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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -787,6 +787,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-waypoint-follower.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html">Loopback Simulator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#parameters">Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-loopback-sim.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html">Docking Server</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#parameters">Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-docking-server.html#simplechargingdock-parameters">SimpleChargingDock Parameters</a></li>
@@ -1023,6 +1028,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to K-Turtle</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>