180, 182, 183, 186, 187, 188, 199, 201, 203, 204], "dijkstra": [3, 108, 165, 177, 179], "teb": [3, 107, 162, 166, 177, 179, 186, 205], "dwa": [3, 177, 179], "elast": [3, 162, 179, 205], "band": [3, 162, 179, 197, 205], "optim": [3, 17, 22, 27, 97, 100, 107, 114, 121, 122, 141, 142, 156, 161, 164, 165, 166, 167, 177, 179, 180, 186, 187, 189, 194, 203, 205], "techniqu": [3, 4, 6, 27, 91, 101, 112, 113, 114, 164, 183, 186, 194, 197], "There": [3, 14, 18, 19, 27, 106, 107, 154, 155, 159, 162, 164, 165, 168, 172, 177, 179, 183, 184, 190, 192, 197, 198, 203, 205], "hybrid": [3, 111, 114, 141, 143, 156, 161, 164, 165, 166, 177, 179, 180, 186, 205], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 21, 23, 24, 27, 91, 114, 116, 154, 156, 157, 165, 167, 178, 185, 186, 187, 192, 203, 205, 206], "your": [3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 17, 18, 26, 27, 91, 94, 104, 106, 107, 110, 111, 114, 116, 117, 123, 124, 126, 127, 142, 143, 154, 155, 156, 157, 159, 160, 161, 163, 164, 165, 166, 167, 168, 170, 172, 173, 174, 175, 177, 179, 180, 181, 183, 184, 185, 186, 187, 189, 192, 193, 194, 195, 197, 198, 199, 200, 201, 202, 203, 204, 205], "qualiti": [3, 8, 25, 27, 97, 107, 113, 114, 142, 143, 159, 161, 165, 167, 182, 194, 197, 203], "altern": [3, 22, 27, 61, 156, 157, 164, 167, 180, 182, 192], "consid": [3, 14, 18, 29, 30, 46, 55, 59, 73, 90, 91, 92, 94, 95, 99, 107, 137, 142, 143, 152, 159, 163, 164, 166, 167, 170, 171, 173, 174, 175, 177, 179, 181, 186, 187, 190, 194, 197, 198, 202, 203], "approv": [3, 159], "phase": [3, 6, 143], "discuss": [3, 6, 19, 27, 94, 159, 163, 164, 165, 173, 174, 179, 180, 181, 182, 183, 184, 185, 187, 190, 197, 203, 205], "d": [3, 20, 105, 124, 159, 167, 168, 175, 180, 182, 185, 190, 192, 193, 194, 196, 199, 203, 204, 205], "variant": [3, 6, 27, 107, 110, 164, 177, 179, 190], "vornoi": 3, "graph": [3, 10, 116, 143, 166, 178, 193], "rout": [3, 10, 26, 27, 41, 100, 107, 142, 175, 178, 186, 187], "state": [3, 15, 19, 21, 23, 24, 26, 66, 91, 97, 98, 99, 101, 102, 103, 104, 107, 110, 111, 114, 117, 119, 135, 137, 141, 160, 161, 163, 164, 165, 168, 170, 171, 173, 174, 175, 177, 179, 180, 182, 183, 184, 186, 187, 197, 199, 200, 203, 204, 205], "lattic": [3, 111, 114, 141, 142, 161, 165, 166, 177, 178, 179, 186, 205], "kinodynam": 3, "method": [3, 4, 6, 17, 21, 23, 24, 26, 27, 100, 101, 104, 107, 123, 127, 145, 146, 149, 150, 159, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 192, 193, 203, 204], "given": [3, 6, 22, 26, 27, 30, 33, 34, 46, 57, 59, 91, 93, 100, 107, 112, 113, 119, 163, 164, 165, 166, 167, 171, 172, 173, 174, 177, 179, 182, 186, 188, 190, 193, 197, 203, 204], "static": [3, 27, 90, 91, 92, 99, 123, 127, 142, 143, 159, 161, 165, 171, 177, 180, 183, 186, 187, 191, 197, 201, 202, 203], "cilqr": 3, "ilqr": 3, "mpc": [3, 107, 166, 177, 179], "spline": 3, "addit": [3, 11, 19, 21, 22, 23, 24, 27, 41, 90, 91, 94, 96, 142, 155, 156, 164, 165, 166, 171, 175, 179, 182, 183, 185, 186, 192, 193, 194, 197, 202], "complet": [3, 4, 5, 12, 17, 18, 19, 22, 26, 27, 34, 57, 91, 100, 101, 103, 107, 110, 111, 135, 137, 142, 143, 152, 156, 159, 160, 161, 162, 163, 164, 165, 166, 167, 170, 171, 175, 177, 178, 179, 180, 182, 183, 185, 187, 188, 189, 190, 193, 194, 196, 197, 199, 201, 203, 204, 205], "50": [3, 91, 101, 107, 119, 165, 183, 192, 197, 200, 203], "greater": [3, 103, 107, 116, 156, 173, 187], "coverag": [3, 4, 6, 12, 17, 27, 28, 34, 41, 161, 167, 175, 177, 178, 186, 187], "motion": [3, 4, 27, 92, 97, 101, 103, 142, 143, 151, 152, 164, 177, 179, 182, 184, 194, 197, 202, 204], "pluginlib": [3, 27, 162, 170, 172, 173, 174, 175, 188, 190, 201], "robust": [4, 6, 27, 204], "wide": [4, 18, 27, 142, 167, 170, 186, 194], "rang": [4, 7, 71, 90, 91, 92, 99, 110, 123, 125, 127, 156, 163, 164, 167, 168, 172, 177, 178, 185, 186, 187, 191, 192, 194, 198, 200, 202, 203], "environ": [4, 5, 9, 10, 12, 27, 101, 103, 114, 154, 155, 156, 157, 159, 160, 161, 179, 180, 182, 183, 184, 186, 190, 194, 197, 198, 201, 202, 203], "been": [4, 6, 14, 18, 19, 21, 23, 24, 27, 56, 65, 90, 93, 94, 96, 98, 107, 109, 114, 115, 116, 118, 141, 142, 143, 156, 159, 163, 164, 165, 166, 167, 168, 172, 173, 174, 177, 180, 183, 184, 185, 186, 190, 193, 197, 201, 202, 203], "oper": [4, 5, 21, 23, 24, 27, 91, 97, 100, 107, 110, 117, 119, 157, 160, 161, 164, 165, 166, 167, 170, 172, 173, 174, 175, 179, 182, 183, 184, 186, 187, 189, 190, 194, 197, 202, 204], "presenc": [4, 107, 168, 186, 198], "explicitli": [4, 26, 157, 198], "model": [4, 27, 28, 90, 91, 92, 97, 101, 114, 123, 127, 142, 156, 160, 161, 163, 164, 177, 179, 182, 183, 185, 186, 196, 197, 201, 202], "characterist": [4, 12, 113, 182], "howev": [4, 6, 9, 14, 20, 21, 23, 24, 27, 90, 91, 94, 107, 112, 142, 156, 163, 164, 165, 168, 170, 175, 180, 182, 185, 186, 188, 190, 192, 194, 197, 198, 200, 201, 202, 203, 205], "field": [4, 26, 41, 45, 67, 90, 91, 92, 98, 100, 125, 141, 163, 164, 165, 166, 167, 170, 172, 174, 175, 182, 183, 185, 187, 189, 190, 192, 194, 197, 198, 200, 201, 203], "progress": [4, 74, 98, 107, 110, 134, 136, 156, 159, 166, 178, 186, 205], "deploi": [4, 107, 161, 167, 179, 190], "fill": [4, 159, 163, 171, 189, 198, 200, 204], "consider": [4, 107, 186, 190], "must": [4, 14, 19, 26, 27, 65, 73, 92, 99, 100, 103, 106, 110, 113, 117, 120, 123, 127, 134, 136, 142, 143, 144, 155, 159, 163, 165, 166, 167, 170, 171, 173, 174, 175, 177, 179, 182, 183, 184, 187, 188, 189, 190, 193, 196, 199, 201, 202, 203, 204], "taken": [4, 67, 82, 90, 91, 97, 107, 125, 139, 164, 172, 175, 198, 200], "respect": [4, 27, 111, 122, 164, 165, 171, 178, 179, 182, 183, 185, 186, 197, 201, 205], "peopl": [4, 9, 21, 23, 24, 91, 181], "cart": 4, "anim": [4, 191], "exist": [4, 8, 11, 12, 27, 41, 90, 91, 101, 106, 107, 120, 141, 154, 156, 159, 163, 164, 165, 167, 168, 173, 175, 186, 190, 193, 194, 195, 197, 203, 204], "machin": [4, 27, 156, 157, 182, 183, 184, 187, 190, 204], "learn": [4, 7, 11, 18, 27, 95, 157, 161, 170, 171, 174, 183, 184, 185, 190], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 17, 26, 27, 90, 91, 94, 98, 99, 100, 105, 117, 119, 156, 157, 159, 164, 166, 167, 168, 170, 175, 179, 181, 182, 184, 186, 190, 194, 197, 199, 204], "tie": 4, "them": [4, 7, 21, 26, 27, 90, 98, 100, 107, 118, 122, 123, 127, 143, 156, 157, 159, 161, 162, 164, 165, 166, 167, 170, 171, 172, 173, 174, 180, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204, 205], "scope": [4, 156, 167, 182, 183, 194, 195, 202], "retrain": 4, "otherwis": [4, 19, 64, 67, 70, 71, 72, 73, 74, 75, 78, 79, 80, 92, 107, 112, 124, 142, 143, 164, 165, 167, 177, 182, 186, 187, 190, 200], "becom": [4, 11, 17, 18, 27, 99, 104, 107, 116, 162, 165, 167, 182, 184, 185, 194], "expert": [4, 14], "some": [4, 7, 11, 13, 17, 18, 19, 21, 26, 27, 44, 49, 50, 51, 52, 53, 58, 90, 93, 94, 98, 107, 109, 112, 114, 115, 117, 118, 122, 142, 156, 159, 160, 162, 164, 165, 167, 168, 171, 173, 174, 175, 179, 180, 182, 183, 184, 185, 186, 190, 191, 192, 194, 195, 197, 198, 202, 203, 204], "basic": [4, 5, 17, 18, 26, 27, 143, 162, 164, 165, 172, 175, 179, 180, 181, 182, 183, 184, 190, 192, 194, 201], "knowledg": [4, 7, 11, 159, 192, 201], "alreadi": [4, 7, 107, 163, 164, 165, 170, 180, 182, 185, 186, 190, 192, 194, 197, 203], "start": [4, 5, 12, 19, 20, 21, 23, 24, 26, 27, 42, 43, 61, 90, 91, 97, 101, 103, 107, 110, 111, 127, 142, 158, 159, 161, 163, 164, 165, 167, 170, 172, 173, 174, 175, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 200, 201, 202, 203, 204, 205], "point": [4, 9, 10, 14, 17, 18, 19, 21, 22, 23, 24, 26, 27, 55, 56, 90, 91, 97, 99, 100, 103, 107, 108, 110, 111, 112, 113, 116, 118, 119, 122, 128, 141, 142, 143, 145, 147, 149, 159, 161, 163, 164, 165, 166, 168, 172, 173, 174, 175, 177, 180, 182, 183, 184, 185, 186, 187, 189, 190, 192, 194, 196, 197, 201, 202, 203, 204, 205], "driven": [4, 186], "includ": [4, 6, 7, 10, 13, 14, 18, 26, 27, 82, 94, 95, 114, 119, 133, 155, 156, 157, 158, 159, 161, 162, 163, 164, 168, 170, 171, 172, 173, 174, 175, 177, 179, 182, 183, 184, 185, 186, 190, 192, 193, 195, 198, 199, 200, 201, 202, 203, 205], "go": [4, 14, 18, 22, 26, 27, 86, 91, 104, 107, 116, 123, 127, 159, 160, 161, 164, 165, 167, 171, 173, 180, 182, 183, 184, 186, 187, 188, 190, 192, 194, 195, 197, 198, 200, 202, 203], "yolact": 4, "edg": [4, 100, 107, 167, 184, 198], "replac": [4, 5, 10, 11, 94, 97, 105, 160, 162, 165, 166, 167, 168, 170, 172, 174, 175, 186, 188, 190, 191, 194, 197, 199, 201, 202, 203], "detectron2": 4, "benchmark": [4, 7, 11], "capabl": [4, 7, 10, 15, 26, 156, 157, 161, 164, 167, 168, 178, 183, 194, 195, 197, 205], "gpu": [4, 156, 203], "verifi": [4, 27, 147, 157, 182, 183, 185, 197], "suffici": [4, 18, 27, 107, 143, 152, 175, 191, 193, 194], "tangent": [4, 189, 197], "involv": [4, 5, 6, 11, 18, 20, 107, 110, 158, 164, 166, 167, 168, 180, 187, 190, 194], "identifi": [4, 7, 11, 13, 156, 164, 172, 179, 193], "few": [4, 11, 14, 19, 26, 86, 97, 100, 155, 156, 167, 179, 183, 186, 190, 192, 203], "produc": [4, 27, 90, 91, 93, 94, 98, 103, 107, 109, 115, 118, 165, 166, 167, 170, 174, 179, 183, 186, 194, 197, 202], "about": [4, 7, 9, 11, 21, 22, 23, 24, 27, 90, 119, 122, 125, 154, 155, 156, 157, 159, 161, 164, 166, 167, 170, 171, 172, 174, 175, 182, 183, 184, 185, 186, 190, 191, 192, 193, 194, 196, 197, 200, 203, 204], "power": [4, 18, 97, 107, 157, 161, 165, 186, 190], "intel": [4, 14, 107, 165], "cpu": [4, 7, 91, 156, 165, 186, 187, 194], "nvidia": [4, 101, 167, 190, 194, 203], "jetson": [4, 190, 194, 203], "soc": 4, "extern": [4, 21, 23, 24, 26, 90, 98, 101, 104, 138, 155, 156, 162, 163, 166, 167, 187, 190, 194, 206], "next": [4, 5, 18, 19, 21, 22, 23, 24, 27, 41, 107, 117, 118, 138, 140, 156, 160, 162, 163, 170, 172, 173, 174, 175, 177, 179, 180, 182, 183, 184, 185, 190, 191, 200, 204], "mark": [4, 27, 97, 99, 123, 124, 127, 147, 166, 175, 183, 186, 191, 198, 200, 201, 204], "ensur": [4, 9, 11, 13, 20, 21, 23, 24, 27, 91, 98, 104, 107, 110, 117, 156, 157, 159, 162, 164, 165, 166, 167, 179, 180, 184, 185, 186, 187, 190, 193, 201], "doe": [4, 9, 19, 21, 22, 23, 24, 90, 91, 96, 101, 107, 122, 124, 142, 143, 155, 156, 164, 165, 166, 167, 170, 173, 174, 175, 180, 182, 186, 187, 188, 190, 197, 198, 200, 203, 204], "collid": [4, 9, 180], "permit": [4, 159, 198], "direct": [4, 61, 91, 97, 107, 110, 114, 117, 129, 142, 143, 148, 155, 156, 164, 167, 178, 179, 184, 189, 196, 197, 202], "collabor": [4, 14, 159], "member": [4, 159, 170, 173, 174, 175], "detect": [4, 27, 57, 61, 90, 91, 96, 97, 101, 110, 156, 167, 180, 182, 183, 186, 189, 195, 203], "real": [4, 9, 12, 27, 91, 98, 117, 159, 182, 183, 184, 185, 189, 190, 195, 197], "live": [4, 27, 157, 164, 170, 184, 186, 190, 196, 199, 204], "demonstr": [4, 10, 26, 91, 155, 165, 167, 168, 172, 197, 201, 202, 203], "85": [4, 12], "higher": [4, 6, 9, 12, 18, 27, 91, 97, 98, 99, 100, 101, 103, 105, 107, 117, 119, 142, 143, 161, 164, 165, 166, 167, 168, 175, 186, 187, 195, 198, 200, 203, 204], "python": [4, 10, 143, 161, 164, 167, 182, 197, 198, 200, 203], "geometri": [4, 5, 9, 91, 182, 183, 185, 190], 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183, 186, 187, 188, 189, 190, 192, 195, 197, 201, 203], "top": [5, 7, 11, 18, 99, 170, 172, 173, 174, 175, 184, 188, 189, 191, 193, 198, 200, 204], "download": [5, 156, 189, 190], "packag": [5, 8, 17, 26, 27, 90, 91, 94, 95, 96, 99, 101, 103, 107, 110, 111, 114, 117, 143, 154, 155, 156, 159, 160, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 200, 202, 203, 205], "grid_map": 5, "metapackag": [5, 167], "costmap_2d": [5, 167, 172, 183], "code": [5, 6, 15, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 64, 78, 79, 80, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117, 118, 141, 156, 157, 159, 162, 163, 165, 168, 170, 171, 172, 173, 174, 175, 177, 180, 182, 183, 185, 188, 190, 191, 192, 197, 201, 203, 205], "analyz": [5, 6, 7, 10, 26, 27, 171, 193], "abstract": [5, 11, 27, 165, 166, 203, 204], "allow": [5, 6, 8, 9, 10, 17, 18, 19, 21, 22, 23, 24, 27, 86, 91, 92, 93, 94, 99, 100, 103, 107, 108, 110, 116, 125, 141, 142, 143, 144, 147, 152, 156, 157, 159, 161, 163, 164, 165, 168, 170, 172, 173, 174, 179, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 194, 195, 197, 198, 200, 202, 203], "expect": [5, 11, 26, 92, 107, 109, 123, 127, 159, 161, 163, 164, 167, 175, 182, 187, 188, 190, 197, 203], "full": [5, 7, 12, 19, 27, 92, 99, 107, 122, 128, 142, 154, 159, 163, 164, 165, 178, 179, 180, 181, 182, 184, 185, 186, 190, 191, 194, 195, 197, 198, 200, 202, 203, 204, 205], "process": [5, 7, 8, 11, 22, 26, 27, 28, 57, 92, 94, 98, 99, 107, 109, 110, 112, 124, 142, 143, 155, 156, 158, 160, 163, 164, 166, 167, 170, 171, 175, 177, 181, 185, 186, 187, 190, 191, 192, 193, 194, 197, 201, 202, 203, 204, 205], "over": [5, 6, 8, 11, 14, 18, 20, 26, 27, 55, 56, 89, 91, 99, 107, 144, 159, 161, 164, 165, 166, 167, 175, 179, 180, 182, 183, 186, 187, 189, 190, 194, 197, 198, 201, 202, 205], "cours": [5, 11, 156, 185, 194], "summer": [5, 11], "earli": [5, 11, 16], "design": [5, 6, 8, 26, 27, 96, 101, 107, 112, 114, 164, 166, 172, 186, 191, 198, 200, 202, 204], "gradient": [5, 27, 97, 112, 165, 172], "complement": [5, 163, 197], "startup": [5, 27, 104, 154, 156, 160, 163, 187, 189, 190, 198, 200], "merg": [5, 13, 156, 159, 163, 172], "branch": [5, 13, 22, 142, 143, 154, 155, 156, 159, 165, 188, 190], "2d": [5, 15, 26, 27, 28, 90, 91, 103, 111, 113, 114, 123, 127, 142, 160, 161, 163, 164, 172, 173, 174, 175, 177, 179, 180, 186, 194, 196, 197, 198, 201, 205], "low": [5, 18, 19, 71, 101, 107, 112, 117, 142, 162, 177, 186], "level": [5, 9, 18, 21, 23, 24, 27, 91, 96, 105, 113, 159, 161, 164, 165, 166, 168, 187, 193, 194, 198, 200, 202, 203, 204], "object": [5, 10, 11, 26, 27, 41, 85, 100, 107, 161, 164, 165, 166, 167, 168, 170, 172, 175, 181, 183, 185, 186, 197, 201, 206], "reimplement": [5, 6], "mechan": [5, 11, 90, 91, 92, 93, 94, 98, 106, 109, 115, 117, 118, 172, 192, 194], "git": [5, 155, 157, 159, 189, 190, 198, 199, 200, 201], "pick": [5, 26, 27, 99, 118, 180, 196, 197], "befor": [5, 11, 18, 21, 22, 23, 24, 25, 27, 44, 49, 52, 53, 58, 65, 82, 84, 86, 91, 92, 98, 100, 103, 106, 107, 113, 122, 123, 127, 138, 141, 142, 143, 151, 156, 157, 162, 163, 164, 165, 167, 168, 170, 171, 172, 173, 174, 175, 177, 179, 182, 183, 185, 186, 187, 188, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 203, 204, 205], "coordin": [5, 26, 27, 41, 92, 99, 100, 118, 165, 182, 184, 185, 194, 195, 197], "transform": [5, 15, 27, 77, 90, 91, 92, 93, 94, 99, 101, 103, 107, 110, 115, 119, 122, 125, 128, 154, 160, 161, 163, 164, 165, 173, 177, 180, 181, 182, 183, 185, 186, 194, 198, 199], "amcl": [6, 7, 26, 27, 28, 54, 69, 160, 163, 177, 183, 184, 186, 194, 197], "engin": [6, 155, 157, 162, 193, 194], "last": [6, 14, 19, 21, 23, 48, 60, 61, 91, 92, 97, 100, 107, 108, 114, 116, 117, 133, 141, 142, 143, 145, 146, 149, 150, 156, 165, 167, 175, 179, 180, 182, 184, 185, 187, 194, 198, 200, 202], "10": [6, 11, 14, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 46, 47, 50, 51, 54, 59, 63, 72, 87, 90, 91, 93, 94, 97, 98, 100, 102, 103, 104, 107, 109, 110, 111, 113, 115, 118, 121, 127, 134, 136, 138, 141, 142, 143, 151, 164, 166, 167, 170, 185, 188, 189, 190, 191, 192, 195, 197, 203, 205], "year": [6, 14, 161], "essenti": [6, 142, 143, 165, 183, 186, 203], "updat": [6, 7, 11, 12, 18, 19, 20, 27, 66, 75, 85, 92, 99, 101, 105, 114, 122, 126, 156, 159, 162, 165, 166, 167, 168, 170, 171, 172, 173, 175, 177, 180, 182, 184, 186, 190, 191, 194, 195, 197, 199, 200, 203, 204], "made": [6, 8, 27, 91, 98, 99, 101, 104, 134, 136, 156, 157, 159, 165, 166, 172, 175, 179, 180, 185, 186, 191, 195, 198, 200, 202, 203], "adapt": [6, 27, 92, 110, 164, 177, 183, 184, 185], "mont": [6, 27, 92, 183], "carlo": [6, 27, 92, 183], "written": [6, 27, 167, 170, 172, 173, 174, 175, 183, 191, 197, 198, 200, 202, 204], "embed": [6, 27, 165, 186, 187], "structur": [6, 8, 18, 27, 161, 166, 167, 175, 179, 184, 185, 187, 197, 200, 201, 204], "veri": [6, 7, 11, 14, 16, 17, 21, 23, 27, 107, 112, 142, 159, 165, 167, 178, 180, 184, 185, 186, 190, 194, 203, 205], "sensit": [6, 91, 98, 117, 119, 142, 166, 167], "chang": [6, 11, 12, 13, 14, 17, 18, 21, 23, 24, 26, 27, 66, 68, 81, 91, 93, 94, 97, 98, 99, 100, 101, 103, 107, 109, 113, 115, 117, 118, 135, 137, 141, 142, 143, 145, 149, 156, 159, 160, 163, 172, 173, 175, 178, 180, 182, 183, 186, 190, 192, 194, 195, 196, 197, 198, 200, 201, 202, 204], "mcl": 6, "hallmark": 6, "decad": [6, 14], "particular": [6, 19, 22, 27, 48, 90, 101, 107, 163, 165, 167, 168, 175, 186, 188, 190, 192, 193, 194, 197, 203], "deprec": [6, 97, 164, 165], "target": [6, 101, 107, 110, 125, 156, 157, 163, 164, 167, 179, 185, 192, 195, 196, 200, 203, 204], "laser": [6, 9, 90, 91, 92, 123, 127, 177, 183, 184, 190, 202], "scanner": [6, 90, 91, 123, 127, 183, 202], "simplifi": [6, 160, 163, 171, 173, 175, 192], "accur": [6, 27, 90, 91, 164, 177, 182, 186, 194, 197], "track": [6, 26, 27, 73, 99, 101, 107, 110, 111, 159, 161, 165, 166, 167, 173, 175, 177, 179, 186, 188, 192, 194, 203, 205], "occup": [6, 99, 106, 122, 123, 127, 177, 183, 199], "grid": [6, 7, 27, 99, 106, 123, 127, 131, 177, 179, 180, 183, 185, 197, 199, 201], "reason": [6, 27, 90, 91, 107, 141, 142, 143, 159, 165, 172, 175, 180, 184, 186, 190, 192, 197, 202], "left": [6, 27, 42, 43, 94, 103, 110, 116, 142, 143, 156, 160, 165, 173, 174, 180, 182, 183, 185, 189, 190, 191, 193, 196, 197, 200, 204], "end": [6, 11, 20, 27, 90, 91, 101, 107, 108, 110, 111, 112, 141, 143, 165, 167, 170, 172, 173, 174, 175, 177, 185, 186, 187, 190, 191, 192, 197, 202], "creativ": [6, 8], "novelti": 6, "feel": [6, 154, 157, 185, 186], "best": [6, 8, 11, 27, 28, 91, 107, 128, 141, 142, 143, 156, 159, 165, 166, 179, 183, 184, 186, 191, 192, 194, 198, 201], "modifi": [6, 17, 60, 61, 94, 95, 102, 112, 156, 159, 164, 165, 167, 168, 170, 171, 173, 174, 175, 177, 179, 180, 182, 185, 190, 192, 193, 195, 204], "modular": [6, 157, 161, 177], "compon": 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195, 203], "input": [6, 19, 26, 27, 91, 94, 97, 107, 112, 113, 123, 124, 127, 138, 161, 164, 166, 167, 168, 170, 171, 172, 173, 174, 177, 182, 185, 188, 190, 192, 195, 197, 202, 204], "multipl": [6, 11, 21, 23, 24, 27, 41, 44, 49, 52, 53, 58, 86, 91, 93, 107, 114, 115, 157, 161, 163, 164, 167, 168, 173, 174, 179, 182, 183, 184, 185, 186, 187, 188, 190, 192, 194, 197, 200, 202, 203], "strictli": [6, 143, 166], "65": [6, 106, 200], "reliabl": [6, 12, 44, 49, 52, 53, 58, 157, 161, 183, 185, 203], "particl": [6, 7, 27, 92, 160, 177, 186, 191], "filter": [6, 13, 29, 92, 98, 101, 112, 182, 186, 190, 194, 197, 201, 202, 203, 206], "abil": [6, 7, 27, 91, 107, 166, 167, 168, 202], "read": [6, 8, 18, 27, 90, 91, 124, 157, 164, 177, 183, 190, 192, 197, 198, 200], "academ": 6, "significantli": [7, 9, 17, 22, 23, 24, 86, 107, 111, 142, 165, 167, 177, 186, 197, 205], "leverag": [7, 11, 26, 155, 157, 165, 181, 186, 188, 195, 197, 203], "multi": [7, 10, 11, 26, 27, 164, 165, 177, 179, 190], "processor": [7, 107, 186], "core": [7, 17, 27, 166, 187, 188, 190], "seek": 7, "thread": [7, 11, 13, 26, 27, 91, 98, 107, 117, 167, 192], "parallel": [7, 13, 197, 202], "comput": [7, 17, 18, 19, 20, 21, 27, 41, 42, 43, 100, 105, 107, 109, 110, 114, 116, 141, 142, 143, 145, 149, 161, 165, 166, 167, 168, 170, 171, 173, 174, 177, 179, 180, 182, 183, 184, 186, 188, 190, 193, 194, 196, 203], "overal": [7, 18, 81, 100, 142, 167, 179, 183, 194, 197], "platform": [7, 101, 107, 114, 161, 164, 181, 184, 186, 194, 203, 204, 205], "cloud": [7, 27, 156, 157, 160, 163, 190], "popul": [7, 92, 94, 164, 165, 170, 175, 183, 187, 188, 197], "evalu": [7, 107, 128, 131, 143, 179, 194], "voxel": [7, 99, 166, 177, 183, 191, 201], "rai": [7, 183], "cast": 7, "student": [7, 159], "interest": [7, 10, 11, 14, 17, 26, 27, 156, 159, 175, 184, 186, 188, 192, 193, 195, 196, 199, 203, 204], "ideal": [7, 12, 165, 166, 170, 173, 174], "exposur": 7, "concept": [7, 18, 19, 161, 164, 179, 183, 184, 187, 198, 200, 203, 204], "Then": [7, 19, 164, 171, 172, 173, 174, 175, 182, 183, 190, 192, 193, 196, 203], "obtain": [7, 27, 28, 91, 100, 101, 163, 166, 182, 183, 189, 190, 194, 203], "while": [7, 9, 13, 18, 21, 23, 24, 26, 94, 104, 107, 110, 112, 122, 142, 152, 155, 156, 157, 164, 165, 166, 167, 171, 175, 179, 180, 182, 183, 186, 187, 188, 190, 191, 192, 194, 196, 197, 198, 202, 203, 204, 205, 206], "great": [7, 14, 18, 159, 165, 192, 194, 197], "deal": [7, 27, 182, 184, 186], "valuabl": [7, 11, 159], "skillset": 7, "analysi": [7, 27, 159, 161, 193], "benefit": [7, 156, 186], "non": [7, 10, 26, 27, 91, 94, 98, 101, 104, 105, 107, 111, 114, 119, 121, 122, 125, 141, 142, 143, 156, 161, 165, 167, 168, 171, 175, 177, 179, 180, 184, 185, 186, 190, 192, 193, 194, 198, 202, 203, 205], "trivial": [7, 27, 159, 166, 170, 202, 203, 204], "quickli": [7, 101, 156, 159, 165, 184, 186, 204], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 19, 21, 23, 26, 27, 90, 103, 106, 107, 114, 155, 157, 164, 165, 171, 179, 182, 183, 184, 185, 186, 188, 190, 192, 194, 197, 201, 204, 205], "signific": [8, 9, 107, 172, 186, 197], "stride": 8, "world": [8, 9, 26, 27, 156, 160, 161, 170, 182, 183, 184, 186, 190, 191, 195, 198, 199, 200, 201], "gain": [8, 107, 110], "reput": 8, "fair": 8, "unfair": 8, "rel": [8, 27, 61, 90, 91, 99, 101, 107, 117, 123, 124, 126, 127, 163, 167, 168, 179, 180, 182, 184, 186, 193, 194, 197, 203], "limit": [8, 27, 91, 98, 106, 107, 117, 125, 133, 141, 142, 143, 156, 164, 167, 173, 177, 179, 182, 186, 190, 195, 202, 206], "type": [8, 17, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 73, 76, 77, 78, 79, 80, 82, 84, 85, 86, 87, 89, 90, 91, 92, 93, 94, 97, 98, 99, 100, 101, 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, 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196, 199, 201, 203, 204], "remain": [13, 18, 19, 20, 27, 73, 97, 107, 131, 156, 157, 162, 163, 164, 165, 167, 170, 171, 172, 173, 174, 190, 191, 205], "miss": [13, 91, 98, 117, 155, 164, 167, 185, 186, 190, 193, 204], "lock": [13, 173, 175], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 86, 89, 92, 94, 124, 154, 155, 156, 160, 167, 170, 171, 173, 174, 183, 188, 190, 198, 200, 201, 204], "lower": [14, 18, 71, 91, 93, 107, 119, 142, 165, 166, 183, 186, 187], "barrier": 14, "entri": [14, 182, 188, 192, 193, 202, 203], "flagship": 14, "along": [14, 26, 27, 61, 72, 89, 103, 107, 110, 111, 119, 122, 125, 142, 143, 147, 163, 164, 165, 166, 177, 179, 183, 185, 187, 188, 192, 194, 197, 198, 200, 203], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 82, 107, 164, 165, 166, 167, 170, 171, 177, 185, 191, 197, 203, 205], "nav": [14, 26, 100, 164, 165], "educ": 14, "industri": [14, 27, 91, 110, 164, 177, 179, 198], "thank": [14, 101, 167, 203], "david": [14, 102, 177], "lu": [14, 102, 161, 177], "mike": 14, "ferguson": [14, 161], "tireless": 14, "span": [14, 161, 197, 202], "keep": [14, 18, 27, 91, 100, 107, 156, 163, 164, 167, 168, 171, 173, 174, 177, 182, 184, 185, 190, 197, 198, 204], "aliv": 14, "happen": [14, 18, 159, 173, 190], "asla": 14, "move": [14, 18, 22, 27, 86, 90, 91, 103, 107, 119, 134, 136, 138, 142, 143, 148, 151, 161, 162, 163, 164, 165, 166, 168, 174, 177, 178, 184, 185, 186, 189, 190, 194, 195, 196, 197, 198, 199, 202, 203], "rememb": [14, 110, 154, 156, 184, 185, 197], "fondli": 14, "ish": 14, "With": [14, 17, 27, 142, 184, 190, 197, 201], "redesign": 14, "flexibl": [14, 94, 107, 170], "feedback": [14, 26, 27, 94, 103, 117, 159, 165, 168, 175, 203], "gather": [14, 27], "strive": [14, 159], "alik": 14, "pull": [14, 155, 156, 157, 159, 160, 163, 164, 165, 168, 177, 186, 190, 192, 204], "kept": [14, 120], "dedic": [14, 110], "past": [14, 180, 182, 183, 185, 190, 197, 201], "contributor": [14, 159], "organ": [14, 155, 156, 173, 174, 190, 204], "sponsor": [14, 101, 167, 203], "lead": [14, 107, 139, 159, 164, 165, 200], "leadership": 14, "team": [14, 157, 195], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 90, 91, 95, 100, 101, 108, 116, 141, 142, 143, 156, 157, 168, 171, 173, 174, 175, 177, 182, 190, 192, 195, 202, 203, 204], "role": [14, 27, 171, 175, 179, 180, 192], "ruffin": [14, 156, 161], "white": [14, 156, 161, 191, 198], "uc": 14, "san": [14, 194], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 177], "wallac": [14, 161, 177], "locu": 14, "joshuawallac": 14, "former": [14, 90, 91], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 177], "wilcox": [14, 177], "bpwilcox": 14, "carl": [14, 177], "delsei": [14, 177], "crdelsei": 14, "alexei": [14, 161, 177], "merzlyakov": [14, 161, 177], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 161], "org": [14, 15, 159, 161, 163, 185, 186], "intention": [14, 97, 198], "find": [14, 27, 61, 93, 94, 98, 100, 103, 107, 109, 110, 115, 117, 118, 142, 143, 156, 157, 159, 160, 163, 164, 166, 167, 168, 173, 175, 179, 185, 186, 188, 190, 191, 192, 193, 195, 196, 203], "inquiri": 14, "bug": [14, 159, 178, 197], "privat": 14, "connect": [14, 19, 27, 100, 104, 108, 116, 120, 141, 156, 157, 163, 164, 165, 177, 179, 182, 183, 184, 185, 191, 197, 204], "independ": [14, 27, 93, 125, 161, 164, 166, 171, 183, 194, 202, 203], "consult": 14, "contractor": 14, "offici": [15, 155, 160, 180, 182, 183, 184, 185, 190], "websit": [15, 18, 167], "navigation2_tutori": [15, 167, 172, 180, 182, 185, 198, 200], "navigation2_dynam": 15, "robot_loc": [15, 27, 118, 182, 184, 194, 197], "tom": 15, "moor": [15, 161], "estim": [15, 91, 92, 112, 117, 160, 162, 164, 172, 173, 174, 175, 182, 183, 184, 196, 197], "odometri": [15, 17, 73, 90, 91, 92, 94, 98, 101, 105, 117, 131, 168, 175, 181, 183, 184, 206], "fusion": [15, 27, 182, 184, 194, 197], "gp": [15, 27, 41, 100, 118, 177, 178, 182, 183, 194, 206], "slam_toolbox": [15, 155, 192, 199], "default": [15, 17, 18, 19, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 71, 73, 76, 77, 78, 79, 80, 82, 84, 85, 86, 87, 89, 90, 91, 92, 94, 97, 100, 101, 102, 103, 104, 105, 106, 107, 108, 110, 111, 112, 113, 115, 116, 117, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 155, 156, 157, 160, 162, 163, 165, 171, 172, 175, 177, 179, 180, 181, 182, 183, 186, 189, 190, 191, 194, 195, 197, 198, 202, 203, 204], "ship": [16, 26], "encount": [16, 179, 183, 192, 193], "click": [16, 157, 160, 168, 172, 173, 174, 175, 180, 183, 189, 196, 197, 204], "imag": [16, 22, 27, 97, 112, 139, 143, 162, 164, 185, 188, 189, 191, 197, 198, 200], "introduct": [17, 95, 185, 190], "To": [17, 20, 26, 27, 91, 98, 107, 116, 117, 141, 142, 144, 155, 156, 157, 159, 161, 164, 166, 167, 170, 173, 174, 175, 179, 180, 181, 182, 183, 184, 185, 189, 191, 192, 193, 195, 197, 198, 199, 200, 201, 203, 204], "walkthrough": [17, 190], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 85, 92, 97, 101, 103, 107, 108, 110, 116, 133, 135, 137, 141, 142, 143, 145, 146, 154, 160, 161, 162, 163, 164, 165, 167, 168, 172, 173, 174, 175, 177, 182, 183, 185, 186, 194, 195, 197, 199, 202, 203], "paus": [17, 140, 160, 162, 164, 165, 166], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 84, 89, 95, 128, 142, 143, 163, 164, 186, 195], "And": [17, 18, 167, 184, 185, 188, 189, 191, 198], "invalid": [17, 26, 156, 166, 175], "calibr": [17, 197, 206], "incredibli": 17, "across": [17, 27, 107, 113, 121, 142, 143, 156, 166, 167, 175, 178, 183, 184, 186, 190, 197, 204], "statu": [17, 27, 159, 161, 165, 168, 170, 171, 190, 198, 203], "checker": [17, 47, 98, 111, 128, 162, 170, 205], "section": [17, 18, 27, 91, 97, 107, 158, 159, 161, 165, 167, 172, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 190, 191, 192, 194, 200], "guid": [17, 18, 19, 155, 157, 163, 165, 166, 167, 168, 172, 174, 178, 179, 180, 182, 183, 184, 185, 187, 194, 201, 202], "These": [17, 18, 27, 107, 156, 161, 162, 163, 164, 165, 166, 167, 171, 172, 173, 175, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 197, 198, 200, 203, 204], "exemplari": 17, "nav2_bt_navig": [17, 18, 94, 163, 164, 167, 175, 195, 204], "ones": [17, 142, 143, 165, 179, 183, 197], "seen": [17, 22, 114, 143, 165, 167, 168, 171, 172, 182, 187, 190, 204], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 155, 156, 157, 165, 170, 171, 173, 174, 175, 182, 183, 185, 190, 195, 203, 204], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 171, 195], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 95, 171, 195], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 95, 161, 171, 177, 195, 204], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 95, 171, 195], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 95, 171, 195], "distancecontrol": [17, 18, 95, 97, 163], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 84, 92, 93, 97, 100, 101, 103, 107, 110, 111, 128, 133, 142, 143, 148, 162, 163, 164, 167, 173, 177, 179, 182, 183, 184, 186, 195, 203, 205], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 84, 87, 89, 95, 171, 175, 188, 195], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 95, 98, 102, 103, 107, 110, 111, 163, 166, 167, 171, 173, 175, 179, 195, 205], "simpli": [17, 107, 142, 156, 159, 164, 165, 167, 170, 171, 182, 185, 186, 190, 192, 198, 200, 201, 204], "everi": [17, 19, 21, 23, 24, 61, 88, 97, 99, 103, 107, 110, 123, 127, 142, 159, 164, 165, 167, 171, 172], "meter": [17, 25, 26, 27, 92, 99, 100, 108, 111, 141, 142, 143, 189, 191, 197, 205], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 86, 89, 94, 165, 166, 171, 175, 187, 188, 204], "retri": [17, 21, 23, 24, 45, 82, 101, 168, 177, 203], "contextu": [17, 18, 21, 23, 24, 161, 166, 203], "automat": [17, 27, 94, 100, 107, 110, 124, 156, 159, 160, 164, 165, 167, 168, 180, 182, 184, 185, 186, 187, 190, 197, 198, 200, 203], "door": 17, "elev": [17, 27, 91, 98, 117, 157, 159, 167, 197], "api": [17, 27, 57, 161, 162, 164, 170, 172, 175, 183, 188, 190, 197], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 95, 171, 177], "dock": [17, 18, 26, 27, 28, 45, 62, 93, 167, 177, 178, 179, 206], "serv": [18, 22, 161, 165, 183, 190], "behavior_tre": [18, 26, 50, 51, 94, 163, 167, 175, 204], "sometim": [18, 159, 186, 204], "walk": [18, 19, 27, 156, 194, 197], "navigate_to_pose_w_replanning_and_recoveri": [18, 175], "familiar": [18, 27, 185, 190], "short": [18, 64, 78, 79, 80, 143, 170, 183, 184, 194, 204], "explan": [18, 96, 114, 203], "cpp": [18, 27, 161, 162, 163, 164, 165, 171, 172, 177, 192, 204], "v3": [18, 162, 163, 164], "describ": [18, 19, 107, 159, 160, 167, 172, 173, 174, 175, 179, 182, 185, 190, 192, 193, 197, 200, 201, 202, 204], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 86, 92, 93, 95, 97, 99, 103, 107, 109, 110, 118, 123, 124, 126, 127, 131, 142, 143, 149, 150, 162, 163, 165, 166, 172, 173, 174, 177, 180, 182, 183, 184, 185, 186, 191, 196, 198, 200, 201], "period": [18, 90, 91, 92, 93, 94, 95, 97, 98, 106, 109, 115, 117, 118, 156, 162, 165, 167, 172, 175, 177], "hz": [18, 20, 21, 22, 23, 24, 87, 89, 90, 91, 92, 95, 98, 101, 107, 117, 171, 182, 189, 195], "primarili": [18, 165, 180, 186], "recoverynod": [18, 19, 21, 22, 23, 24, 95, 171], "number_of_retri": [18, 19, 21, 22, 23, 24, 82, 95, 171], "navigaterecoveri": [18, 21, 22, 23, 24, 95, 171], "ratecontrol": [18, 20, 21, 22, 23, 24, 95, 171, 195], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 95, 171, 188, 195], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 95, 108, 109, 116, 141, 142, 143, 164, 171, 174, 179, 188, 195], "reactivefallback": [18, 19, 21, 22, 23, 24, 95, 171], "computepathtoposerecoveryfallback": [18, 95], "goalupd": [18, 19, 21, 22, 23, 24, 66, 95, 171], "clearentirecostmap": [18, 21, 22, 23, 24, 95, 164, 171], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 95, 171], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 95, 171], "global_costmap": [18, 21, 22, 23, 24, 55, 93, 95, 99, 112, 113, 115, 119, 122, 125, 126, 168, 170, 171, 172, 180, 183, 188, 191, 197, 198, 200, 201], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 95, 171], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 95, 164, 167, 171, 195], "followpathrecoveryfallback": [18, 95], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 95, 171], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 91, 93, 95, 99, 101, 120, 122, 123, 124, 127, 168, 170, 171, 172, 180, 183, 191, 198, 200], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 95, 171], "recoveryfallback": [18, 21, 22, 23, 95, 171], "roundrobin": [18, 21, 22, 23, 24, 95], "recoveryact": [18, 21, 22, 23, 24, 95, 171], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 95, 107, 156, 166, 172, 177, 182, 187, 188, 190, 195], "clearingact": [18, 21, 22, 23, 24, 95], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 95, 171], "57": [18, 21, 22, 23, 24, 26, 59, 95, 101, 171, 197, 203], "wait_dur": [18, 21, 22, 23, 24, 63, 95, 171], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 95, 164], "15": [18, 26, 30, 46, 75, 93, 94, 95, 97, 98, 99, 101, 109, 115, 118, 127, 167, 183, 185, 201, 203], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 95, 164], "025": [18, 26, 30, 46, 95, 102, 133, 185], "still": [18, 19, 26, 104, 110, 117, 122, 154, 156, 157, 164, 165, 166, 167, 182, 183, 185, 186, 190, 192, 194, 197, 198], "bit": [18, 165, 186, 190, 192, 197], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 81, 82, 83, 86, 177, 193], "known": [18, 22, 26, 27, 92, 110, 165, 168, 175, 177, 186, 189, 197, 201], "mainli": [18, 183, 184, 185], "actual": [18, 57, 91, 97, 107, 111, 142, 165, 175, 180, 184, 185, 186, 189, 190, 194, 196, 197, 202, 205], "calcul": [18, 26, 90, 91, 110, 119, 165, 172, 173, 174, 179, 182, 191, 197], "dealt": 18, "intern": [18, 21, 23, 24, 111, 161, 166, 167, 172, 175, 182, 187, 194, 197, 205], "hopefulli": [18, 107], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 98, 101, 104, 118, 141, 142, 143, 162, 164, 165, 166, 170, 175, 177, 190, 192], "enough": [18, 73, 166, 180, 186, 189, 190, 197, 203], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 84, 87, 88, 89, 107, 123, 127, 141, 142, 143, 161, 162, 164, 165, 166, 167, 170, 171, 173, 174, 175, 177, 182, 183, 185, 187, 188, 190, 192, 198, 200, 203], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 99, 123, 124, 126, 127, 159, 164, 165, 166, 167, 174, 177, 183, 186, 189, 194, 201, 203], "until": [18, 19, 20, 26, 27, 81, 91, 111, 128, 142, 143, 154, 156, 164, 173, 175, 177, 182, 192, 195, 197, 201, 203], "parent": [18, 19, 77, 123, 124, 126, 127, 156, 164, 170, 172, 173, 174, 182, 183, 184, 185, 192, 197], "exceed": [18, 99, 166], "gone": 18, "between": [18, 26, 27, 41, 90, 91, 92, 95, 100, 105, 107, 108, 112, 116, 141, 142, 143, 156, 157, 163, 164, 165, 166, 168, 169, 175, 179, 180, 182, 183, 184, 185, 186, 190, 194, 197, 198, 203, 204, 205], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 81, 84, 87, 88, 89, 165, 171, 177], "succe": [18, 19, 81, 82, 177], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 91, 100, 104, 107, 117, 118, 142, 143, 154, 156, 160, 162, 184, 185, 190, 192, 195, 198, 203, 204], "recov": [18, 92, 104], "toler": [18, 27, 61, 67, 93, 94, 97, 99, 101, 103, 107, 108, 110, 111, 113, 115, 126, 128, 135, 137, 141, 142, 143, 152, 164, 165, 167, 174, 177, 188, 196, 203, 205], "outlin": [18, 20, 164, 180, 184, 190], "center": [18, 27, 38, 39, 100, 107, 122, 141, 142, 143, 165, 170, 180, 184, 185, 189, 196, 197], "decor": [18, 20, 22, 165, 171, 177, 195, 204], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 82, 89, 90, 91, 94, 98, 99, 101, 106, 107, 123, 124, 126, 127, 139, 140, 142, 143, 155, 156, 157, 163, 164, 165, 166, 167, 168, 171, 172, 173, 174, 177, 179, 182, 183, 184, 186, 189, 190, 193, 197, 202, 203], "frequenc": [18, 19, 90, 93, 98, 99, 101, 107, 109, 117, 142, 143, 167, 182, 194, 197], "flood": 18, "too": [18, 107, 116, 142, 143, 164, 165, 167, 186, 188], "useless": 18, "100hz": 18, "depend": [18, 27, 91, 103, 107, 125, 155, 156, 157, 162, 164, 165, 166, 167, 170, 171, 173, 174, 175, 179, 180, 182, 185, 186, 190, 191, 192, 194, 196, 197, 198, 202, 203], "speedcontrol": [18, 95, 163], "big": [18, 197], "half": [18, 110, 142, 143, 183], "snippet": [18, 170, 173, 174, 175, 180, 182, 183, 185, 187, 192], "rest": [18, 38, 39, 91, 98, 107, 117, 139, 157, 167, 182, 183, 184, 187, 193, 197], "asynchron": [18, 19, 27, 163], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 85, 90, 91, 98, 111, 114, 117, 124, 126, 163, 165, 166, 167, 170, 173, 175, 177, 182, 183, 184, 186, 195, 197, 205], "halt": [18, 19, 22, 167], "quick": [18, 142, 143, 184, 198], "reaction": 18, "preempt": [18, 20, 26, 163, 171, 175, 177], "portion": [18, 91, 98, 117, 167, 188], "common": [18, 26, 27, 91, 101, 107, 156, 157, 161, 164, 165, 175, 182, 190, 194, 197, 202, 203], "pattern": [18, 19, 100, 189], "unless": [18, 19, 103, 104, 110, 143, 159], "pair": [18, 19, 107, 113, 125, 164, 167, 186, 189, 194, 197, 198, 200, 205], "imagin": [18, 27, 170, 177, 197], "wrap": [18, 26, 27], "whole": [18, 61, 159, 167, 172, 183, 189, 200, 202], "isbatterylow": [18, 19, 95], "batteri": [18, 19, 27, 70, 71, 101, 165, 166, 177, 190, 195, 203], "enter": [18, 21, 23, 24, 27, 107, 170, 173, 174, 175, 198, 203], "recharg": [18, 27], "never": [18, 27, 107, 142, 143, 165, 190, 198, 200], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 77, 81, 82, 84, 87, 88, 89, 165, 167, 177, 182, 183, 184, 185, 197], "sake": 18, "assum": [18, 19, 157, 164, 172, 173, 177, 180, 184, 185, 191, 192, 197, 198, 199, 200, 201, 202, 203, 204], "again": [18, 19, 20, 22, 82, 154, 156, 160, 162, 178, 182, 185, 190], "BUT": 18, "onto": [18, 21, 23, 107, 111, 165, 175, 177, 182, 184, 205], "hypothet": 18, "scenario": [18, 22, 103, 179, 202], "indefinit": [18, 19, 26, 55, 159, 195], "unlik": [18, 90, 170, 191], "vocabulari": 19, "larg": [19, 27, 91, 97, 103, 107, 110, 142, 143, 161, 163, 178, 182, 185, 186, 189, 203], "confus": 19, "first": [19, 27, 41, 81, 82, 90, 91, 107, 121, 126, 155, 156, 159, 161, 165, 166, 167, 173, 177, 178, 180, 182, 183, 184, 185, 186, 187, 188, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 86, 91, 92, 93, 94, 98, 99, 100, 103, 104, 107, 109, 110, 111, 115, 117, 118, 119, 120, 142, 143, 156, 163, 164, 165, 166, 167, 168, 173, 175, 177, 184, 186, 190, 191, 192, 193, 194, 195, 197, 198, 199, 202, 203, 205], 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90, 91, 98, 101, 103, 107, 110, 117, 165, 174, 175, 194, 203], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 114, 156, 164, 172, 182, 184, 187, 192, 193, 197, 198], "togeth": [19, 27, 100, 182, 184, 194, 197], "suggest": [19, 97, 107, 179, 184, 185, 190], "promot": 19, "respons": [19, 21, 23, 24, 27, 38, 39, 40, 55, 91, 104, 165, 170, 175, 179, 187], "round": [19, 83, 91, 177, 181], "robin": [19, 83, 177], "untick": 19, "That": [19, 27, 142, 159, 164, 165, 179, 180, 190], "retain": [19, 66, 112, 113, 141, 142, 143], "rather": [19, 21, 23, 24, 27, 92, 97, 99, 107, 142, 156, 162, 163, 164, 165, 167, 168, 175, 177, 184, 186, 192, 199, 203], "step": [19, 27, 91, 93, 100, 101, 107, 143, 183, 185, 190, 192, 193, 194, 202], "did": [19, 20, 167, 168, 170, 173, 174, 183, 185, 192, 193, 203], "On": [19, 177, 180, 183, 187, 191, 197], "circl": [19, 27, 90, 91, 186, 189, 202], "person": [20, 22, 26, 156, 159, 195], "virtual": [20, 91, 107, 160, 165, 167, 170, 171, 172, 173, 174, 175, 182, 185, 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107, 123, 124, 126, 127, 166, 183, 198], "truncat": [20, 60, 61, 97, 177], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 76, 99, 104, 107, 111, 128, 144, 155, 165, 177, 193, 195, 198, 203, 205], "keeprunninguntilfailur": [20, 195], "mode": [20, 91, 100, 107, 117, 156, 166, 167, 194, 197, 198, 200, 204], "infinit": [20, 98, 123, 127, 142, 143, 194, 203], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 110, 116, 141, 142, 143, 160, 171, 173, 175, 177, 195], "controllerselector": [20, 21, 22, 23, 24, 95, 164], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 106, 168, 198, 200], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 95, 164], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 85, 195], "output_go": [20, 21, 55, 56, 85, 195], 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201], "worri": [21, 23, 24, 27, 157, 186, 192], "want": [21, 23, 24, 26, 27, 90, 107, 156, 164, 167, 168, 170, 171, 172, 173, 174, 175, 182, 184, 185, 186, 187, 188, 190, 192, 193, 194, 196, 197, 199, 203, 204], "caller": [21, 23, 24, 203], "ampl": [21, 23, 24], "transient": [21, 23, 24, 44, 49, 52, 53, 58], "crowd": [21, 23, 24, 179], "temporari": [21, 22, 23, 24, 93, 94, 98, 109, 115, 118, 194, 200], "nomin": [21, 23, 24], "vector": [21, 27, 41, 42, 50, 55, 56, 66, 68, 89, 90, 91, 93, 94, 98, 99, 100, 101, 104, 107, 108, 109, 112, 115, 116, 117, 122, 123, 124, 127, 128, 141, 165, 166, 167, 172, 174, 175, 177, 179, 180, 186, 192, 198, 200, 201], "removepassedgo": [21, 95, 164, 167], "cull": [21, 55, 56, 177], "awar": [21, 23, 24, 97, 107, 114, 116, 141, 142, 143, 161, 164, 183, 186, 203], "similarli": [21, 23, 90, 96, 110, 167, 182, 190], "impact": [21, 23, 100, 107, 167, 186, 192], "worth": [21, 23, 27, 107, 181, 186, 190, 191], "reactiv": [21, 23, 195], "fallback": [21, 23, 24, 91, 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187, 193, 200, 205], "conclus": 22, "readi": [22, 155, 156, 159, 160, 165, 172, 185, 186, 190, 192, 194, 198, 200, 202, 203], "organiz": 22, "prox_len": [22, 86], "length_factor": [22, 86], "retryuntilsuccess": 22, "num_attempt": 22, "cancelingcontrolandwait": 22, "controlcancel": 22, "video": [22, 156, 172, 190, 194, 195, 196, 201, 203, 204], "matur": [23, 24], "version": [23, 24, 27, 93, 94, 97, 108, 109, 116, 128, 141, 142, 143, 154, 155, 157, 160, 164, 170, 172, 173, 174, 175, 179, 183, 185, 190], "backup_code_id": 23, "ratecontrollercomputepathtopos": 24, "recoverycomputepathtopos": 24, "fallbackcomputepathtopos": 24, "checkifnewpathneed": 24, "invert": [24, 107, 164], "globalupdatedgo": [24, 66], "ispathvalid": [24, 95, 99], "recoveryfollowpath": 24, "fallbackrecoveri": 24, "spinrecoveri": 24, "waitrecoveri": 24, "backuprecoveri": 24, "ccw": 25, "squar": [25, 38, 39, 90, 91, 99, 167, 189], "three": [25, 27, 114, 166, 184, 186, 187, 197], "driveonhead": [25, 26, 95, 166, 167], 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50, 51, 52, 53, 58, 90, 166, 167, 175, 186, 187], "call": [26, 27, 38, 39, 40, 91, 98, 101, 109, 142, 143, 148, 159, 160, 162, 163, 164, 165, 166, 167, 170, 171, 172, 173, 174, 175, 177, 184, 185, 186, 187, 188, 190, 192, 193, 197, 198, 203], "catch": [26, 165], "septemb": [26, 194], "2023": [26, 91, 110, 161, 194], "constructor": [26, 27, 165, 167, 171], "namespac": [26, 27, 93, 94, 98, 99, 102, 107, 109, 115, 118, 123, 124, 126, 127, 128, 163, 166, 172, 173, 174, 179, 182, 183, 186, 187, 194, 198, 200, 201, 205], "launch": [26, 27, 93, 104, 105, 106, 123, 124, 126, 127, 157, 160, 168, 170, 172, 173, 174, 175, 179, 180, 184, 187, 189, 190, 191, 194, 195, 197, 198, 200, 202, 204], "initial_pos": [26, 69, 92, 165], "posestamp": [26, 42, 43, 45, 48, 50, 51, 55, 56, 61, 66, 68, 85, 89, 164, 165, 167, 173, 174, 175, 187, 199, 203], "waypoint": [26, 28, 55, 103, 138, 139, 140, 161, 162, 164, 165, 168, 187], "chosen": [26, 27, 123, 124, 126, 127, 156, 166, 168, 200], "taskexecutor": 26, 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119, 122, 123, 125, 127, 142, 143, 161, 166, 175, 177, 183, 186, 197], "provenli": 27, "correct": [27, 90, 91, 154, 156, 159, 165, 182, 183, 185, 190, 196, 198, 200, 202], "central": [27, 197], "v4": 27, "construct": [27, 159, 165], "insid": [27, 91, 96, 97, 98, 101, 102, 114, 117, 118, 156, 157, 165, 166, 167, 172, 182, 183, 187, 190, 192, 193, 198, 201, 202, 203], "load": [27, 47, 93, 94, 98, 99, 101, 106, 107, 109, 115, 118, 128, 156, 161, 162, 163, 164, 165, 167, 170, 171, 172, 173, 174, 175, 177, 179, 183, 185, 188, 193, 194, 198, 200, 201, 204], "associ": [27, 166, 182, 183, 184], "At": [27, 111, 159, 165, 172, 182, 184, 185, 190, 192, 194, 203, 205], "march": 27, "One": [27, 179, 182, 185, 197], "part": [27, 31, 32, 35, 36, 37, 60, 61, 91, 92, 114, 122, 142, 143, 159, 163, 165, 172, 179, 180, 183, 185, 188, 190, 194, 202], "larger": [27, 86, 91, 104, 107, 110, 112, 141, 159, 164, 177, 192, 202], "navigatetoposeact": 27, "among": [27, 116, 179, 186, 191], "hierarch": [27, 204], 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201, 203, 204], "subscrib": [27, 44, 49, 52, 53, 58, 70, 71, 85, 91, 92, 98, 124, 126, 139, 164, 167, 168, 182, 183, 190, 195, 197], "computation": [27, 107, 127, 165], "expens": [27, 107, 127, 165, 166, 182], "sustain": 27, "fork": [27, 102, 190], "modif": [27, 156, 159, 164, 165], "itself": [27, 101, 125, 142, 143, 156, 165, 171, 175, 183, 188, 190, 198, 200, 204], "definit": [27, 47, 57, 94, 166, 170, 172, 175, 182, 183, 185, 187, 203], "rectifi": 27, "buffer": [27, 93, 99, 115, 117, 123, 127, 170, 173, 174, 190, 194, 201], "shortest": [27, 179], "spars": [27, 177, 186, 201], "predefin": [27, 197], "feasibl": [27, 107, 111, 113, 114, 122, 142, 161, 164, 165, 167, 177, 179, 186, 205], "charg": [27, 70, 101, 166, 167, 168, 177, 179, 203], "station": [27, 45, 62, 101, 179, 203], "detector": [27, 96, 101, 195, 203], "board": [27, 189], "mainstai": [27, 114], "unknown": [27, 55, 78, 79, 80, 99, 108, 116, 121, 127, 141, 142, 143, 166, 187, 198], "fake": 27, "poor": [27, 194], "total": 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"carri": [27, 163, 164, 165, 174, 195], "weight": [27, 61, 92, 97, 107, 113, 116, 141, 142, 143, 151, 163, 165, 167, 186, 194, 198], "mid": 27, "soon": [27, 167], "nav2_bt_waypoint_follow": 27, "subject": [27, 107, 182], "ti": [27, 143], "neither": 27, "highli": [27, 97, 107, 114, 151, 160, 161, 167, 177, 179, 184, 186, 188, 196, 197, 199, 201, 205], "distinct": [27, 184], "busi": 27, "navsat_transform": [27, 197], "fuse": [27, 161, 178, 182, 197], "follow_gps_waypoint": [27, 167, 197], "directli": [27, 100, 107, 140, 156, 157, 159, 164, 167, 171, 172, 185, 192, 197, 198, 200], "express": [27, 125, 167, 173, 197, 198, 200], "cartesian": [27, 41, 100, 107, 167, 177, 197], "accord": [27, 106, 182, 183, 197, 198, 200], "odom": [27, 77, 90, 91, 92, 93, 94, 98, 99, 101, 105, 117, 154, 170, 171, 180, 182, 183, 184, 194, 197, 199, 202, 203], "base_link": [27, 56, 61, 65, 67, 77, 84, 93, 94, 99, 101, 105, 112, 113, 115, 170, 171, 172, 175, 180, 182, 183, 184, 185, 188, 194, 197, 203], "instruct": [27, 118, 160, 170, 172, 173, 174, 175, 182, 183, 190, 192, 193, 199], "tri": [27, 163, 173], "equal": [27, 90, 91, 92, 93, 94, 98, 103, 106, 109, 115, 117, 118, 119, 167, 172, 189, 191, 198, 200], "vision": [27, 97, 101, 183, 190, 194, 203], "depth": [27, 91, 99, 123, 127, 177, 179, 183, 184, 185, 186, 194, 201], "rep": [27, 161, 164, 178, 182, 184, 197], "105": [27, 161, 182, 184, 197], "rich": 27, "nutshel": 27, "tf2": [27, 163, 181, 182, 184, 185, 186], "job": [27, 107], "captur": [27, 165, 179, 193, 194], "remaind": 27, "toolbox": [27, 161, 162, 183, 186, 192, 199], "metadata": [27, 156, 175, 198, 200, 203, 204], "radar": [27, 182, 183, 201], "wheel": [27, 103, 182, 184, 185, 194, 197], "encod": [27, 119, 125, 182, 184, 194, 197, 198, 200], "vio": [27, 178, 182, 184, 206], "imu": [27, 182, 183, 184, 194, 197], "drift": [27, 182], "manner": [27, 161], "dead": 27, "reckon": 27, "precis": [27, 164, 180], "perceiv": [27, 183], "regular": [27, 29], "inflat": [27, 92, 99, 122, 124, 142, 144, 167, 172, 177, 183, 191, 198, 201], "sonar": [27, 91, 124, 166, 183, 186, 201, 202], "wise": [27, 107, 175, 186, 190, 203], "scene": [27, 107, 162], "camera": [27, 119, 139, 166, 183, 186, 201, 203, 206], "underli": [27, 201], "heurist": [27, 110, 114, 141, 142, 143, 164, 165, 167, 179], "binari": [27, 99, 106, 141, 160, 166, 170, 171, 173, 174, 175, 177, 186, 190, 201], "annot": [27, 100, 164, 172, 173, 174, 198, 200, 203], "occur": [27, 112, 172, 194, 202, 203], "might": [27, 92, 107, 117, 142, 143, 164, 167, 168, 175, 180, 182, 183, 190, 192, 193, 198, 200, 204], "pixel": [27, 99, 191, 198], "belong": [27, 125, 164, 198, 200], "mask": [27, 106, 119, 122, 125, 164, 166, 177, 191], "overlaid": 27, "surfac": [27, 161, 197, 203], "spatial": [27, 107, 164], "linearli": [27, 101, 125, 164, 198, 200], "restrict": [27, 91, 125, 164, 166, 167, 177, 186, 197, 200], "lane": [27, 106, 122, 164, 177, 198], "mesh": [27, 185], "discret": [27, 120, 156, 159, 179, 182], "tunabl": 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84, 86, 87, 89, 90, 91, 92, 93, 94, 97, 98, 99, 100, 101, 103, 104, 105, 106, 107, 108, 109, 110, 111, 113, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 130, 131, 132, 133, 134, 135, 136, 137, 138, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 164, 173, 174], "increment": [29, 90, 91, 93, 142, 165], "counter": [29, 114, 165, 171, 175, 182, 202], "exce": [29, 30, 46, 59, 93, 94, 98, 109, 115, 118, 125, 164], "server_nam": [29, 30, 31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 46, 47, 50, 51, 59, 63, 164], "string": [29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 63, 65, 67, 77, 84, 85, 90, 91, 92, 93, 94, 97, 98, 99, 100, 101, 104, 105, 106, 107, 109, 111, 115, 117, 118, 119, 122, 123, 124, 125, 126, 127, 128, 138, 139, 142, 143, 145, 146, 149, 150, 163, 166, 167, 168, 170, 171, 172, 173, 174, 175, 182, 187, 201, 203], "server_timeout": [29, 30, 31, 32, 33, 34, 35, 36, 37, 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[[73, "input-port"], [78, "input-port"], [79, "input-port"], [80, "input-port"]], "IsStuck": [[74, "isstuck"]], "PathExpiringTimer": [[75, "pathexpiringtimer"]], "TimeExpired": [[76, "timeexpired"]], "TransformAvailable": [[77, "transformavailable"]], "WouldAControllerRecoveryHelp": [[78, "wouldacontrollerrecoveryhelp"]], "WouldAPlannerRecoveryHelp": [[79, "wouldaplannerrecoveryhelp"]], "WouldASmootherRecoveryHelp": [[80, "wouldasmootherrecoveryhelp"]], "PipelineSequence": [[81, "pipelinesequence"]], "RecoveryNode": [[82, "recoverynode"]], "RoundRobin": [[83, "roundrobin"]], "DistanceController": [[84, "distancecontroller"]], "GoalUpdater": [[85, "goalupdater"]], "PathLongerOnApproach": [[86, "pathlongeronapproach"]], "RateController": [[87, "ratecontroller"]], "SingleTrigger": [[88, "singletrigger"]], "SpeedController": [[89, "speedcontroller"]], "Collision Detector Node": [[90, "collision-detector-node"]], "Features": [[90, "features"], [91, "features"]], "Polygons parameters": [[90, "polygons-parameters"], [91, "polygons-parameters"]], "Observation sources parameters": [[90, "observation-sources-parameters"], [91, "observation-sources-parameters"]], "Collision Monitor Node": [[91, "collision-monitor-node"]], "VelocityPolygon parameters": [[91, "velocitypolygon-parameters"]], "AMCL": [[92, "amcl"]], "Behavior Server": [[93, "behavior-server"]], "Behavior Server Parameters": [[93, "behavior-server-parameters"]], "Default Plugins": [[93, "default-plugins"], [98, "default-plugins"], [99, "default-plugins"], [109, "default-plugins"]], "Spin Behavior Parameters": [[93, "spin-behavior-parameters"]], "BackUp Behavior Parameters": [[93, "backup-behavior-parameters"]], "DriveOnHeading Behavior Parameters": [[93, "driveonheading-behavior-parameters"]], "AssistedTeleop Behavior Parameters": [[93, "assistedteleop-behavior-parameters"]], "Behavior-Tree Navigator": [[94, "behavior-tree-navigator"]], "Behavior Tree XML Nodes": [[95, "behavior-tree-xml-nodes"]], "Action Plugins": [[95, "action-plugins"]], "Condition Plugins": [[95, "condition-plugins"]], "Control Plugins": [[95, "control-plugins"]], "Decorator Plugins": [[95, "decorator-plugins"]], "Collision Monitor": [[96, "collision-monitor"]], "Provided Nodes": [[96, "provided-nodes"]], "Constrained smoother": [[97, "constrained-smoother"]], "Smoother Server Parameters": [[97, "smoother-server-parameters"], [115, "smoother-server-parameters"]], "Controller Server": [[98, "controller-server"], [179, "controller-server"]], "Provided Plugins": [[98, "provided-plugins"], [114, "provided-plugins"], [118, "provided-plugins"]], "Costmap 2D": [[99, "costmap-2d"], [183, "costmap-2d"]], "Costmap2D ROS Parameters": [[99, "costmap2d-ros-parameters"]], "Plugin Parameters": [[99, "plugin-parameters"]], "Costmap Filters Parameters": [[99, "costmap-filters-parameters"]], "Coverage Server": [[100, "coverage-server"]], "Docking Server": [[101, "docking-server"]], "SimpleChargingDock Parameters": [[101, "simplechargingdock-parameters"]], "DWB Controller": [[102, "dwb-controller"], [128, "dwb-controller"]], "Controller": [[102, "controller"]], "Plugins": [[102, "plugins"]], "Trajectory Critics": [[102, "trajectory-critics"]], "Graceful Controller": [[103, "graceful-controller"]], "Graceful Controller Parameters": [[103, "graceful-controller-parameters"]], "Lifecycle Manager": [[104, "lifecycle-manager"]], "Loopback Simulator": [[105, "loopback-simulator"]], "Map Server / Saver": [[106, "map-server-saver"]], "Map Saver Parameters": [[106, "map-saver-parameters"]], "Map Server Parameters": [[106, "map-server-parameters"]], "Costmap Filter Info Server Parameters": [[106, "costmap-filter-info-server-parameters"]], "Model Predictive Path Integral Controller": [[107, "model-predictive-path-integral-controller"]], "MPPI Parameters": [[107, "mppi-parameters"]], "Trajectory Visualization": [[107, "trajectory-visualization"]], "Path Handler": [[107, "path-handler"]], "Ackermann Motion Model": [[107, "ackermann-motion-model"]], "Constraint Critic": [[107, "constraint-critic"]], "Goal Angle Critic": [[107, "goal-angle-critic"]], "Goal Critic": [[107, "goal-critic"]], "Obstacles Critic": [[107, "obstacles-critic"]], "Cost Critic": [[107, "cost-critic"]], "Path Align Critic": [[107, "path-align-critic"]], "Path Angle Critic": [[107, "path-angle-critic"]], "Path Follow Critic": [[107, "path-follow-critic"]], "Prefer Forward Critic": [[107, "prefer-forward-critic"]], "Twirling Critic": [[107, "twirling-critic"]], "Velocity Deadband Critic": [[107, "velocity-deadband-critic"]], "Notes to Users": [[107, "notes-to-users"]], "General Words of Wisdom": [[107, "general-words-of-wisdom"]], "Prediction Horizon, Costmap Sizing, and Offsets": [[107, "prediction-horizon-costmap-sizing-and-offsets"]], "Obstacle, Inflation Layer, and Path Following": [[107, "obstacle-inflation-layer-and-path-following"]], "NavFn Planner": [[108, "navfn-planner"]], "Planner Server": [[109, "planner-server"], [179, "planner-server"]], "Regulated Pure Pursuit": [[110, "regulated-pure-pursuit"]], "Regulated Pure Pursuit Parameters": [[110, "regulated-pure-pursuit-parameters"]], "Rotation Shim Controller": [[111, "rotation-shim-controller"]], "Rotation Shim Controller Parameters": [[111, "rotation-shim-controller-parameters"]], "Savitzky-Golay Smoother": [[112, "savitzky-golay-smoother"], [166, "savitzky-golay-smoother"]], "Savitzky-Golay Smoother Parameters": [[112, "savitzky-golay-smoother-parameters"]], "Simple Smoother": [[113, "simple-smoother"]], "Simple Smoother Parameters": [[113, "simple-smoother-parameters"]], "Smac Planner": [[114, "smac-planner"]], "Description": [[114, "description"]], "Smoother Server": [[115, "smoother-server"]], "Theta Star Planner": [[116, "theta-star-planner"]], "Velocity Smoother": [[117, "velocity-smoother"]], "Velocity Smoother Parameters": [[117, "velocity-smoother-parameters"]], "Waypoint Follower": [[118, "waypoint-follower"]], "Default Plugin": [[118, "default-plugin"]], "Binary Filter Parameters": [[119, "binary-filter-parameters"]], "Denoise Layer Parameters": [[120, "denoise-layer-parameters"]], "Inflation Layer Parameters": [[121, "inflation-layer-parameters"]], "Keepout Filter Parameters": [[122, "keepout-filter-parameters"]], "Obstacle Layer Parameters": [[123, "obstacle-layer-parameters"]], "Range Sensor Parameters": [[124, "range-sensor-parameters"]], "Speed Filter Parameters": [[125, "speed-filter-parameters"]], "Static Layer Parameters": [[126, "static-layer-parameters"]], "Voxel Layer Parameters": [[127, "voxel-layer-parameters"]], "XYTheta Iterator": [[129, "xytheta-iterator"]], "Kinematic Parameters": [[130, "kinematic-parameters"]], "Publisher": [[131, "publisher"]], "LimitedAccelGenerator": [[132, "limitedaccelgenerator"]], "StandardTrajectoryGenerator": [[133, "standardtrajectorygenerator"]], "PoseProgressChecker": [[134, "poseprogresschecker"]], "SimpleGoalChecker": [[135, "simplegoalchecker"]], "SimpleProgressChecker": [[136, "simpleprogresschecker"]], "StoppedGoalChecker": [[137, "stoppedgoalchecker"]], "InputAtWaypoint": [[138, "inputatwaypoint"]], "PhotoAtWaypoint": [[139, "photoatwaypoint"]], "WaitAtWaypoint": [[140, "waitatwaypoint"]], "Smac 2D Planner": [[141, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[142, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[143, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[144, "baseobstaclecritic"]], "GoalAlignCritic": [[145, "goalaligncritic"]], "GoalDistCritic": [[146, "goaldistcritic"]], "ObstacleFootprintCritic": [[147, "obstaclefootprintcritic"]], "OscillationCritic": [[148, "oscillationcritic"]], "PathAlignCritic": [[149, "pathaligncritic"]], "PathDistCritic": [[150, "pathdistcritic"]], "PreferForwardCritic": [[151, "preferforwardcritic"]], "RotateToGoalCritic": [[152, "rotatetogoalcritic"]], "TwirlingCritic": [[153, "twirlingcritic"]], "Build Troubleshooting Guide": [[154, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[154, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[154, "reporting-issue"]], "Build and Install": [[155, "build-and-install"]], "Install": [[155, "install"]], "For Iron and Older": [[155, "for-iron-and-older"]], "For Jazzy and Newer": [[155, "for-jazzy-and-newer"]], "Build": [[155, "build"]], "Released Distribution Binaries": [[155, "released-distribution-binaries"]], "Rolling Development Source": [[155, "rolling-development-source"]], "Docker Container Images": [[155, "docker-container-images"]], "Generate Doxygen": [[155, "generate-doxygen"]], "Help": [[155, "help"]], "Dev Container Guide": [[156, "dev-container-guide"]], "Creating Dev Containers": [[156, "creating-dev-containers"]], "Building the image": [[156, "building-the-image"]], "Starting the container": [[156, "starting-the-container"]], "Using Dev Containers": [[156, "using-dev-containers"]], "Terminals": [[156, "terminals"]], "Lifecycle": [[156, "lifecycle"]], "Rebuilding": [[156, "rebuilding"]], "Dev Containers": [[157, "dev-containers"]], "What, Why, How?": [[157, "what-why-how"]], "What is a Dev Container?": [[157, "what-is-a-dev-container"]], "Why use a Dev Container?": [[157, "why-use-a-dev-container"]], "How do Dev Containers work?": [[157, "how-do-dev-containers-work"]], "Getting started": [[157, "getting-started"]], "Security": [[157, "security"]], "Development Guides": [[158, "development-guides"]], "Getting Involved": [[159, "getting-involved"], [159, "id1"]], "Process": [[159, "process"]], "Licensing": [[159, "licensing"]], "Developer Certification of Origin (DCO)": [[159, "developer-certification-of-origin-dco"]], "Getting Started": [[160, "getting-started"]], "Installation": [[160, "installation"]], "Running the Example": [[160, "running-the-example"]], "Navigating": [[160, "navigating"]], "Nav2": [[161, "lpn"]], "Our Sponsors": [[161, "our-sponsors"]], "Services": [[161, "services"]], "Citations": [[161, "citations"]], "Dashing to Eloquent": [[162, "dashing-to-eloquent"]], "New Packages": [[162, "new-packages"]], "New Plugins": [[162, "new-plugins"], [163, "new-plugins"], [164, "new-plugins"]], "Navigation2 Architectural Changes": [[162, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[163, "eloquent-to-foxy"]], "General": [[163, "general"]], "Server Updates": [[163, "server-updates"]], "Map Server Re-Work": [[163, "map-server-re-work"]], "New Particle Filter Messages": [[163, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[163, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[163, "followpoint-capability"]], "New Costmap Layer": [[163, "new-costmap-layer"]], "Foxy to Galactic": [[164, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[164, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[164, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[164, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[164, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[164, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[164, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[164, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[164, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[164, "followpath-goal-checker-id-attribute"]], "Groot Support": [[164, "groot-support"]], "SmacPlanner": [[164, "smacplanner"]], "ThetaStarPlanner": [[164, "thetastarplanner"]], "RegulatedPurePursuitController": [[164, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[164, "costmap2d-current-usage"]], "Standard time units in parameters": [[164, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[164, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[164, "obstacle-marking-parameters"]], "Recovery Action Changes": [[164, "recovery-action-changes"]], "Default Behavior Tree Changes": [[164, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[164, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[164, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[164, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[164, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[164, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[164, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[164, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[165, "galactic-to-humble"]], "Major improvements to Smac Planners": [[165, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[165, "simple-python-commander"]], "Reduce Nodes and Executors": [[165, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[165, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[165, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[165, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[165, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[165, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[165, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[165, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[165, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[165, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[165, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[165, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[165, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[165, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[165, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[165, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[165, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[165, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[165, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[165, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[165, "dynamic-composition"]], "BT Cancel Node": [[165, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[165, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[165, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[165, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[165, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[165, "euclidean-distance-2d"]], "Recovery To Behavior": [[165, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[165, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[165, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[165, "goal-checker-api-changed"]], "Added Assisted Teleop": [[165, "added-assisted-teleop"]], "Humble to Iron": [[166, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[166, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[166, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[166, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[166, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[166, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[166, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[166, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[166, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[166, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[166, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[166, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[166, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[166, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[166, "smootherselector-bt-node"]], "Publish Costmap Layers": [[166, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[166, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[166, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[166, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[166, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[166, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[166, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[166, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[166, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[166, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[166, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[166, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[166, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[166, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[166, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[166, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[166, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[167, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[167, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[167, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[167, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[167, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[167, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[167, "opennav-coverage-project"]], "opennav_docking Project": [[167, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[167, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[167, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[167, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[167, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[167, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[167, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[167, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[167, "mppi-acceleration"]], "Move Error Code Enumerations": [[167, "move-error-code-enumerations"]], "Substitution in parameter file": [[167, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[167, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[167, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[167, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[167, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[167, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[167, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[167, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[167, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[167, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[167, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[167, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[167, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[167, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[167, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[167, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[167, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[167, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[167, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[167, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[167, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[167, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[167, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[167, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[167, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[167, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[167, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[167, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[167, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[167, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[167, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[167, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[167, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[167, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[168, "jazzy-to-k-turtle"]], "TwistStamped Default CmdVel Change": [[168, "twiststamped-default-cmdvel-change"]], "New Nav2 Loopback Simulator": [[168, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[168, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[168, "new-rviz-panel-for-docking"]], "New BT Nodes": [[168, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[168, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[168, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[168, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[168, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Added optional collision checking for the Docking Server": [[168, "added-optional-collision-checking-for-the-docking-server"]], "Revamped multirobot bringup and config files to use namespaces": [[168, "revamped-multirobot-bringup-and-config-files-to-use-namespaces"]], "Removed global map_topic from Costmap node": [[168, "removed-global-map-topic-from-costmap-node"]], "Simplified Costmap2DROS constructors": [[168, "simplified-costmap2dros-constructors"]], "Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions": [[168, "option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions"]], "Migration Guides": [[169, "migration-guides"]], "Writing a New Behavior Plugin": [[170, "writing-a-new-behavior-plugin"]], "Requirements": [[170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [175, "requirements"], [188, "requirements"], [189, "requirements"], [191, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [200, "requirements"], [202, "requirements"], [203, "requirements"]], "Tutorial Steps": [[170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [175, "tutorial-steps"], [188, "tutorial-steps"], [189, "tutorial-steps"], [191, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"], [201, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[170, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[170, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[170, "pass-the-plugin-name-through-params-file"], [174, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[170, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[171, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[171, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[171, "exporting-the-planner-plugin"], [174, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[171, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[171, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[172, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[172, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[172, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[172, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[172, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[173, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[173, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[173, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[173, "pass-the-plugin-name-through-the-params-file"], [175, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[173, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[174, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[174, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[174, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[175, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[175, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[175, "exporting-the-navigator-plugin"]], "4- Run plugin": [[175, "run-plugin"]], "Plugin Tutorials": [[176, "plugin-tutorials"]], "Navigation Plugins": [[177, "navigation-plugins"]], "Behavior-Tree Navigators": [[177, "behavior-tree-navigators"]], "Costmap Layers": [[177, "costmap-layers"]], "Waypoint Task Executors": [[177, "waypoint-task-executors"]], "Goal Checkers": [[177, "goal-checkers"]], "Progress Checkers": [[177, "progress-checkers"]], "Behavior Tree Nodes": [[177, "behavior-tree-nodes"]], "Roadmaps": [[178, "roadmaps"]], "Jazzy Roadmap": [[178, "jazzy-roadmap"]], "Iron Roadmap": [[178, "iron-roadmap"]], "Humble Roadmap": [[178, "humble-roadmap"]], "Setting Up Navigation Plugins": [[179, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[179, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[179, "selecting-the-algorithm-plugins"]], "Summary": [[179, "summary"], [179, "id1"]], "Example Configuration": [[179, "example-configuration"], [179, "id2"]], "Conclusion": [[179, "conclusion"], [180, "conclusion"], [182, "conclusion"], [183, "conclusion"], [184, "conclusion"], [185, "conclusion"], [187, "conclusion"], [190, "conclusion"], [197, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[180, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[180, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[180, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[180, "build-run-and-verification"], [182, "build-run-and-verification"], [182, "id4"], [183, "build-run-and-verification"], [183, "id2"]], "Visualizing Footprint in RViz": [[180, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[181, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[182, "setting-up-odometry"]], "Odometry Introduction": [[182, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[182, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[182, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[182, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[182, "adding-gazebo-plugins-to-a-urdf"], [183, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[182, "launch-and-build-files"], [182, "id3"], [183, "launch-and-build-files"]], "Robot Localization Demo": [[182, "robot-localization-demo"]], "Configuring Robot Localization": [[182, "configuring-robot-localization"]], "Setting Up Sensors": [[183, "setting-up-sensors"]], "Sensor Introduction": [[183, "sensor-introduction"]], "Common Sensor Messages": [[183, "common-sensor-messages"]], "sensor_msgs/LaserScan": [[183, "sensor-msgs-laserscan"]], "sensor_msgs/PointCloud2": [[183, "sensor-msgs-pointcloud2"]], "sensor_msgs/Range": [[183, "sensor-msgs-range"]], "sensor_msgs/Image": [[183, "sensor-msgs-image"]], "Simulating Sensors using Gazebo": [[183, "simulating-sensors-using-gazebo"]], "Mapping and Localization": [[183, "mapping-and-localization"]], "Configuring nav2_costmap_2d": [[183, "configuring-nav2-costmap-2d"]], "Launching Description Nodes, RViz and Gazebo": [[183, "launching-description-nodes-rviz-and-gazebo"]], "Launching slam_toolbox": [[183, "launching-slam-toolbox"]], "Launching Nav2": [[183, "launching-nav2"]], "Visualizing Costmaps in RViz": [[183, "visualizing-costmaps-in-rviz"]], "Setting Up Transformations": [[184, "setting-up-transformations"]], "Transforms Introduction": [[184, "transforms-introduction"]], "Static Transform Publisher Demo": [[184, "static-transform-publisher-demo"]], "Transforms in Navigation2": [[184, "transforms-in-navigation2"]], "Setting Up The URDF": [[185, "setting-up-the-urdf"]], "URDF and the Robot State Publisher": [[185, "urdf-and-the-robot-state-publisher"]], "Setting Up the Environment": [[185, "setting-up-the-environment"]], "Writing the URDF": [[185, "writing-the-urdf"]], "Build and Launch": [[185, "build-and-launch"]], "Visualization using RVIZ": [[185, "visualization-using-rviz"]], "Adding Physical Properties": [[185, "adding-physical-properties"]], "Tuning Guide": [[186, "tuning-guide"]], "Inflation Potential Fields": [[186, "inflation-potential-fields"]], "Robot Footprint vs Radius": [[186, "robot-footprint-vs-radius"]], "Rotate in Place Behavior": [[186, "rotate-in-place-behavior"]], "Planner Plugin Selection": [[186, "planner-plugin-selection"]], "Controller Plugin Selection": [[186, "controller-plugin-selection"]], "Caching Obstacle Heuristic in Smac Planners": [[186, "caching-obstacle-heuristic-in-smac-planners"]], "Costmap2D Plugins": [[186, "costmap2d-plugins"]], "Nav2 Launch Options": [[186, "nav2-launch-options"]], "Other Pages We\u2019d Love To Offer": [[186, "other-pages-we-d-love-to-offer"]], "Adding a New Nav2 Task Server": [[187, "adding-a-new-nav2-task-server"]], "Lifecycle Nodes": [[187, "lifecycle-nodes"]], "Composition": [[187, "composition"]], "Error codes": [[187, "error-codes"]], "Adding a Smoother to a BT": [[188, "adding-a-smoother-to-a-bt"]], "0- Familiarization with the Smoother BT Node": [[188, "familiarization-with-the-smoother-bt-node"]], "1- Specifying a Smoother Plugin": [[188, "specifying-a-smoother-plugin"]], "2- Modifying your BT XML": [[188, "modifying-your-bt-xml"]], "Camera Calibration": [[189, "camera-calibration"]], "Docker for Development: Zero to Hero": [[190, "docker-for-development-zero-to-hero"]], "Preliminaries": [[190, "preliminaries"], [192, "preliminaries"], [193, "preliminaries"]], "Important Docker Commands": [[190, "important-docker-commands"]], "Exploring Your First Container": [[190, "exploring-your-first-container"]], "Understanding ROS Docker Images": [[190, "understanding-ros-docker-images"]], "For Docker-Based Development": [[190, "for-docker-based-development"]], "Building a Development Image": [[190, "building-a-development-image"]], "Visualizations from Docker": [[190, "visualizations-from-docker"]], "For Docker-Based Deployment": [[190, "for-docker-based-deployment"]], "Appendix": [[190, "appendix"]], "Nav2 Development Image": [[190, "nav2-development-image"]], "Nav2 Deployment Image": [[190, "nav2-deployment-image"]], "Filtering of Noise-Induced Obstacles": [[191, "filtering-of-noise-induced-obstacles"]], "1. Enable Denoise Layer": [[191, "enable-denoise-layer"]], "2. Run Nav2 stack": [[191, "run-nav2-stack"]], "How it works": [[191, "how-it-works"]], "Get Backtrace in ROS 2 / Nav2": [[192, "get-backtrace-in-ros-2-nav2"]], "From a Node": [[192, "from-a-node"]], "From a Launch File": [[192, "from-a-launch-file"]], "From Large Project": [[192, "from-large-project"]], "From Nav2 Bringup": [[192, "from-nav2-bringup"], [193, "from-nav2-bringup"]], "Automatic backtrace on crash": [[192, "automatic-backtrace-on-crash"]], "Profiling in ROS 2 / Nav2": [[193, "profiling-in-ros-2-nav2"]], "Profile from a Node": [[193, "profile-from-a-node"]], "Profile from a Launch File": [[193, "profile-from-a-launch-file"]], "Interpreting Results": [[193, "interpreting-results"]], "Using VIO to Augment Robot Odometry": [[194, "using-vio-to-augment-robot-odometry"]], "Setting Up the ZED X Camera": [[194, "setting-up-the-zed-x-camera"]], "Setting Up ZED ROS": [[194, "setting-up-zed-ros"]], "Fusing VIO Into Local State Estimate": [[194, "fusing-vio-into-local-state-estimate"]], "Fusing VSLAM Into Global State Estimate": [[194, "fusing-vslam-into-global-state-estimate"]], "Testing it Out!": [[194, "testing-it-out"]], "Dynamic Object Following": [[195, "dynamic-object-following"]], "0- Create the Behavior Tree": [[195, "create-the-behavior-tree"]], "1- Setup Rviz clicked point": [[195, "setup-rviz-clicked-point"]], "2- Run Dynamic Object Following in Nav2 Simulation": [[195, "run-dynamic-object-following-in-nav2-simulation"]], "Navigating with a Physical Turtlebot 3": [[196, "navigating-with-a-physical-turtlebot-3"]], "0- Setup Your Environment Variables": [[196, "setup-your-environment-variables"]], "1- Launch Turtlebot 3": [[196, "launch-turtlebot-3"]], "2- Launch Nav2": [[196, "launch-nav2"]], "3-  Launch RVIZ": [[196, "launch-rviz"]], "4- Initialize the Location of Turtlebot 3": [[196, "initialize-the-location-of-turtlebot-3"]], "5-  Send a Goal Pose": [[196, "send-a-goal-pose"]], "Navigating Using GPS Localization": [[197, "navigating-using-gps-localization"]], "GPS Localization Overview": [[197, "gps-localization-overview"]], "0- Setup Gazebo World": [[197, "setup-gazebo-world"]], "1- Setup GPS Localization system": [[197, "setup-gps-localization-system"]], "Local Odometry": [[197, "local-odometry"]], "Global Odometry": [[197, "global-odometry"]], "Navsat Transform": [[197, "navsat-transform"]], "Localization Testing": [[197, "localization-testing"]], "2- Setup Navigation system": [[197, "setup-navigation-system"]], "3-  Interactive GPS Waypoint Follower": [[197, "interactive-gps-waypoint-follower"]], "4-  Logged GPS Waypoint Follower & Waypoint Logging": [[197, "logged-gps-waypoint-follower-waypoint-logging"]], "Navigating with Keepout Zones": [[198, "navigating-with-keepout-zones"]], "1. Prepare filter mask": [[198, "prepare-filter-mask"], [200, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[198, "configure-costmap-filter-info-publisher-server"], [200, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[198, "enable-keepout-filter"]], "4. Run Nav2 stack": [[198, "run-nav2-stack"], [200, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[199, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[199, "launch-robot-interfaces"]], "1- Launch Navigation2": [[199, "launch-navigation2"]], "2- Launch SLAM": [[199, "launch-slam"]], "3- Working with SLAM": [[199, "working-with-slam"]], "4- Getting Started Simplification": [[199, "getting-started-simplification"]], "Navigating with Speed Limits": [[200, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[200, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[201, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[201, "costmap2d-and-stvl"]], "0- Setup": [[201, "setup"]], "1- Install STVL": [[201, "install-stvl"]], "1- Modify Navigation2 Parameter": [[201, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[201, "launch-navigation2"]], "3-  RVIZ": [[201, "rviz"]], "Using Collision Monitor": [[202, "using-collision-monitor"]], "Configuring Collision Monitor": [[202, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[202, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[202, "preparing-nav2-stack"]], "Demo Execution": [[202, "demo-execution"], [205, "demo-execution"]], "Using Docking Server": [[203, "using-docking-server"]], "ChargingDock Plugins": [[203, "chargingdock-plugins"]], "Dock Database": [[203, "dock-database"]], "Configuring Docking Server": [[203, "configuring-docking-server"]], "Adding Docking Server to Launch": [[203, "adding-docking-server-to-launch"]], "Docking Action API": [[203, "docking-action-api"]], "Putting It All Together": [[203, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[204, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[204, "visualize-behavior-trees"]], "Edit Behavior Trees": [[204, "edit-behavior-trees"]], "Adding A Custom Node": [[204, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[205, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[205, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[205, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[205, "configuring-primary-controller"]], "General Tutorials": [[206, "general-tutorials"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/tuning/index.html b/tuning/index.html
index b9560a357..a6c5bff69 100644
--- a/tuning/index.html
+++ b/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>