From d165887528df9ef19565f2cc8e90bee4dfa05ac6 Mon Sep 17 00:00:00 2001
From: navigation2-ci <navigation2-ci@circleci.com>
Date: Thu, 15 Feb 2024 23:26:41 +0000
Subject: [PATCH] [skip ci] publish latest

Signed-off-by: navigation2-ci <navigation2-ci@circleci.com>
---
 _sources/roadmap/roadmap.rst.txt | 6 +++++-
 roadmap/roadmap.html             | 6 +++++-
 searchindex.js                   | 2 +-
 3 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/_sources/roadmap/roadmap.rst.txt b/_sources/roadmap/roadmap.rst.txt
index d123fbe2b..570b1cb35 100644
--- a/_sources/roadmap/roadmap.rst.txt
+++ b/_sources/roadmap/roadmap.rst.txt
@@ -44,10 +44,14 @@ Jazzy Roadmap
 |                                |                        |
 |                                |                        |
 +--------------------------------+------------------------+
-| TwiStamped Migration           |  Medium (DONE)         |
+| TwistStamped Migration         |  Medium (DONE)         |
 |                                |                        |
 |                                |                        |
 +--------------------------------+------------------------+
+| Velocity-Scheduled Collision   |  Medium (DONE)         |
+| Monitor Polygons               |                        |
+|                                |                        |
++--------------------------------+------------------------+
 
 Iron Roadmap
 ************
diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html
index ca0454aaa..72bc91eef 100644
--- a/roadmap/roadmap.html
+++ b/roadmap/roadmap.html
@@ -1078,7 +1078,11 @@ <h2>Jazzy Roadmap<a class="headerlink" href="#jazzy-roadmap" title="Permalink to
 <tr class="row-even"><td><p>ROS Time Respect Across Stack</p></td>
 <td><p>Medium (DONE)</p></td>
 </tr>
-<tr class="row-odd"><td><p>TwiStamped Migration</p></td>
+<tr class="row-odd"><td><p>TwistStamped Migration</p></td>
+<td><p>Medium (DONE)</p></td>
+</tr>
+<tr class="row-even"><td><p>Velocity-Scheduled Collision
+Monitor Polygons</p></td>
 <td><p>Medium (DONE)</p></td>
 </tr>
 </tbody>
diff --git a/searchindex.js b/searchindex.js
index f0e6b1dc4..d68b4e707 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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82,189,193],Yes:[162,163,164,165,166,167],__cxa_throw:184,__gi_abort:184,__gi_rais:184,__n:184,__node:[184,185],_config:174,_costmap:[157,193],_differenti:186,_from_numb:162,_joint:177,_link:177,_m_range_check:184,_nav:178,_to_numb:162,_twilio:162,abi:[100,149,182],abil:[6,7,27,86,100,159,160,194],abl:[0,5,9,14,18,19,158,159,162,163,165,166,167,169,172,174,175,176,178,182,184,185,186,189,195],abort:[94,157,163,184],about:[4,7,9,11,21,22,23,24,27,85,112,115,118,147,148,149,150,152,154,157,159,160,162,163,164,166,167,174,175,176,177,178,182,183,184,185,186,188,189,192,195],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,100,109,117,136,148,155,157,162,165,166,167,171,174,175,176,177,178,179,182,183,184,185,189,190,191,192,193,195,196],abrupt:27,abs:165,absolut:[48,49,99,118,156,160,165,174,177,182,184,186,189,190,192],absurdli:100,academ:6,acc_lim_i:[96,123],acc_lim_theta:[96,123],acc_lim_x:[96,123],accel:174,acceler:[88,103,104,110,123,158,174,178,196],accelwithcovariancestamp:174,accept:[6,26,63,87,109,135,136,152,160,167,171,172,186,187],acceptpendinggo:167,access:[0,27,86,93,110,149,150,157,158,163,175,177,184,195],accommod:149,accompani:92,accomplish:[8,162,169,174,177,182,184],accord:[27,99,174,175,189,190,192],accordingli:[9,86,189,190,192],account:[27,85,86,157,158,162,171,178,183],account_sid:162,accross:160,accumul:100,accur:[6,27,85,86,157,174,178,186,189],accuraci:[25,86,155,186,189],achiev:[11,92,100,103,107,110,111,157,158,159,160,177,178,186,189],acircl:181,ackerman:171,ackermann:[107,154,157,169,171,178],ackermannconstraint:100,acknowledg:89,acquir:27,across:[17,27,100,106,114,135,136,149,159,167,170,175,176,178,182,189,195],act:[9,14,27,134,156,157,173,175,177,190,194,196],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,100,102,108,111,153,154,155,159,162,163,167,169,171,172,174,175,176,177,178,179,180,182,187,188,189,190,192,194,195],action_a:19,action_b:19,action_c:19,action_nam:163,action_server_result_timeout:[88,89,93,95,102,108,111,160],action_typ:[85,86,160,194],actionnod:19,actionnodebas:163,actiont:167,activ:[12,26,27,60,73,74,75,86,88,89,93,95,98,102,108,111,147,152,153,156,157,158,159,162,165,166,167,174,175,178,179,189],actual:[18,54,86,92,100,104,135,158,167,172,176,177,178,181,182,186,188,189,194,196],actuat:149,adapt:[6,27,87,103,157,169,175,176,177],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,100,110,115,116,120,135,149,152,156,157,158,159,162,167,172,174,175,176,177,178,179,180,184,185,186,189,191,193,194,195],add_act:[190,192],add_compile_opt:[184,185],added:[10,13,21,23,24,89,100,149,152,155,156,157,158,159,162,164,165,166,167,171,172,175,176,177,178,179,185,189,193,194,196],addin:189,adding:[1,9,41,87,135,136,149,158,159,174,175,177,179,183,186,189,190,192,194],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,135,148,149,157,158,159,163,167,171,174,175,177,178,184,185,186,189,194],addition:[0,11,27,86,149,150,155,156,157,160,167,189,194],address:[31,32,33,34,35,36,37,41,42,43,46,155,156,157,158,159,160,162],adequ:178,adher:176,adjac:[109,113,183],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,100,102,108,110,111,135,154,159,160,172,177,186,192,194],admiss:[135,136,158],admittedli:11,advanc:[0,27,135,170,178,182],advantag:[12,27,159,196],advic:[171,178],advis:[21,23,24,27,174],affect:[85,91,157,158,160,177],aforement:100,after:[2,10,20,21,23,24,26,27,86,87,89,100,104,105,110,119,121,128,130,133,134,135,136,152,153,157,158,160,164,165,166,167,172,174,175,177,178,179,181,182,183,184,185,187,189,190,192,193,194,195,196],afterward:174,again:[18,19,20,22,77,147,149,153,155,170,174,177,182],against:[60,73,74,75,136,159,160,178,182,194],agent:[86,178],aggreg:179,aggregation_typ:[138,139,142,143],aggress:[86,135],ago:182,agre:152,agreement:152,ahead:[88,100,103,125,126,138,142,182],aid:[2,22],aim:[1,7,9,10,13,110,173,177,178,185],air:189,aisl:[27,134,158,171,178],aislewai:[135,158],aitor:169,alarm:[85,160],alberto:169,aleksei:169,alexei:[14,154,169],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,100,103,105,106,107,134,152,154,155,157,158,159,160,164,165,169,172,175,177,178,180,183,185,186],alias:27,align:[97,121,138,142,143,160,189],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,98,100,103,105,107,109,110,113,117,135,140,148,149,150,152,154,155,156,157,158,160,162,165,166,167,169,171,174,175,176,177,178,179,180,181,182,184,185,186,189,190,192,193,195,196],allevi:178,alloc:[27,179,184,193],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,97,100,101,103,109,118,134,135,136,137,140,145,149,150,152,154,156,157,158,162,164,165,166,171,174,175,176,177,178,179,181,182,183,184,186,187,189,190,192,194],allow_backward:97,allow_primitive_interpol:[135,160],allow_revers:103,allow_reverse_expans:136,allow_unknown:[101,109,134,135,136,157,166],almost:[156,158],alon:186,along:[14,26,27,58,68,84,97,100,103,104,112,115,118,135,136,140,156,157,158,159,169,171,175,177,179,180,184,186,189,190,192],alongsid:[160,167,178],alot:[100,186],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[177,190],alreadi:[4,7,100,156,157,158,162,172,174,177,178,182,184,186,189],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,98,99,100,102,103,105,107,108,110,111,114,135,136,148,149,150,152,153,154,155,156,157,158,159,160,162,163,164,165,166,167,171,172,174,175,176,177,178,179,180,181,182,183,184,185,186,189,190,191,192,193,194,196],alter:149,altern:[3,22,27,58,149,150,157,160,172,174,184],although:150,altitud:189,altogeth:[182,186],alwai:[9,16,20,72,85,86,98,110,136,147,157,158,177,178,189,190,194,196],always_on:[174,175,189],always_reset_initial_pos:87,always_send_full_costmap:[94,160,175],alwayson:175,ambigu:103,amcl:[6,7,26,27,28,52,65,153,156,169,175,176,178,186,189],amcl_pos:155,amclnod:158,amend:152,ament:[162,164,165,166,167,181],ament_cmak:[162,165,166,167,177],ament_cppcheck:152,ament_cpplint:152,ament_index_cpp:167,ament_index_python:[190,192],ament_uncrustifi:152,america:189,among:[27,109,171,178,183],amongst:177,amount:[94,117,127,129,131,133,134,135,136,145,156,157,159,190],amp:189,ampl:[21,23,24],amr:186,analog:[8,86,157,159,160,163,184,196],analysi:[7,27,152,154,185],analyt:[135,136,157,158,160],analytic_expansion_max_cost:[135,136,160],analytic_expansion_max_cost_overrid:[135,136,160],analytic_expansion_max_length:[135,136,158,160],analytic_expansion_ratio:[135,136],analyz:[5,6,7,10,26,27,163,185],andrei:169,angl:[26,27,56,85,86,95,109,127,134,135,157,169,178,189],angle_quantization_bin:135,angular:[58,86,95,97,100,103,104,122,123,126,135,138,141,142,144,159,165,174,178,194,196],angular_dist_threshold:[104,196],angular_distance_weight:58,angular_granular:[96,126],angular_limit:[86,159],angular_vel:165,angular_veloc:174,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,51,53,55,60,62,76,85,86,93,98,100,103,106,107,109,115,116,120,135,136,147,149,150,152,154,156,157,158,159,160,162,163,164,165,166,167,169,171,175,176,177,178,179,180,182,183,184,185,186,187,189,190,192,194,195,196],anim:[4,183],annoi:182,annot:[27,95,157,164,165,166,190,192],announc:152,anoth:[0,1,4,6,10,20,21,23,26,27,60,85,88,89,93,102,107,108,111,134,135,149,152,157,158,160,163,169,171,172,174,175,177,180,182,184,187,189,190,191,192,193],anshumaan:169,answer:[0,152,157],anybot:5,anyhow:158,anyon:11,anyth:[20,27,85,157,163,164,167,178,182,190,195],anywai:178,anywher:[150,158],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,152],apart:[22,196],apex:150,api:[17,27,54,154,155,157,162,164,167,175,180,182,189],appear:[86,152,153,157,158,159,175,177,181,182,183,188,189,194,195],append:[149,152,174,175],appli:[0,7,11,27,86,97,100,103,106,109,110,115,134,135,136,144,150,157,163,176,177,178,183,184,185,191,192],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,58,85,86,88,89,92,93,100,102,108,111,147,149,154,155,158,159,160,162,164,167,169,171,178,179,182,183,184,185,186,187,189,192,193,195,196],appreci:[27,152],approach:[22,27,81,86,96,100,101,103,107,109,134,135,136,154,157,159,169,171,174,178,180,194,196],approach_velocity_scaling_dist:103,appropri:[2,18,93,100,102,110,118,152,158,159,167,171,174,176,177,178,184,186,194,195],approri:[160,194],approv:[3,152],approxim:[86,104,110,134,135,153,159,171,172,178,181,196],apt:[148,149,153,174,175,177,181,182,185,189,191,193],arbitrari:[27,86,107,150,169,171,173,178],arbitrarili:154,arc:[85,86,97,175],architectur:[11,157,186],area:[3,7,27,38,39,86,94,112,115,117,118,134,135,136,152,157,158,159,160,162,164,169,175,177,178,181,182,185,190,192],area_memori:186,areerrorcodespres:[90,159],arg:[148,181,182,184,185,194],argc:184,argument:[26,148,158,159,160,163,165,174,177,180,182,184,185,189,190,192,194],argv:184,arm:162,aroun:159,around:[9,14,18,22,27,38,58,81,85,86,92,94,97,100,103,114,152,157,169,175,176,177,178,181,182,189,191,196],arrai:[92,135,136],arriv:[111,132,157,169],arrow:[177,188,189],art:107,articl:[154,179],articul:182,artifact:[105,107,149,182,183],artifici:100,arug:182,arxiv:154,as_str:167,asid:[174,175],ask:[0,3,27,152,164,184,195],asla:14,aspect:[19,149,150,180,181],assembl:195,assess:178,asset:[182,184],assign:[27,54,58,92],assist:[0,26,29,152,169,178],assisted_teleop:[31,88],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,90,158,159,169],associ:[27,159,174,175,176],assum:[18,19,150,157,164,165,169,172,176,177,183,184,189,190,191,192,193,194,195],assumpt:[110,178,189,191],assymmetr:186,asymmetr:92,async_slam_toolbox_nod:175,asynchron:[18,19,27,156],ata:[132,169],atom:13,atop:182,attach:[27,94,152,172,174,175,176,179,182],attempt:[1,18,20,21,23,24,27,81,98,99,100,106,113,134,135,136,150,160,182,184,186,190],attempt_respawn_reconnect:98,attent:[27,100,178],attest:152,attract:100,attribut:[100,159,190],augment:[189,197],auth_token:162,author:[150,152,154],auto:[149,165,167],auto_start:188,autom:[148,149,150],automat:[17,27,95,100,103,117,149,152,157,158,172,174,176,177,178,179,182,189,190,192],autonom:[1,26,27,100,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6],certif:[86,151],certifi:[9,86,152],chain:[189,192,194],challeng:27,chanc:[1,7,9,19,158],chang:[6,11,12,13,14,17,18,21,23,24,26,27,62,64,76,86,88,89,92,93,94,95,97,100,102,106,108,110,111,128,130,134,135,136,138,142,149,152,153,156,164,165,167,170,172,174,175,178,182,184,186,187,188,189,190,192,193,194,195],change_penalti:[135,136],changemap:26,channel:[135,152],chao:152,chapter:[27,190,192],charact:105,characterist:[4,12,106,174],charg:[27,66,159,169,171],charger:27,charuco:181,chassi:[176,177],chat:152,chatter:182,check:[0,7,9,11,14,18,19,22,26,27,53,54,60,62,63,64,66,67,68,70,72,73,74,75,81,84,85,86,88,89,90,92,93,94,100,103,104,108,111,114,115,127,128,129,130,141,147,148,149,150,152,154,156,157,158,160,162,163,164,165,166,167,169,171,172,174,175,176,178,181,182,183,184,188,189,190,192,194,196],check_for_collis:[26,54],checker:[17,46,93,121,155,162,196],checkerboard:181,checkifnewpathneed:24,checklist:173,checkout:[103,148,186],chessboard:181,child:[18,19,22,72,76,77,79,82,83,84,158,169,174,175,176,177,189],child_frame_id:174,children:[18,19,22,76,77,78,81,169,185],chip:178,choic:[10,26,27,178,179,186,191],choos:[109,149,150,153,167,172,176,178,182,183,184,189,192],chosen:[26,27,149,159,192],christoph:169,chronicl:149,chug:184,cilqr:3,circl:[19,27,85,86,178,181,194],circular:[27,94,100,107,114,154,160,171,172,177,178],cite:[103,154],citizen:193,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:152,class_list_macro:[162,164,165,166,167],classic:[178,182],classification2d:175,classification3d:175,clavero:154,clean:[27,95,100,149,156,158,160,162,165,166,167,178,182],cleaner:177,cleaningup:179,cleanli:[27,98,167,178,182,185],cleanup:[162,165,166,167,179],clear:[18,19,21,22,23,24,26,27,38,39,40,94,116,117,120,152,157,158,159,166,169,175,178,181,186,193],clear_after_read:193,clear_around_:157,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,163],clear_entirely_local_costmap:[18,21,22,23,24,40,90,163],clear_except_:157,clear_except_local_costmap:39,clear_on_max_read:[117,175],clear_threshold:117,clearallcostmap:26,cleararoundrobot:158,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,157,163],clearer:175,clearexceptregion:158,clearglobalcostmap:[18,21,22,23,24,26,90,163],clearing_endpoint:157,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,163],clever:184,cli:[27,99,149,150,156,157,182,185,191],click:[16,150,153,164,165,166,167,172,175,181,188,189,195],clicked_point:187,clicked_point_to_pos:187,client:[19,27,95,155,157,158,162,163,167,180],client_nod:158,client_node_:158,clinet_node_:158,clip:[175,190],clock:[190,192],clock_:[165,167],clockwis:194,clone:[148,181,182,187,189,190,191,192,193],cloned_tb3_simulation_launch:160,close:[22,27,53,81,85,86,94,100,103,110,136,139,145,149,157,158,160,165,172,178,182,189,194],closed_loop:110,closer:[57,100,135,159,160],closest:[58,97,103,121],closur:186,cloud:[7,27,149,150,153,156,182],cluster:178,cmake:[162,164,165,166,167,181,185],cmake_build_typ:185,cmakelist:[162,164,165,166,167,174,175,177,184,185],cmd:[174,175,182],cmd_vel:[13,85,86,160,165,174,185,194],cmd_vel_in_top:[86,194],cmd_vel_nav:[185,194],cmd_vel_out_top:[86,194],cmd_vel_raw:86,cmd_vel_smooth:[86,194],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,134,149,150,152,155,156,158,162,163,164,165,166,167,169,172,174,175,177,180,182,183,184,189,193,196],codebas:[86,93,110,152,160],codecov:12,codespac:[149,150],codifi:149,coeffici:[118,181,190,192],coffe:[150,195],colcon:[148,149,164,172,174,175,177,182,184,185,190,192],collabor:[4,14,152],collect:[26,173,175,178,185,186],collid:[4,9,172],collis:[1,7,9,27,28,29,54,88,92,94,100,103,104,108,114,115,117,145,154,155,157,158,162,169,170,171,172,174,175,177,178,196,197],collision_cost:100,collision_detector:85,collision_detector_st:[85,160],collision_margin_dist:100,collision_monitor:[86,194],collision_monitor_nod:194,collision_monitor_param:194,collision_monitor_st:86,collisionmonitor:159,color:[8,92,132,175,177,178,183,190,192,193],color_dark:190,color_light:190,column:[120,175],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197],combin:[27,94,135,138,139,142,143,157,191],combination_method:[94,116,120,160,193],combo:[160,182],come:[8,13,14,27,95,100,103,130,135,152,158,159,162,165,166,167,174,176,177],command:[1,9,22,29,44,47,50,51,55,80,86,103,104,110,148,149,150,154,156,162,164,165,166,167,169,171,174,175,176,177,184,186,187,188,190,191,192,196],commandlin:[99,182,184,185],comment:[149,152,158,164,166,184,193],commerci:[27,152,189],commit:[149,152,170,181],common:[18,26,27,86,100,149,150,154,157,158,167,174,182,186,189,194],commonli:[19,44,47,50,51,55,167,175,186,189],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,149,152,154,162,167,176,178,179,181,182],compani:[152,154,178,182],companion:195,compar:[27,60,73,74,75,86,89,92,107,159,160],comparison:154,compat:174,compens:189,compet:152,compil:[149,150,162,165,166,167,180,182,184,185],complement:[5,156,189],complementari:179,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,97,100,103,104,128,130,135,136,145,149,152,153,154,155,156,157,158,159,160,162,163,167,169,170,171,172,174,175,177,179,180,181,182,185,186,188,189,191,193,195,196],complex:[27,89,100,135,154,159,175,176,177,184,195],complexyolo:4,compli:[2,171,174,189],complianc:110,compliant:176,complic:154,complimentari:167,compon:[6,41,76,77,78,79,80,81,82,83,84,100,109,110,144,157,158,160,173,177,179,186,190,192],component_contain:179,component_container_isol:158,componentcontain:184,compos:[11,158,164,178,179,182,184,185],composable_node_descript:179,composablenod:[179,194],composablenodecontain:179,composit:[170,184,185,190,192],composition_demo:179,comprehens:[149,182],compris:[13,154,177],comput:[7,17,18,19,20,21,27,41,42,43,95,100,102,103,107,109,134,135,136,138,142,154,158,159,162,163,165,166,169,171,172,174,175,176,178,180,182,185,186,188],computation:[27,120,158],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,89,180],compute_path_error_code_id:179,compute_path_through_pos:[159,179],compute_path_to_pos:[159,179],compute_path_to_pose_error_cod:74,computeandpublishveloc:157,computeandsmoothpath:180,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,163,167,180,187],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,90],computevelocitycommand:[93,165],concaten:157,concept:[7,18,19,154,157,171,175,176,179,190,192,195],conceptu:176,concern:[150,152,158],conclud:182,conclus:22,concret:176,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,106,149,158,159,163,169,174,177,186,189,195,196],conditionnod:163,conduct:154,conf:[86,93,110,160,163],confer:154,config:[149,150,172,174,175,177,182,184,189,191],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,98,99,100,107,112,115,118,148,149,150,154,155,156,158,159,160,162,163,165,166,167,169,173,177,178,179,180,182,183,184,186,187,188,189,191,193,195],configured_param:[179,190,192,194],confin:[100,135,149,160,172],confirm:[172,175,181,189],conflict:156,conform:154,confort:160,confus:19,conjunct:[26,100],connect:[14,19,27,95,98,101,109,113,134,149,150,156,157,158,169,171,174,175,176,177,183,189,195],connector:[41,186],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,100,130,135,136,145,152,156,157,159,160,162,163,165,166,167,169,171,178,179,182,186,189,190,194],consider:[4,100,178,182],consider_footprint:100,consist:[8,17,100,150,152,157,158,169,174,175,176,178,179,189,195],consol:194,constant:[19,95,97,103,165,177,178],constantli:[156,158],constrain:[28,106,157,169,178],constrainedsmooth:[92,158],constraint:[21,104,110,136,157,158,160,167,169,171,178,196],constraintcrit:100,construct:[27,152,158],constructor:[26,27,158,160,163],constsharedptr:167,consult:14,consum:[9,158],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,152,154,178,179],contain:[9,11,17,21,23,24,27,46,49,91,100,107,110,116,120,135,136,151,155,156,157,158,159,160,162,164,165,166,167,169,174,175,177,178,179,180,181,184,186,190,192,194,196],container:[149,182],containeris:149,content:[150,172,173,175,177],context:[11,13,18,19,21,22,23,24,90,148,163,169,182,195],contextu:[17,18,21,23,24,154,159],continu:[1,12,18,19,20,21,22,23,24,27,95,100,111,133,135,136,150,152,153,154,155,156,157,158,159,167,174,177,178,182,186,189,191,194],contractor:14,contrast:[158,189],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,135,152,160,175,178,179],contributor:[14,152],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,103,107,110,118,120,122,123,124,125,126,127,128,129,130,136,137,138,139,140,141,142,143,144,145,146,154,155,156,162,163,164,167,168,170,172,173,174,177,179,180,182,184,185,186,187,188,191,192,193,194,195,197],controlcancel:22,controller_frequ:[93,96,97,100,103,104,196],controller_id:[18,20,21,22,23,24,26,44,46,90,157,160,163,187],controller_pati:157,controller_plugin:[93,96,97,103,104,156,165,171,196],controller_plugin_id:[121,122,123,124,125,126,137,138,139,140,141,144,145,146],controller_selector:[20,21,22,23,24,44],controller_serv:[22,93,96,97,98,100,103,104,156,157,158,160,165,171,179,185,192,196],controllerselector:[20,21,22,23,24,90,157],controllerserv:158,controlnod:163,conveni:[150,160,186,192],convent:[21,23,24,27,175,176,179,189],converg:[87,92,97,100,189],convers:[26,99,152,190,192],convert:[0,27,95,100,111,118,135,136,154,155,157,166,176,189,190,192],convert_typ:[190,192],convex:100,cooper:2,coordin:[5,26,27,41,87,94,95,111,158,174,176,177,186,187,189],coordinates_in_cartesian_fram:95,cope:189,copi:[158,172,174,175,177,180,182,184,190,192,193],copyright:152,core:[7,17,27,159,179,180,182],corner:[103,153,157,181,190,195],corpor:14,correct:[27,85,86,147,149,152,158,174,175,177,182,188,190,192,194],correctli:[19,27,153,157,158,172,174,175,176,189,190,192,194],correl:149,correspond:[27,41,81,85,86,89,100,101,109,112,113,114,115,116,117,118,119,120,134,135,136,157,158,162,163,164,175,176,183,189,192],correspont:190,corridor:[100,171,178],cost:[9,18,26,27,85,86,88,92,94,103,107,109,114,115,124,134,135,136,149,154,157,158,164,169,175,178,183],cost_check_point:92,cost_cloud:157,cost_penalti:[135,136],cost_pow:100,cost_scaling_factor:[94,100,109,114,164,175],cost_travel_multipli:134,cost_weight:100,costamp2d:190,costcrit:[100,160],costli:27,costmap2d:[147,160,168,169,183,190,192],costmap2dro:[158,165],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,86,88,91,92,93,97,102,103,108,109,112,113,114,115,116,117,118,119,120,134,135,136,137,140,154,155,158,164,165,166,171,172,178,183,189,197],costmap_2d:[5,160,164,175],costmap_2d_cloud:157,costmap_2d_ro:119,costmap_:[164,166],costmap_filter_info:[99,112,115,118,190,192],costmap_filter_info_serv:[99,190,192],costmap_filters_demo_dir:[190,192],costmap_raw:[88,105,106,108,162,180],costmap_ro:[158,165,166],costmap_ros_:165,costmap_top:[105,106,108,162,180],costmapfilt:157,costmapfilterinfo:[112,115,118,190,192],costmapinfotyp:159,costmapsubscrib:160,could:[1,2,3,6,7,9,10,20,27,85,86,93,109,149,150,156,157,158,159,163,164,165,169,176,178,180,182,184,187,189,190,192,193,194],couldn:184,count:[100,158,174,181,190],counter:[29,107,158,163,167,174,194],counterpart:178,coupl:[26,182,186,196],cours:[5,11,149,177,186],cov_path:41,covari:[87,189],cover:[2,27,86,117,152,157,160,171,178,179,182,184,189,190,192,194],coverag:[3,4,6,12,17,27,28,34,41,154,160,167,169,170,178,179],coverage_path:41,coverage_serv:95,coveragenavig:[41,89,169],cpp:[18,27,154,155,156,157,158,160,163,164,169,184,195],cpu:[4,7,86,149,158,178,179,186],crash:[27,98,156,158,178,179,182,195],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,78,81,86,94,95,98,100,106,107,135,148,150,152,154,155,156,157,158,159,164,169,171,172,174,175,176,177,178,179,182,183,186,188,189,190,192,193,194,195,196],create_cli:167,create_subscript:167,createplan:166,creation:[9,156,178],creativ:[6,8],creator:169,criteria:[27,128,130,145,152,158,169],criterion:92,critic:[1,7,9,27,121,135,136,137,138,139,140,141,142,143,144,145,146,155,171,178,179,184],critical_cost:100,critical_weight:100,cross:[147,149,154,171,172],crowd:[21,23,24,171],crtl:[149,150],crux:18,ctrl:149,cube:[172,175],cubic:92,cuda:7,cull:[21,53,169],current:[3,9,11,12,14,18,19,24,26,27,45,53,58,62,79,82,84,85,86,95,100,102,103,104,110,111,112,115,117,118,136,148,152,154,156,157,158,159,160,162,163,165,166,167,169,174,175,176,177,178,179,182,187,189,194,195,196],current_path:167,current_pos:167,curv:[95,97,109,164,178],curvatur:[92,95,97,100,103,135,136,157,165,171],curvature_lookahead_dist:[103,159],curvature_smooth:[108,180],cusp:[92,100,103],cusp_zone_length:92,custom:[10,17,18,19,21,23,24,26,27,57,58,78,80,87,88,89,95,100,107,111,136,148,149,150,154,158,159,162,165,166,167,169,171,173,175,182,189,193,194],customiz:[154,159],cut:[135,136],cxprime:175,cyan:[92,177],cycl:[22,85,86,103,135,136,158,162],cycle_frequ:[88,162],cylind:[175,177,189],cylinder_inertia:177,d15e176ed0af:182,d36cae3fb404:182,dai:[11,86,182],daili:182,damag:110,danc:189,danger:[92,154,194],dark:190,darker:192,dash:[153,161],data:[1,4,7,9,10,26,27,85,86,88,89,91,93,100,106,110,116,117,120,134,135,136,149,154,157,159,160,169,174,175,176,178,179,181,182,185,186,189,190,192,193,194],data_typ:[94,116,120,175,193],dataset:186,date:[85,86,87,112,115,118,152,155],datum:189,david:[14,96,169],dcmake_build_typ:185,dco:151,deactiv:[27,98,162,165,166,167,179],dead:27,deadband:[110,158],deadband_veloc:110,deadlin:[86,88,89,93,102,108,110,111,160],deal:[7,27,174,176,178],dealloc:27,dealt:18,debian_frontend:182,debug:[27,92,100,120,121,124,135,136,149,159,184,185],debug_optim:92,debug_trajectory_detail:[96,121,165],debug_visu:[135,136,160],debugg:[149,184],debuggin:100,decad:[6,14],decai:[87,100,114,169,175,178],decay_acceler:193,decay_model:193,decel_lim_i:[96,123],decel_lim_theta:[96,123],decel_lim_x:[96,123],deceler:[123,160],decemb:[107,178,193],decent:100,decid:[22,87,160,176,177,179],decis:[172,189],declar:[61,63,149,152,157,160,162,164,165,166,190,192],declare_autostart_cmd:[190,192],declare_mask_yaml_file_cmd:[190,192],declare_namespace_cmd:[190,192],declare_paramet:167,declare_parameter_if_not_declar:[165,166],declare_params_file_cmd:[190,192],declare_use_sim_time_cmd:[190,192],declarelaunchargu:[174,177,190,192],declareparamet:164,decod:192,decor:[18,20,22,158,163,169,187,195],decoratornod:163,decreas:[100,159,193,194],decrement:164,dedic:14,deduc:184,deeper:[100,135,175],deepli:195,def:[158,177,190,192],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,156,163,167,187],default_control:[20,21,22,23,24,44],default_critic_namespac:121,default_custom_ord:95,default_goal_check:47,default_headland_typ:95,default_headland_width:95,default_model_path:[174,177],default_nav_through_poses_bt_xml:[89,167],default_nav_to_pose_bt_xml:[89,160,167],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:[20,21,22,23,24,50],default_progress_check:51,default_route_typ:95,default_rviz_config_path:177,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:112,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[174,177,190,192],defaultsto:174,defin:[1,5,9,10,18,26,27,41,44,47,50,51,55,60,61,63,81,85,86,88,89,93,94,99,100,102,108,111,121,122,123,124,125,126,127,128,129,130,131,132,133,137,138,139,140,141,142,143,144,145,146,149,154,155,156,157,158,159,160,163,164,166,167,171,172,174,175,176,177,179,183,184,188,189,190,192,193,195],definit:[27,46,54,89,159,162,164,167,174,175,177,179],deg:[95,100],degrad:[135,136,189],degre:[11,25,85,86,135,157,160,189],delai:[85,86,189],delet:[158,174,182],deliv:26,deliveri:1,deloc:52,delsei:[14,169],delta:109,demand:[27,165,166,189],demo:[8,10,22,27,158,160,172,179,182,189,190,192],demo_inspect:26,demo_nodes_cpp:182,demo_nodes_pi:182,demo_pick:26,demo_secur:26,demonstr:[4,10,26,86,148,158,160,164,189,193,194],deni:167,denois:[94,169],denoise_lay:[113,183],denoiselay:[113,178,183],denot:[175,184],dens:[26,136],dense_qr:92,densiti:[87,95,100],depend:[18,27,86,97,100,118,148,149,150,155,157,158,159,160,162,163,165,166,167,171,172,174,177,178,182,183,184,186,188,189,190,194],depict:[22,92],deploi:[4,100,154,160,171,182],deploy:[157,179,189],deprec:[6,92,157,158],depth:[27,86,94,116,120,169,171,175,176,177,178,186,193],depth_camera:175,depth_camera_control:175,deriv:[86,150,162,164,174,177,189],descent:[105,158],describ:[18,19,100,152,153,160,164,165,166,167,171,174,177,182,184,185,189,192,193,194,195],descriopt:112,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,106,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,156,157,160,162,163,164,165,166,167,169,171,174,177,178,182,190,192],descriptor:176,design:[5,6,8,26,27,91,100,105,107,157,159,164,178,183,190,192,194,195],desir:[85,86,100,103,132,135,136,149,152,157,159,160,165,178,186,187,192],desired_linear_vel:[103,165],desired_linear_vel_:165,desk:154,desktop:182,despit:189,destin:[26,27,62,63,64,84,153,174,175,177],destroi:[149,182],destroynod:26,detach:182,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,89,100,107,112,115,118,149,152,156,157,158,159,160,162,164,165,166,167,171,172,173,174,176,178,182,184,189,192,193,195],detect:[4,27,54,58,85,86,91,92,103,149,160,172,174,175,178,181,187],detection2d:175,detection3d:175,detector:[27,91,187],detectron2:4,determin:[0,69,97,111,121,132,160,167,171,177,183,184,185,194],determinist:[11,27,98,105,179],dev:[148,151,182,189],devcontain:[149,150],devcontainerid:149,devel:[191,193],develop:[3,4,5,8,11,14,21,23,24,27,86,107,109,147,149,150,158,160,170,177,178,179,184,196,197],developercertif:152,dever:149,deviat:[87,100,110,160,178],devic:[149,178,189],diademata:153,diagnost:174,diagnostic_msg:174,diagnosticarrai:174,diagon:113,diagram:[154,176,187],diamet:174,dictat:196,dictionari:160,did:[19,20,160,162,165,166,175,177,184,185],didn:178,diego:14,diff:[92,107,169,178,182,189],diff_driv:174,diff_drive_control:174,diffdriv:100,differ:[10,17,18,19,21,22,23,24,27,62,85,86,90,95,97,103,104,107,109,112,115,118,135,149,150,152,154,156,158,159,160,164,167,171,173,174,175,176,177,178,179,180,182,184,186,187,189,190,192,194,195,196],differenti:[8,87,97,100,104,107,109,154,157,158,160,169,171,172,174,175,177,178,186,189,196],differentialmotionmodel:87,difficult:[27,104,158,178,196],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],dig:182,digit:[105,132,169],dijkstra:[3,101,158,169,171],dilig:150,dime:178,dimens:[157,177,181,186],dimension:189,dir:182,direct:[4,58,86,92,100,103,107,110,122,135,136,141,148,149,157,160,170,171,176,181,188,189,194],direction_end_angl:[86,194],direction_start_angl:[86,194],directli:[27,95,100,133,149,150,152,157,160,163,164,177,184,189,190,192],directori:[132,148,149,150,157,158,160,162,164,165,166,167,169,172,174,175,177,178,182,190,192],disabl:[85,86,87,93,134,135,136,158,159,178,181,186],disable_calib_cb_fast_check:181,disagre:87,disappear:86,discard:[88,89,93,102,108,111,113,158,160,183],discontinu:[95,105,107,136],discours:[0,152],discov:[148,163],discover:[162,164,165,166,167],discoveri:[98,149],discret:[27,113,149,152,171,174],discretize_by_tim:126,discuss:[3,6,19,27,89,152,156,157,158,165,166,171,172,173,174,175,176,177,179,182,189,196],dislpai:175,dispatch:27,displac:[30,45],displai:[2,85,102,135,136,157,172,174,175,177,178,182,183,189,192,195],disproportion:100,disscuss:157,dist:[26,135,136,181],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,56,57,58,61,63,79,87,88,92,95,97,100,103,104,121,126,135,136,141,155,156,157,160,165,169,171,174,175,176,178,187,196],distance_backward:58,distance_forward:58,distance_remain:[157,167],distancecontrol:[17,18,90,92,156],distancetravel:90,distancetraveledcondit:156,distant:58,distinct:[27,176],distinguish:41,distort:[105,181,183],distortionk1:175,distortionk2:175,distortionk3:175,distortiont1:175,distortiont2:175,distribut:[100,147,149,150,152,153,160,161,170,182,190],distro:[147,148,153,174,175,177,181,182,188,189,191,193],distroa:147,distrob:147,disturb:189,dive:177,diverg:[135,136,178,186],divid:[156,157,189],do_beamskip:87,do_refin:[105,106,108,135,136,159,180],doc:[8,148,153,156,182,189],dock:[17,18,27,88,171],docker:[149,150,197],dockerfil:[148,149,182],dockerhub:182,document:[8,10,15,18,22,27,148,149,152,153,156,174,175,176,177,182,183,184,185,186,190,191,192],doe:[4,9,19,21,22,23,24,85,86,91,100,115,117,135,136,148,149,157,158,159,160,162,165,166,167,172,174,178,179,180,182,189,190,192,195],doesn:[76,134,157,158,162,178,182,186,190],dog:186,doing:[26,111,115,152,167,184,189],doisi:169,domin:[116,120,160],don:[135,136,140,153,157,176,178,180,184,186,187,188,189,190,191],done:[13,18,19,27,86,149,155,156,157,164,165,166,167,170,171,175,184,185,186,195],dont:177,door:17,dot:[160,189],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,106,108,109,110,111,112,114,115,116,117,118,119,120,121,123,124,125,126,127,128,129,130,131,134,135,136,137,138,139,140,141,142,143,144,145,146,157,160,165,166],doubt:100,down:[26,27,97,98,100,103,109,118,120,153,154,156,158,159,160,178,179,182,184,189,192,194],download:[5,149,181,182],downsampl:[92,100,134,135,136,158,160],downsample_costmap:[134,135],downsample_factor:[134,135],downsample_obstacle_heurist:[135,160],downsampling_factor:[134,135],downstream:157,doxygen:151,dozen:27,drag:[153,195],dramat:[135,136,156],draw:[189,190,192],drawn:190,drift:[27,174],drivabl:[104,171,178,196],drive:[1,25,26,35,45,92,100,103,107,135,136,154,157,165,169,171,172,174,175,177,178,189,190],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,178],driveonhead:[25,26,90,159],driver:[1,13,16,147,149,174,175,181,186],drivetrain:169,drivewhl_l:177,drivewhl_l_joint:174,drivewhl_r:177,drivewhl_r_joint:174,drop:[9,97,156,160,186,195],dropdown:2,dual:[150,189],dual_ekf_navsat:189,dub:158,dubin:[95,135,136,157,158,169,171],dubiou:158,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,100,110,113,135,136,152,156,157,158,159,167,172,174,175,178,182,183,186,195,196],dumb:27,dummi:164,dump:171,duplic:[27,167],durabl:177,durat:[54,71,84,88,89,93,98,100,141,152,158,163,165,179,187],dure:[6,22,85,86,92,98,100,135,136,149,156,157,158,159,160,163,164,172,177,178,185,188,191,195],dwa:[3,169,171],dwb:[1,3,9,21,23,24,27,28,122,123,124,125,126,137,138,139,140,141,142,143,144,145,146,155,156,169,171,178,196],dwb_core:[93,96,156,157,171,196],dwb_critic:[96,121],dwb_local_plann:156,dwb_plugin:[96,121],dwblocalplann:[93,96,156,171,196],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,96,100,135,136,154,155,156,157,162,163,164,165,166,167,170,171,175,177,178,192,193,194,195,197],dynamicfollowpath:156,e1d7e035a824:182,e727072615d0:182,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,100,102,108,110,133,150,152,154,155,157,158,159,160,162,163,164,165,166,171,174,175,176,177,178,179,180,182,183,184,189,190,192,194,195],earli:[5,11,16],earlier:[87,135,136,150,153,158,162,176],earth:189,earth_wgs84:189,eas:182,easi:[10,11,14,18,27,41,149,150,152,154,160,173,175,182,186,191],easier:[152,171,175,176,177,178,182,184,196],easili:[13,18,27,89,149,156,157,158,160,178,185,194],east:189,echo:[182,189],ecosystem:[0,27,107,158,178],edg:[4,95,100,160,176,190],edit:[8,157,169,174,175,180],editor:[182,190,192,195],educ:14,effect:[2,4,86,92,117,134,149,156,158,174,178,190],effici:[22,27,107,175,178,179],effort:[8,14,27,95,110,152,154,157,171,175,178,193],efk:174,eight:[183,189],eitan:169,either:[1,18,19,26,27,86,87,99,100,117,119,149,150,159,160,169,171,174,175,178,182,185,192,195],ekf:[174,186,189],ekf_filter_nod:174,ekf_filter_node_map:189,ekf_filter_node_odom:189,ekf_localization_nod:174,ekf_nod:174,elaps:157,elast:[3,155,171,196],electr:189,electromagnet:189,element:[8,155,162,174,177],elev:[17,27,86,93,110,150,152,160,189],elif:[26,158],elimin:177,ellipsoid:189,elong:92,eloqu:[27,161],els:[26,85,94,157,158,160,164,165,167,174,182,194],elsewher:185,email:[0,14,27,152],emb:176,embed:[6,27,158,178,179],emerg:[6,9,86,91],emit:175,emphas:189,emploi:86,empti:[42,43,100,116,119,120,131,156,157,158,160,165,167,182,183],emul:149,emulate_tti:[190,192],enabl:[10,13,22,53,85,86,87,94,97,100,103,111,112,113,114,115,116,117,118,119,120,131,132,133,135,136,149,150,157,158,159,162,165,166,167,169,174,175,177,178,179,182,186,191,193,194,195],enable_stamped_cmd_vel:[86,88,93,110,160,194],enabled_:164,enact:[9,81,154,196],encod:[27,112,118,174,176,186,189,190,192],encompass:178,encount:[16,171,175,184,185],encourag:[0,14,22,100,152,177,179,184],end:[6,11,20,27,85,86,100,101,105,134,136,158,160,162,164,165,166,167,169,177,178,179,182,183,184,189,194],endpoint:[135,136],energi:[100,175],enforc:[92,110,115,157,181],enforce_path_invers:[100,160],engag:152,engin:[6,148,150,155,185,186],enhanc:152,enough:[18,159,172,178,181,182,189],enrich:150,ensur:[4,9,11,13,20,21,23,24,27,86,93,98,100,103,110,149,150,152,155,157,158,159,160,171,172,176,177,178,179,182,185,193],enter:[21,23,24,27,100,162,165,166,167,190],entir:[12,18,19,21,23,24,86,148,149,152,169,171,178,186,194],entiti:174,entri:[14,174,180,184,185,194],entryfil:178,entrypoint:[148,182],enu:189,enumer:[29,30,41,42,43,45,46,54,56,195],env:[149,182],environ:[4,5,9,10,12,27,97,107,147,148,149,150,152,153,154,171,172,174,175,176,178,182,186,188,189,190,194],environemnt:175,environment:[94,120,154,182],envok:[29,30,45,56],envrion:193,ephemer:149,eppstein:169,eqal:92,equal:[27,85,86,97,112,164,181,183,190,192],equat:109,equip:[175,186,189,195],eros:183,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,97,100,113,147,148,156,157,158,169,172,175,180,182,183,186,188,189,193],error_cod:[21,23,60,73,74,75,179,180],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,48,49,54,56,180],error_code_id_nam:[159,179],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,135,136,150,155,158,176,180,182,186,188,189,191,193,196],essenc:176,essenti:[6,135,136,158,175,178],establish:179,estim:[15,86,87,105,110,153,155,157,164,165,166,167,174,175,176,188,189],estimated_time_remain:[157,167],etc:[4,10,13,17,26,27,85,86,89,93,94,95,110,112,149,150,152,157,159,160,162,167,171,173,174,176,178,182,186,189,191,195],eth:5,euclidean:[157,178],europ:189,evalu:[121,124,136,171,186],evalul:7,even:[19,20,21,23,99,100,103,110,114,135,150,154,156,157,158,169,171,172,173,174,178,182,184,186,190],evenli:87,event:[1,13,152,158,182],eventu:[159,175,177],ever:[100,157],everi:[17,19,21,23,24,58,83,92,94,97,100,103,116,120,135,152,157,158,160,163,164],everyon:[150,152],everyth:[153,158,164,174,182,189],everywher:[100,155],exact:[100,105,134,135,136,149,159,171,172,178,187,190],exactli:[134,153,178,192],exampl:[1,7,15,16,17,18,19,22,27,107,148,149,150,156,157,158,160,162,163,164,165,166,167,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,190,192,193,194,195,196],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,102,108,111,118,157],exceed:[18,94,159],excel:[1,7,9,189,196],except:[26,27,39,85,93,135,136,152,157,159,166,169,174,184,186,192],exception:[167,174,185],excess:11,exchang:[100,135],exclud:159,exclus:22,exe:184,exec:[149,182],exec_depend:[174,177,179],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,104,110,111,149,150,152,156,157,158,160,163,164,167,169,171,172,174,175,176,177,179,182,183,184,185,190,192,195],executeprocess:[174,175],executor:[11,26,27,111,157,159],exemplari:17,exhaus:182,exhaust:170,exhibit:22,exist:[4,8,11,12,27,41,85,86,99,100,113,134,147,149,152,156,157,158,160,165,167,178,182,185,186,187,189,195],exit:[21,23,27,98,156,158,182,184,185],expand:[101,135,136,137,149,158,171,177,182],expans:[8,101,109,135,136,157,158,159,160,169],expect:[5,11,26,87,100,102,116,120,152,154,156,157,160,167,174,179,180,182,189],expected_planner_frequ:[102,109],expected_update_r:[116,120,193],expend:178,expens:[27,120,158,159,174],experi:[1,2,3,4,5,6,7,9,10,12,25,148,149,150,154,158,177,184,186,188],experienc:173,expert:[4,14],expir:[22,70,169,193],explain:[11,18,19,22,150,152,172,184,185,191,196],explan:[18,91,107],explanatori:182,explicitli:[4,26,150,190],explor:[135,175,176],exponenti:[87,97,100,114,169,175,178],expos:[19,27,108,157,159,182,189],exposur:7,express:[27,118,160,165,189,190,192],extend:[164,174,189],extens:[22,27,100,149,150,159,160,186],extent:[97,103],extern:[4,21,23,24,26,85,93,98,131,148,149,155,156,159,160,179,182,186,197],extra:[92,135,136,158,190],extract:[158,167,169],extrem:[2,18,85,97,115,157,175],face:189,facilit:[150,158,160],factor:[81,92,97,100,114,134,135,145,175,178],factori:163,fail:[18,19,21,23,24,26,27,93,98,111,134,135,136,155,157,158,159,162,167,169,182,184],failed_to_make_progress:[73,159],failed_to_smooth_path:[75,159],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,100,154,155,157,158,163,169,179,184,187],failure_toler:93,fair:8,fairli:184,faith:152,fake:27,fall:86,fallback:[21,23,24,86,194],fallbackcomputepathtopos:24,fallbackrecoveri:24,fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,97,98,100,101,103,109,110,111,112,114,116,117,118,119,120,121,124,126,134,135,136,137,140,153,157,158,159,160,162,164,166,167,174,175,178,183,184,186,188,189,190,193,194,195],familiar:[18,27,177,182],fanci:[149,182],far:[85,86,95,100,135,136,153,158,160,175,178,187,196],farm:193,fashion:19,fast:[85,86,87,97,105,106,135,136,158,183,186],faster:[97,158,178,182],fault:[12,26,27],favor:158,favorit:182,favourit:[190,192],fe0cbdee2808:182,fear:182,feasibl:[27,100,104,106,107,115,135,154,157,158,160,169,171,178,196],featur:[1,4,6,8,9,14,27,87,93,95,103,106,110,135,149,152,153,157,158,169,170,177,178,182,189,190],feaur:190,feed:179,feedback:[14,26,27,89,97,110,152,158,167],feedback_msg:167,feel:[6,147,150,177,178],ferguson:[14,154],fetch:[165,166],fetullah:169,few:[4,11,14,19,26,81,92,95,148,149,160,171,175,178,182,184],field:[4,26,41,63,85,86,87,93,95,118,134,156,157,158,159,160,162,164,166,167,174,175,177,179,181,182,184,186,189,190,192,193],field_filepath:41,fields2cov:[41,95,160],figur:[189,195],file:[1,2,17,27,41,86,88,89,98,99,109,132,136,147,149,150,152,153,154,156,157,158,163,164,169,172,176,177,178,179,180,181,182,186,187,188,189,190,191,192,193,194,195],file_field:41,file_field_id:41,filenam:[174,175,189],filepath:[41,136,167,178],filesystem:[150,182,184],fill:[4,152,156,163,181,190,192,195],filter:[6,13,29,87,93,105,174,178,182,186,189,193,194,197],filter_dur:84,filter_info_top:[99,112,115,118,190,192],filter_mask:99,filter_mask_data:192,filter_mask_serv:[190,192],filter_space_valu:99,final_bt_statu:167,final_rot:97,find:[14,27,58,88,89,93,95,97,100,102,103,108,110,111,135,136,149,150,152,153,156,157,159,160,165,167,171,177,178,180,182,183,184,185,187,188],find_if:165,find_packag:184,findchessboardcorn:181,finder:[157,175],findpackageshar:177,fine:[100,153,178,192],finish:[156,160,185,189],finit:[27,100,135,186,195],first:[19,27,41,76,77,85,86,100,114,119,148,149,152,154,158,159,160,165,169,170,172,174,175,176,177,178,179,180,183,184,186,187,188,189,190,191,192,193,194,195],first_map_onli:87,first_map_only_:87,firstli:22,fit:[100,178,189,194],fix:[103,117,152,156,159,160,170,172,174,175,176,177,181,186,189],flag:[9,149,174,177,181,182,184,185],flagship:14,flat:186,flavor:182,fleet:[27,182],flexibl:[14,89,100,162],flip:[112,157,159,171,177],flip_threshold:112,flood:18,flow:[1,18,19,21,23,24,77,78,152,163,195],fluidli:100,fly:[157,160,184,195],fn_tol:92,focal:181,focallength:175,focu:[12,18,26,177,194,195],focus:[109,182,183,186],focuscamera:177,folder:[19,149,150,175,181,189],folk:[152,158,184],folllow:174,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,97,99,102,103,110,118,131,132,133,135,136,148,150,152,153,154,155,156,157,158,159,162,164,165,166,167,169,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,188,190,191,192,193,194,196,197],follow_gps_waypoint:[27,160,189],follow_path_error_cod:[20,21,22,23,24,46,73,89],follow_path_error_code_id:179,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,96,97,100,103,104,156,159,160,163,165,167,171,187,196],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,90],followwaypoint:[26,159],fonction:158,fondli:14,fool:178,footprint:[2,85,86,88,94,100,108,115,116,120,135,136,140,158,159,160,164,171,173,177,194],footprint_clearing_en:[94,116,120],footprint_pad:94,footprint_top:[86,105,106,108,162,180],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,100,160,186],forcefulli:149,forese:156,forget:188,forgot:152,fork:[27,96,182],forklift:22,form:[5,41,86,109,164,175,176,182],formal:[27,154,183],format:[10,41,85,86,92,100,132,136,149,157,174,175,177,182,189,190,192,195],former:[14,85,86],formerli:[93,159,169],formul:160,formula:192,fortun:174,forward:[0,9,18,27,58,92,99,103,104,121,126,136,141,144,145,149,153,160,163,176,178,182,189,194,196],forward_point_dist:[96,138,142],forward_prune_dist:[121,159],forward_sampling_dist:[104,196],found:[3,8,19,22,26,27,72,86,91,100,104,107,121,134,135,136,149,150,154,155,157,158,159,160,162,163,164,165,166,167,169,170,171,172,174,175,177,179,185,188,189,190,191,192,193],foundat:167,four:[18,27],foxi:[11,27,161,166],fraction:158,fragment:183,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,99,108,111,112,115,116,118,120,124,147,155,165,166,172,174,175,176,177,181,186,189,194],frame_id:[26,63,99,116,120,160,165,166,174,190,191,192],frame_nam:175,framework:[0,2,8,14,27,107,134,154,159,174,178,179],francisco:[154,169,186],free:[10,27,94,99,100,117,134,147,150,155,169,174,175,177,178,183,186,188,189,190],free_spac:183,free_thresh:[190,192],free_thresh_default:99,freeli:177,freespac:[21,23,24,178],frequenc:[18,19,85,88,93,94,100,102,110,135,136,174,186,189],frequent:[136,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horten_transformed_plan:[121,159],shorter:[22,57,58,135,136,169,177,187],shortest:[27,171],should:[1,2,3,6,9,11,17,18,22,27,41,73,74,75,77,84,85,86,88,89,92,93,94,97,99,100,102,103,108,110,111,113,116,118,120,135,136,150,152,153,155,156,157,158,159,160,162,163,164,165,166,167,172,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,192,194,195,196],shouldn:[100,182],shovel:27,show:[2,26,118,136,150,153,158,162,163,164,165,166,167,171,172,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],showcas:189,shown:[13,18,26,100,152,153,157,163,167,171,172,174,175,179,180,187,189,192,194,195],shrijit:154,shut:[26,27,179],shutdown:[27,158,179],shutter:186,shuttingdown:179,sid:162,side:[25,38,39,94,100,132,149,175,177,179,183,185,195],sidebar:[152,181,185],siemen:195,sig:184,sight:[105,171,189],sigma_hit:87,sign:[0,110,152],signal:[9,105,169,185,189],signatur:[163,167],signific:[8,9,100,178,189],significantli:[7,9,17,22,23,24,81,100,104,135,158,160,169,178,189,196],silent:157,sim_tim:[96,125,126],simiar:176,similar:[7,9,10,19,21,23,26,27,85,97,99,100,107,148,150,157,158,163,171,174,175,177,178,180,182,184,186,189,193,195,196],similarli:[21,23,85,91,160,174,182],simpl:[3,27,28,105,113,135,136,150,152,155,162,163,164,166,169,171,172,176,177,178,180,184,187,189,191,195,196],simple_smooth:[54,106,108,180],simplegoalcheck:[46,93,96,97,103,104,121,157,169,196],simpleprogresscheck:[93,96,97,103,104,159,169,196],simpler:[135,176,177],simplesmooth:[55,106,108,180],simplest:163,simpli:[17,100,135,149,152,157,158,162,163,174,177,178,182,184,190,192,193,195],simplic:190,simplifi:[6,153,156,163,165,167,184],simul:[1,2,3,4,5,6,7,9,10,11,12,13,86,89,100,104,125,126,147,153,160,162,164,165,166,167,172,173,177,178,182,184,185,188,189,190,191,192,193],simulate_ahead_tim:[88,104,162,196],simulation_time_step:[86,88],simultan:[149,164,175,190,192],sinc:[6,27,41,92,95,100,103,104,106,115,135,136,157,158,160,164,167,171,172,173,174,175,176,177,178,179,180,182,184,186,189,190,192,194,195,196],singh:[103,154,169],singl:[11,19,21,23,24,26,27,93,99,100,111,135,136,152,155,156,157,158,163,164,166,169,174,175,176,177,178,179,180,184,185,186,189,193],singletrigg:[90,157],singular:178,sister:157,sit:9,situat:[1,10,18,21,23,24,27,86,103,153,154,157,158,169,172,175,178,180,182,184,185,186],size:[26,27,38,39,95,119,135,136,158,164,170,171,172,174,175,177,178,181,182,183,186,189,190,192,193],skew:181,skid:[157,171,186],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,184],skillset:7,skinni:178,skip:[87,95,100,162,174,182],skirt:158,slack:[0,14,27,152],slam:[6,15,94,119,154,155,156,175,176,178,184,186,188,197],slam_toolbox:[15,148,184,191],slate:182,sleep:[86,133,163],slide:177,slider:[177,190],slight:105,slightli:[100,105,110,134,135],slop:181,slow:[86,87,97,100,103,118,145,157,159,160,178,184,192,194],slowdown:[86,194],slowdown_radiu:97,slowdown_ratio:[86,194],slower:[85,86,183],slowing_factor:[96,145],slowli:100,smac:[28,92,100,103,104,115,154,157,170,171,172,196],smac_plann:103,smacplann:169,smacplanner2d:[107,134,157,169],smacplannerhybrid:[107,135,158,169],smacplannerlattic:[107,136,169],small:[100,110,135,156,159,167,169,170,172,174,177,178,183,186,188,189,196],smaller:[13,18,27,97,103,113,135,136,158,186,190,192],smart:[27,112],smash:182,smooth:[20,26,27,54,84,92,97,100,104,105,106,108,110,134,135,136,154,157,158,159,160,169,174,178,180,189,194,196],smooth_path:[135,136],smoothed_path:[26,54,180],smoothed_path_in_collis:[75,159],smoother:[28,54,55,75,134,135,136,154,167,170,171,179,194,197],smoother_error_cod:[75,89,180],smoother_id:[26,54,180],smoother_plugin:[92,105,106,108,180],smoother_selector:55,smoother_serv:[92,105,106,108,179,180],smootherselector:90,smoothing_complet:54,smoothing_dur:54,smoothing_duration_us:54,smoothing_frequ:110,smoothing_path_error_cod:54,smoothli:[100,178],smoothpath:[26,90,92,158,180],sms:162,snake:95,snippet:[18,162,165,166,167,172,174,175,177,179,184],snuff:160,soc:4,soccer:[27,189],socket:150,soft:[22,86,93,100,110],soften:105,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,103,152,159,175,178,179,182,184],sole:[160,195],solut:[27,88,89,93,100,102,108,111,135,136,178,183,186],solv:[22,147,166,184],solver:[92,169],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,51,55,85,88,89,93,100,102,105,107,108,110,111,115,135,149,152,155,157,158,160,163,165,166,167,171,172,174,175,176,177,178,182,183,184,186,187,189,190,194,195],someon:[11,14],someth:[0,18,19,26,152,158,174,176,182,184,189,190],sometim:[18,152,178,195],somewhat:[135,178,196],somewher:192,sonar:[27,86,117,159,175,178,193,194],sonoma:189,soon:27,sooner:190,sound:[85,160],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,116,120,147,149,151,152,153,154,158,162,163,164,165,166,167,172,173,174,175,176,177,181,182,184,186,188,189,190,191,192,193,194],source_fil:[190,192],source_timeout:[85,86,194],south:189,space:[1,4,10,20,27,85,86,87,94,99,100,101,103,109,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leti:167,subtli:158,subtre:[17,19,21,22,23,24,27,38,39,40,90,163,169],succe:[18,19,76,77,169],succeed:[26,83,158,162,166],success:[14,18,19,22,27,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,100,157,158,159,160,162,163,169,177,183,189,196],successfulli:[1,18,27,158,162,167,174,176,177,179,182,187],successor:[100,154,159],sucessfulli:176,sudo:[148,153,174,175,177,181,182,185,189,191,193],suffici:[4,18,27,100,136,145,167,183,185,186],suffix:185,suggest:[19,92,100,171,176,177,182],suit:[0,149],suitabl:[92,104,158,169,171,176,178,196],sum:[87,137,138,139,140,142,143,171,177],sum_scor:[137,140],summar:[171,176,178],summer:[5,11],superior:159,suppli:[11,27,79,82,84,89],support:[2,6,13,14,26,27,44,47,50,51,55,85,103,107,147,149,150,154,155,156,159,169,171,175,177,178,182,183,190,192,193,195],suppos:176,sure:[1,2,7,12,26,89,100,116,120,147,149,152,157,160,164,167,169,172,174,175,178,181,183,184,186,188,189,190,191,192,193,194],surfac:[27,154,189],surface_model:189,surpris:196,surround:171,survei:154,susbcrib:132,sustain:27,swap:[158,159],swath:[41,95],sweep:[97,177,178],symbol:184,symlink:[148,164,182,190,192],symmetr:160,symmetri:158,sync:195,sync_slam_toolbox_nod:184,synchron:[27,186],syntax:[149,160,177,184],sysdep:184,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,86,87,93,98,100,110,148,149,150,152,153,154,155,158,160,167,171,175,176,177,178,179,180,181,182,184,185,186,188,194],systemat:179,systemd:182,systemdefaultsqo:167,sysv:184,tab:[147,172,175],tabl:[158,164,165,167,173,178,179],tackl:[172,173],tag:[148,149,158,163,174,175,177,182],tailor:171,take:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,63,64,65,81,84,85,86,87,88,89,93,95,98,100,102,104,105,106,108,111,119,132,134,135,149,152,153,155,157,158,159,160,162,163,165,166,167,169,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,192,196],taken:[4,63,77,85,86,92,100,118,132,157,164,167,190,192],talk:[1,149,154,174,176,182,184,191,193],talker:[147,182],tangent:[4,181,189],tangenti:181,tar:181,target:[6,100,103,118,149,150,156,157,160,171,177,184,187,188,192,195],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,53,80,86,89,91,95,100,104,111,152,154,155,157,159,162,163,167,171,172,173,175,178,180,186,187,189,195,196,197],taskexecutor:26,taskresult:[26,158],tb3:160,tb3_gp:189,tb3_simulation_gazebo_launch:182,tb3_simulation_launch:[153,162,164,165,166,167,178,183,184,187,190,191,192,194],tbb:7,tcp:150,team:[14,150,187],tear:110,teardown:[27,171],teb:[3,100,155,159,169,171,178,196],teb_local_plann:156,teblocalplann:156,technic:[8,21,23,24,152,162,164,165,166,167,190],techniqu:[3,4,6,27,86,105,106,107,157,175,178,186,189],technolog:[8,14,154,186,189],tediou:177,teleop:[0,26,29,88,169,182,189],teleop_twist_keyboard:189,teleoper:189,telepres:1,tell:[27,152,160,162,163,164,174,182,184,189],temperatur:100,templat:[107,148,152,157,163,167,173,177,182,184],tempor:[169,178,193],temporari:[21,22,23,24,88,89,93,102,108,111,186,190,192],tend:196,term:[95,100,152,160,167,175,176,186,190],termin:[92,106,134,135,136,147,153,156,162,172,174,175,181,182,184,185,187,188,189,191],terminatependinggo:167,test:[0,3,4,6,88,100,136,149,152,160,170,174,181,182,187,191,193,195],text:[162,164,193],tf1:177,tf2:[27,156,173,174,176,177,178],tf2_echo:[174,176],tf2_msg:174,tf2_ro:[165,172,174,176],tf2_tool:175,tf_:[165,166],tf_broadcast:87,tf_static:158,tfmessag:174,than:[19,21,23,24,27,57,58,63,67,81,86,87,88,89,93,94,95,97,98,100,102,103,104,108,110,111,112,113,135,136,149,156,157,158,159,160,165,167,169,176,178,182,183,184,185,186,187,189,190,191,194,196],thank:14,thei:[0,7,18,19,21,23,24,27,85,86,89,95,98,100,107,146,149,150,152,154,156,157,158,159,160,162,163,165,166,167,171,173,174,175,176,177,178,179,182,184,185,189,190,194,195],theinput:174,them:[4,7,21,26,27,85,93,95,100,111,115,116,120,136,149,150,152,154,155,157,158,159,160,162,163,164,165,166,172,175,176,177,178,179,180,182,184,185,186,188,189,190,191,192,194,195,196],themselv:[167,195],theoret:100,theori:100,therebi:152,therefor:[19,22,85,100,177,178,179,184,189,190,192,194,195],theta:[26,28,97,104,105,110,157,169,171,178,196],theta_max:[86,194],theta_min:[86,194],theta_scal:144,thetastarplann:[109,169],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,47,50,51,53,55,56,59,62,73,74,75,81,83,85,86,87,88,89,90,92,93,94,95,97,98,99,100,101,102,103,104,105,106,108,109,110,111,112,113,114,115,116,117,118,119,120,134,135,136,137,149,150,151,152,153,154,155,156,157,158,159,160,162,163,164,165,166,167,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196],thing:[13,27,150,158,159,164,165,166,174,177,178,182,184,185,192],think:[0,8,27,178],third:[76,165,182,190,192],those:[9,14,27,105,149,158,171,175,177,178,179,180,182,184],though:[19,21,100,136,178,179,182,186,189,190,192,194],thought:[27,158,163],thrash:186,thread:[7,11,13,26,27,86,93,100,110,160,184],three:[25,27,107,159,176,178,179,189],threshhold:99,threshold:[63,86,93,99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82,189,193],Yes:[162,163,164,165,166,167],__cxa_throw:184,__gi_abort:184,__gi_rais:184,__n:184,__node:[184,185],_config:174,_costmap:[157,193],_differenti:186,_from_numb:162,_joint:177,_link:177,_m_range_check:184,_nav:178,_to_numb:162,_twilio:162,abi:[100,149,182],abil:[6,7,27,86,100,159,160,194],abl:[0,5,9,14,18,19,158,159,162,163,165,166,167,169,172,174,175,176,178,182,184,185,186,189,195],abort:[94,157,163,184],about:[4,7,9,11,21,22,23,24,27,85,112,115,118,147,148,149,150,152,154,157,159,160,162,163,164,166,167,174,175,176,177,178,182,183,184,185,186,188,189,192,195],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,84,100,109,117,136,148,155,157,162,165,166,167,171,174,175,176,177,178,179,182,183,184,185,189,190,191,192,193,195,196],abrupt:27,abs:165,absolut:[48,49,99,118,156,160,165,174,177,182,184,186,189,190,192],absurdli:100,academ:6,acc_lim_i:[96,123],acc_lim_theta:[96,123],acc_lim_x:[96,123],accel:174,acceler:[88,103,104,110,123,158,174,178,196],accelwithcovariancestamp:174,accept:[6,26,63,87,109,135,136,152,160,167,171,172,186,187],acceptpendinggo:167,access:[0,27,86,93,110,149,150,157,158,163,175,177,184,195],accommod:149,accompani:92,accomplish:[8,162,169,174,177,182,184],accord:[27,99,174,175,189,190,192],accordingli:[9,86,189,190,192],account:[27,85,86,157,158,162,171,178,183],account_sid:162,accross:160,accumul:100,accur:[6,27,85,86,157,174,178,186,189],accuraci:[25,86,155,186,189],achiev:[11,92,100,103,107,110,111,157,158,159,160,177,178,186,189],acircl:181,ackerman:171,ackermann:[107,154,157,169,171,178],ackermannconstraint:100,acknowledg:89,acquir:27,across:[17,27,100,106,114,135,136,149,159,167,170,175,176,178,182,189,195],act:[9,14,27,134,156,157,173,175,177,190,194,196],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,100,102,108,111,153,154,155,159,162,163,167,169,171,172,174,175,176,177,178,179,180,182,187,188,189,190,192,194,195],action_a:19,action_b:19,action_c:19,action_nam:163,action_server_result_timeout:[88,89,93,95,102,108,111,160],action_typ:[85,86,160,194],actionnod:19,actionnodebas:163,actiont:167,activ:[12,26,27,60,73,74,75,86,88,89,93,95,98,102,108,111,147,152,153,156,157,158,159,162,165,166,167,174,175,178,179,189],actual:[18,54,86,92,100,104,135,158,167,172,176,177,178,181,182,186,188,189,194,196],actuat:149,adapt:[6,27,87,103,157,169,175,176,177],add:[0,2,8,76,77,78,79,80,81,82,83,84,86,92,93,100,110,115,116,120,135,149,152,156,157,158,159,162,167,172,174,175,176,177,178,179,180,184,185,186,189,191,193,194,195],add_act:[190,192],add_compile_opt:[184,185],added:[10,13,21,23,24,89,100,149,152,155,156,157,158,159,162,164,165,166,167,171,172,175,176,177,178,179,185,189,193,194,196],addin:189,adding:[1,9,41,87,135,136,149,158,159,174,175,177,179,183,186,189,190,192,194],addit:[3,11,19,21,22,23,24,27,41,85,86,89,91,135,148,149,157,158,159,163,167,171,174,175,177,178,184,185,186,189,194],addition:[0,11,27,86,149,150,155,156,157,160,167,189,194],address:[31,32,33,34,35,36,37,41,42,43,46,155,156,157,158,159,160,162],adequ:178,adher:176,adjac:[109,113,183],adjust:[9,11,27,28,41,79,82,84,86,88,89,93,94,100,102,108,110,111,135,154,159,160,172,177,186,192,194],admiss:[135,136,158],admittedli:11,advanc:[0,27,135,170,178,182],advantag:[12,27,159,196],advic:[171,178],advis:[21,23,24,27,174],affect:[85,91,157,158,160,177],aforement:100,after:[2,10,20,21,23,24,26,27,86,87,89,100,104,105,110,119,121,128,130,133,134,135,136,152,153,157,158,160,164,165,166,167,172,174,175,177,178,179,181,182,183,184,185,187,189,190,192,193,194,195,196],afterward:174,again:[18,19,20,22,77,147,149,153,155,170,174,177,182],against:[60,73,74,75,136,159,160,178,182,194],agent:[86,178],aggreg:179,aggregation_typ:[138,139,142,143],aggress:[86,135],ago:182,agre:152,agreement:152,ahead:[88,100,103,125,126,138,142,182],aid:[2,22],aim:[1,7,9,10,13,110,173,177,178,185],air:189,aisl:[27,134,158,171,178],aislewai:[135,158],aitor:169,alarm:[85,160],alberto:169,aleksei:169,alexei:[14,154,169],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,92,100,103,105,106,107,134,152,154,155,157,158,159,160,164,165,169,172,175,177,178,180,183,185,186],alias:27,align:[97,121,138,142,143,160,189],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,76,86,87,88,89,95,98,100,103,105,107,109,110,113,117,135,140,148,149,150,152,154,155,156,157,158,160,162,165,166,167,169,171,174,175,176,177,178,179,180,181,182,184,185,186,189,190,192,193,195,196],allevi:178,alloc:[27,179,184,193],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,81,86,87,88,89,95,97,100,101,103,109,118,134,135,136,137,140,145,149,150,152,154,156,157,158,162,164,165,166,171,174,175,176,177,178,179,181,182,183,184,186,187,189,190,192,194],allow_backward:97,allow_primitive_interpol:[135,160],allow_revers:103,allow_reverse_expans:136,allow_unknown:[101,109,134,135,136,157,166],almost:[156,158],alon:186,along:[14,26,27,58,68,84,97,100,103,104,112,115,118,135,136,140,156,157,158,159,169,171,175,177,179,180,184,186,189,190,192],alongsid:[160,167,178],alot:[100,186],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[177,190],alreadi:[4,7,100,156,157,158,162,172,174,177,178,182,184,186,189],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,85,86,87,88,90,93,94,95,98,99,100,102,103,105,107,108,110,111,114,135,136,148,149,150,152,153,154,155,156,157,158,159,160,162,163,164,165,166,167,171,172,174,175,176,177,178,179,180,181,182,183,184,185,186,189,190,191,192,193,194,196],alter:149,altern:[3,22,27,58,149,150,157,160,172,174,184],although:150,altitud:189,altogeth:[182,186],alwai:[9,16,20,72,85,86,98,110,136,147,157,158,177,178,189,190,194,196],always_on:[174,175,189],always_reset_initial_pos:87,always_send_full_costmap:[94,160,175],alwayson:175,ambigu:103,amcl:[6,7,26,27,28,52,65,153,156,169,175,176,178,186,189],amcl_pos:155,amclnod:158,amend:152,ament:[162,164,165,166,167,181],ament_cmak:[162,165,166,167,177],ament_cppcheck:152,ament_cpplint:152,ament_index_cpp:167,ament_index_python:[190,192],ament_uncrustifi:152,america:189,among:[27,109,171,178,183],amongst:177,amount:[94,117,127,129,131,133,134,135,136,145,156,157,159,190],amp:189,ampl:[21,23,24],amr:186,analog:[8,86,157,159,160,163,184,196],analysi:[7,27,152,154,185],analyt:[135,136,157,158,160],analytic_expansion_max_cost:[135,136,160],analytic_expansion_max_cost_overrid:[135,136,160],analytic_expansion_max_length:[135,136,158,160],analytic_expansion_ratio:[135,136],analyz:[5,6,7,10,26,27,163,185],andrei:169,angl:[26,27,56,85,86,95,109,127,134,135,157,169,178,189],angle_quantization_bin:135,angular:[58,86,95,97,100,103,104,122,123,126,135,138,141,142,144,159,165,174,178,194,196],angular_dist_threshold:[104,196],angular_distance_weight:58,angular_granular:[96,126],angular_limit:[86,159],angular_vel:165,angular_veloc:174,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,51,53,55,60,62,76,85,86,93,98,100,103,106,107,109,115,116,120,135,136,147,149,150,152,154,156,157,158,159,160,162,163,164,165,166,167,169,171,175,176,177,178,179,180,182,183,184,185,186,187,189,190,192,194,195,196],anim:[4,183],annoi:182,annot:[27,95,157,164,165,166,190,192],announc:152,anoth:[0,1,4,6,10,20,21,23,26,27,60,85,88,89,93,102,107,108,111,134,135,149,152,157,158,160,163,169,171,172,174,175,177,180,182,184,187,189,190,191,192,193],anshumaan:169,answer:[0,152,157],anybot:5,anyhow:158,anyon:11,anyth:[20,27,85,157,163,164,167,178,182,190,195],anywai:178,anywher:[150,158],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,152],apart:[22,196],apex:150,api:[17,27,54,154,155,157,162,164,167,175,180,182,189],appear:[86,152,153,157,158,159,175,177,181,182,183,188,189,194,195],append:[149,152,174,175],appli:[0,7,11,27,86,97,100,103,106,109,110,115,134,135,136,144,150,157,163,176,177,178,183,184,185,191,192],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,58,85,86,88,89,92,93,100,102,108,111,147,149,154,155,158,159,160,162,164,167,169,171,178,179,182,183,184,185,186,187,189,192,193,195,196],appreci:[27,152],approach:[22,27,81,86,96,100,101,103,107,109,134,135,136,154,157,159,169,171,174,178,180,194,196],approach_velocity_scaling_dist:103,appropri:[2,18,93,100,102,110,118,152,158,159,167,171,174,176,177,178,184,186,194,195],approri:[160,194],approv:[3,152],approxim:[86,104,110,134,135,153,159,171,172,178,181,196],apt:[148,149,153,174,175,177,181,182,185,189,191,193],arbitrari:[27,86,107,150,169,171,173,178],arbitrarili:154,arc:[85,86,97,175],architectur:[11,157,186],area:[3,7,27,38,39,86,94,112,115,117,118,134,135,136,152,157,158,159,160,162,164,169,175,177,178,181,182,185,190,192],area_memori:186,areerrorcodespres:[90,159],arg:[148,181,182,184,185,194],argc:184,argument:[26,148,158,159,160,163,165,174,177,180,182,184,185,189,190,192,194],argv:184,arm:162,aroun:159,around:[9,14,18,22,27,38,58,81,85,86,92,94,97,100,103,114,152,157,169,175,176,177,178,181,182,189,191,196],arrai:[92,135,136],arriv:[111,132,157,169],arrow:[177,188,189],art:107,articl:[154,179],articul:182,artifact:[105,107,149,182,183],artifici:100,arug:182,arxiv:154,as_str:167,asid:[174,175],ask:[0,3,27,152,164,184,195],asla:14,aspect:[19,149,150,180,181],assembl:195,assess:178,asset:[182,184],assign:[27,54,58,92],assist:[0,26,29,152,169,178],assisted_teleop:[31,88],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,90,158,159,169],associ:[27,159,174,175,176],assum:[18,19,150,157,164,165,169,172,176,177,183,184,189,190,191,192,193,194,195],assumpt:[110,178,189,191],assymmetr:186,asymmetr:92,async_slam_toolbox_nod:175,asynchron:[18,19,27,156],ata:[132,169],atom:13,atop:182,attach:[27,94,152,172,174,175,176,179,182],attempt:[1,18,20,21,23,24,27,81,98,99,100,106,113,134,135,136,150,160,182,184,186,190],attempt_respawn_reconnect:98,attent:[27,100,178],attest:152,attract:100,attribut:[100,159,190],augment:[189,197],auth_token:162,author:[150,152,154],auto:[149,165,167],auto_start:188,autom:[148,149,150],automat:[17,27,95,100,103,117,149,152,157,158,172,174,176,177,178,179,182,189,190,192],autonom:[1,26,27,100,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6],certif:[86,151],certifi:[9,86,152],chain:[189,192,194],challeng:27,chanc:[1,7,9,19,158],chang:[6,11,12,13,14,17,18,21,23,24,26,27,62,64,76,86,88,89,92,93,94,95,97,100,102,106,108,110,111,128,130,134,135,136,138,142,149,152,153,156,164,165,167,170,172,174,175,178,182,184,186,187,188,189,190,192,193,194,195],change_penalti:[135,136],changemap:26,channel:[135,152],chao:152,chapter:[27,190,192],charact:105,characterist:[4,12,106,174],charg:[27,66,159,169,171],charger:27,charuco:181,chassi:[176,177],chat:152,chatter:182,check:[0,7,9,11,14,18,19,22,26,27,53,54,60,62,63,64,66,67,68,70,72,73,74,75,81,84,85,86,88,89,90,92,93,94,100,103,104,108,111,114,115,127,128,129,130,141,147,148,149,150,152,154,156,157,158,160,162,163,164,165,166,167,169,171,172,174,175,176,178,181,182,183,184,188,189,190,192,194,196],check_for_collis:[26,54],checker:[17,46,93,121,155,162,196],checkerboard:181,checkifnewpathneed:24,checklist:173,checkout:[103,148,186],chessboard:181,child:[18,19,22,72,76,77,79,82,83,84,158,169,174,175,176,177,189],child_frame_id:174,children:[18,19,22,76,77,78,81,169,185],chip:178,choic:[10,26,27,178,179,186,191],choos:[109,149,150,153,167,172,176,178,182,183,184,189,192],chosen:[26,27,149,159,192],christoph:169,chronicl:149,chug:184,cilqr:3,circl:[19,27,85,86,178,181,194],circular:[27,94,100,107,114,154,160,171,172,177,178],cite:[103,154],citizen:193,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:152,class_list_macro:[162,164,165,166,167],classic:[178,182],classification2d:175,classification3d:175,clavero:154,clean:[27,95,100,149,156,158,160,162,165,166,167,178,182],cleaner:177,cleaningup:179,cleanli:[27,98,167,178,182,185],cleanup:[162,165,166,167,179],clear:[18,19,21,22,23,24,26,27,38,39,40,94,116,117,120,152,157,158,159,166,169,175,178,181,186,193],clear_after_read:193,clear_around_:157,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,90,163],clear_entirely_local_costmap:[18,21,22,23,24,40,90,163],clear_except_:157,clear_except_local_costmap:39,clear_on_max_read:[117,175],clear_threshold:117,clearallcostmap:26,cleararoundrobot:158,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,90,157,163],clearer:175,clearexceptregion:158,clearglobalcostmap:[18,21,22,23,24,26,90,163],clearing_endpoint:157,clearingact:[18,21,22,23,24,90],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,90,163],clever:184,cli:[27,99,149,150,156,157,182,185,191],click:[16,150,153,164,165,166,167,172,175,181,188,189,195],clicked_point:187,clicked_point_to_pos:187,client:[19,27,95,155,157,158,162,163,167,180],client_nod:158,client_node_:158,clinet_node_:158,clip:[175,190],clock:[190,192],clock_:[165,167],clockwis:194,clone:[148,181,182,187,189,190,191,192,193],cloned_tb3_simulation_launch:160,close:[22,27,53,81,85,86,94,100,103,110,136,139,145,149,157,158,160,165,172,178,182,189,194],closed_loop:110,closer:[57,100,135,159,160],closest:[58,97,103,121],closur:186,cloud:[7,27,149,150,153,156,182],cluster:178,cmake:[162,164,165,166,167,181,185],cmake_build_typ:185,cmakelist:[162,164,165,166,167,174,175,177,184,185],cmd:[174,175,182],cmd_vel:[13,85,86,160,165,174,185,194],cmd_vel_in_top:[86,194],cmd_vel_nav:[185,194],cmd_vel_out_top:[86,194],cmd_vel_raw:86,cmd_vel_smooth:[86,194],cmd_vel_teleop:88,code:[5,6,15,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,134,149,150,152,155,156,158,162,163,164,165,166,167,169,172,174,175,177,180,182,183,184,189,193,196],codebas:[86,93,110,152,160],codecov:12,codespac:[149,150],codifi:149,coeffici:[118,181,190,192],coffe:[150,195],colcon:[148,149,164,172,174,175,177,182,184,185,190,192],collabor:[4,14,152],collect:[26,173,175,178,185,186],collid:[4,9,172],collis:[1,7,9,27,28,29,54,88,92,94,100,103,104,108,114,115,117,145,154,155,157,158,162,169,170,171,172,174,175,177,178,196,197],collision_cost:100,collision_detector:85,collision_detector_st:[85,160],collision_margin_dist:100,collision_monitor:[86,194],collision_monitor_nod:194,collision_monitor_param:194,collision_monitor_st:86,collisionmonitor:159,color:[8,92,132,175,177,178,183,190,192,193],color_dark:190,color_light:190,column:[120,175],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197],combin:[27,94,135,138,139,142,143,157,191],combination_method:[94,116,120,160,193],combo:[160,182],come:[8,13,14,27,95,100,103,130,135,152,158,159,162,165,166,167,174,176,177],command:[1,9,22,29,44,47,50,51,55,80,86,103,104,110,148,149,150,154,156,162,164,165,166,167,169,171,174,175,176,177,184,186,187,188,190,191,192,196],commandlin:[99,182,184,185],comment:[149,152,158,164,166,184,193],commerci:[27,152,189],commit:[149,152,170,181],common:[18,26,27,86,100,149,150,154,157,158,167,174,182,186,189,194],commonli:[19,44,47,50,51,55,167,175,186,189],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,149,152,154,162,167,176,178,179,181,182],compani:[152,154,178,182],companion:195,compar:[27,60,73,74,75,86,89,92,107,159,160],comparison:154,compat:174,compens:189,compet:152,compil:[149,150,162,165,166,167,180,182,184,185],complement:[5,156,189],complementari:179,complet:[3,4,5,12,17,18,19,22,26,27,34,54,86,95,97,100,103,104,128,130,135,136,145,149,152,153,154,155,156,157,158,159,160,162,163,167,169,170,171,172,174,175,177,179,180,181,182,185,186,188,189,191,193,195,196],complex:[27,89,100,135,154,159,175,176,177,184,195],complexyolo:4,compli:[2,171,174,189],complianc:110,compliant:176,complic:154,complimentari:167,compon:[6,41,76,77,78,79,80,81,82,83,84,100,109,110,144,157,158,160,173,177,179,186,190,192],component_contain:179,component_container_isol:158,componentcontain:184,compos:[11,158,164,178,179,182,184,185],composable_node_descript:179,composablenod:[179,194],composablenodecontain:179,composit:[170,184,185,190,192],composition_demo:179,comprehens:[149,182],compris:[13,154,177],comput:[7,17,18,19,20,21,27,41,42,43,95,100,102,103,107,109,134,135,136,138,142,154,158,159,162,163,165,166,169,171,172,174,175,176,178,180,182,185,186,188],computation:[27,120,158],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[20,21,22,23,24,42,43,89,180],compute_path_error_code_id:179,compute_path_through_pos:[159,179],compute_path_to_pos:[159,179],compute_path_to_pose_error_cod:74,computeandpublishveloc:157,computeandsmoothpath:180,computecoverag:41,computecoveragepath:90,computepaththroughpos:[21,90],computepathtopos:[17,18,19,20,22,23,24,50,53,79,82,84,90,163,167,180,187],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,90],computevelocitycommand:[93,165],concaten:157,concept:[7,18,19,154,157,171,175,176,179,190,192,195],conceptu:176,concern:[150,152,158],conclud:182,conclus:22,concret:176,condit:[12,18,21,23,24,27,29,30,45,56,68,69,72,106,149,158,159,163,169,174,177,186,189,195,196],conditionnod:163,conduct:154,conf:[86,93,110,160,163],confer:154,config:[149,150,172,174,175,177,182,184,189,191],configur:[0,1,14,16,17,18,19,26,27,44,47,50,51,55,61,85,86,91,92,93,94,98,99,100,107,112,115,118,148,149,150,154,155,156,158,159,160,162,163,165,166,167,169,173,177,178,179,180,182,183,184,186,187,188,189,191,193,195],configured_param:[179,190,192,194],confin:[100,135,149,160,172],confirm:[172,175,181,189],conflict:156,conform:154,confort:160,confus:19,conjunct:[26,100],connect:[14,19,27,95,98,101,109,113,134,149,150,156,157,158,169,171,174,175,176,177,183,189,195],connector:[41,186],consequ:22,consid:[3,14,18,29,30,45,56,85,86,87,89,90,94,100,130,135,136,145,152,156,157,159,160,162,163,165,166,167,169,171,178,179,182,186,189,190,194],consider:[4,100,178,182],consider_footprint:100,consist:[8,17,100,150,152,157,158,169,174,175,176,178,179,189,195],consol:194,constant:[19,95,97,103,165,177,178],constantli:[156,158],constrain:[28,106,157,169,178],constrainedsmooth:[92,158],constraint:[21,104,110,136,157,158,160,167,169,171,178,196],constraintcrit:100,construct:[27,152,158],constructor:[26,27,158,160,163],constsharedptr:167,consult:14,consum:[9,158],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,152,154,178,179],contain:[9,11,17,21,23,24,27,46,49,91,100,107,110,116,120,135,136,151,155,156,157,158,159,160,162,164,165,166,167,169,174,175,177,178,179,180,181,184,186,190,192,194,196],container:[149,182],containeris:149,content:[150,172,173,175,177],context:[11,13,18,19,21,22,23,24,90,148,163,169,182,195],contextu:[17,18,21,23,24,154,159],continu:[1,12,18,19,20,21,22,23,24,27,95,100,111,133,135,136,150,152,153,154,155,156,157,158,159,167,174,177,178,182,186,189,191,194],contractor:14,contrast:[158,189],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,95,135,152,160,175,178,179],contributor:[14,152],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,57,58,73,74,75,77,78,79,80,84,86,94,103,107,110,118,120,122,123,124,125,126,127,128,129,130,136,137,138,139,140,141,142,143,144,145,146,154,155,156,162,163,164,167,168,170,172,173,174,177,179,180,182,184,185,186,187,188,191,192,193,194,195,197],controlcancel:22,controller_frequ:[93,96,97,100,103,104,196],controller_id:[18,20,21,22,23,24,26,44,46,90,157,160,163,187],controller_pati:157,controller_plugin:[93,96,97,103,104,156,165,171,196],controller_plugin_id:[121,122,123,124,125,126,137,138,139,140,141,144,145,146],controller_selector:[20,21,22,23,24,44],controller_serv:[22,93,96,97,98,100,103,104,156,157,158,160,165,171,179,185,192,196],controllerselector:[20,21,22,23,24,90,157],controllerserv:158,controlnod:163,conveni:[150,160,186,192],convent:[21,23,24,27,175,176,179,189],converg:[87,92,97,100,189],convers:[26,99,152,190,192],convert:[0,27,95,100,111,118,135,136,154,155,157,166,176,189,190,192],convert_typ:[190,192],convex:100,cooper:2,coordin:[5,26,27,41,87,94,95,111,158,174,176,177,186,187,189],coordinates_in_cartesian_fram:95,cope:189,copi:[158,172,174,175,177,180,182,184,190,192,193],copyright:152,core:[7,17,27,159,179,180,182],corner:[103,153,157,181,190,195],corpor:14,correct:[27,85,86,147,149,152,158,174,175,177,182,188,190,192,194],correctli:[19,27,153,157,158,172,174,175,176,189,190,192,194],correl:149,correspond:[27,41,81,85,86,89,100,101,109,112,113,114,115,116,117,118,119,120,134,135,136,157,158,162,163,164,175,176,183,189,192],correspont:190,corridor:[100,171,178],cost:[9,18,26,27,85,86,88,92,94,103,107,109,114,115,124,134,135,136,149,154,157,158,164,169,175,178,183],cost_check_point:92,cost_cloud:157,cost_penalti:[135,136],cost_pow:100,cost_scaling_factor:[94,100,109,114,164,175],cost_travel_multipli:134,cost_weight:100,costamp2d:190,costcrit:[100,160],costli:27,costmap2d:[147,160,168,169,183,190,192],costmap2dro:[158,165],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,86,88,91,92,93,97,102,103,108,109,112,113,114,115,116,117,118,119,120,134,135,136,137,140,154,155,158,164,165,166,171,172,178,183,189,197],costmap_2d:[5,160,164,175],costmap_2d_cloud:157,costmap_2d_ro:119,costmap_:[164,166],costmap_filter_info:[99,112,115,118,190,192],costmap_filter_info_serv:[99,190,192],costmap_filters_demo_dir:[190,192],costmap_raw:[88,105,106,108,162,180],costmap_ro:[158,165,166],costmap_ros_:165,costmap_top:[105,106,108,162,180],costmapfilt:157,costmapfilterinfo:[112,115,118,190,192],costmapinfotyp:159,costmapsubscrib:160,could:[1,2,3,6,7,9,10,20,27,85,86,93,109,149,150,156,157,158,159,163,164,165,169,176,178,180,182,184,187,189,190,192,193,194],couldn:184,count:[100,158,174,181,190],counter:[29,107,158,163,167,174,194],counterpart:178,coupl:[26,182,186,196],cours:[5,11,149,177,186],cov_path:41,covari:[87,189],cover:[2,27,86,117,152,157,160,171,178,179,182,184,189,190,192,194],coverag:[3,4,6,12,17,27,28,34,41,154,160,167,169,170,178,179],coverage_path:41,coverage_serv:95,coveragenavig:[41,89,169],cpp:[18,27,154,155,156,157,158,160,163,164,169,184,195],cpu:[4,7,86,149,158,178,179,186],crash:[27,98,156,158,178,179,182,195],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,78,81,86,94,95,98,100,106,107,135,148,150,152,154,155,156,157,158,159,164,169,171,172,174,175,176,177,178,179,182,183,186,188,189,190,192,193,194,195,196],create_cli:167,create_subscript:167,createplan:166,creation:[9,156,178],creativ:[6,8],creator:169,criteria:[27,128,130,145,152,158,169],criterion:92,critic:[1,7,9,27,121,135,136,137,138,139,140,141,142,143,144,145,146,155,171,178,179,184],critical_cost:100,critical_weight:100,cross:[147,149,154,171,172],crowd:[21,23,24,171],crtl:[149,150],crux:18,ctrl:149,cube:[172,175],cubic:92,cuda:7,cull:[21,53,169],current:[3,9,11,12,14,18,19,24,26,27,45,53,58,62,79,82,84,85,86,95,100,102,103,104,110,111,112,115,117,118,136,148,152,154,156,157,158,159,160,162,163,165,166,167,169,174,175,176,177,178,179,182,187,189,194,195,196],current_path:167,current_pos:167,curv:[95,97,109,164,178],curvatur:[92,95,97,100,103,135,136,157,165,171],curvature_lookahead_dist:[103,159],curvature_smooth:[108,180],cusp:[92,100,103],cusp_zone_length:92,custom:[10,17,18,19,21,23,24,26,27,57,58,78,80,87,88,89,95,100,107,111,136,148,149,150,154,158,159,162,165,166,167,169,171,173,175,182,189,193,194],customiz:[154,159],cut:[135,136],cxprime:175,cyan:[92,177],cycl:[22,85,86,103,135,136,158,162],cycle_frequ:[88,162],cylind:[175,177,189],cylinder_inertia:177,d15e176ed0af:182,d36cae3fb404:182,dai:[11,86,182],daili:182,damag:110,danc:189,danger:[92,154,194],dark:190,darker:192,dash:[153,161],data:[1,4,7,9,10,26,27,85,86,88,89,91,93,100,106,110,116,117,120,134,135,136,149,154,157,159,160,169,174,175,176,178,179,181,182,185,186,189,190,192,193,194],data_typ:[94,116,120,175,193],dataset:186,date:[85,86,87,112,115,118,152,155],datum:189,david:[14,96,169],dcmake_build_typ:185,dco:151,deactiv:[27,98,162,165,166,167,179],dead:27,deadband:[110,158],deadband_veloc:110,deadlin:[86,88,89,93,102,108,110,111,160],deal:[7,27,174,176,178],dealloc:27,dealt:18,debian_frontend:182,debug:[27,92,100,120,121,124,135,136,149,159,184,185],debug_optim:92,debug_trajectory_detail:[96,121,165],debug_visu:[135,136,160],debugg:[149,184],debuggin:100,decad:[6,14],decai:[87,100,114,169,175,178],decay_acceler:193,decay_model:193,decel_lim_i:[96,123],decel_lim_theta:[96,123],decel_lim_x:[96,123],deceler:[123,160],decemb:[107,178,193],decent:100,decid:[22,87,160,176,177,179],decis:[172,189],declar:[61,63,149,152,157,160,162,164,165,166,190,192],declare_autostart_cmd:[190,192],declare_mask_yaml_file_cmd:[190,192],declare_namespace_cmd:[190,192],declare_paramet:167,declare_parameter_if_not_declar:[165,166],declare_params_file_cmd:[190,192],declare_use_sim_time_cmd:[190,192],declarelaunchargu:[174,177,190,192],declareparamet:164,decod:192,decor:[18,20,22,158,163,169,187,195],decoratornod:163,decreas:[100,159,193,194],decrement:164,dedic:14,deduc:184,deeper:[100,135,175],deepli:195,def:[158,177,190,192],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,156,163,167,187],default_control:[20,21,22,23,24,44],default_critic_namespac:121,default_custom_ord:95,default_goal_check:47,default_headland_typ:95,default_headland_width:95,default_model_path:[174,177],default_nav_through_poses_bt_xml:[89,167],default_nav_to_pose_bt_xml:[89,160,167],default_offset:95,default_path_continuity_typ:95,default_path_typ:95,default_plann:[20,21,22,23,24,50],default_progress_check:51,default_route_typ:95,default_rviz_config_path:177,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:112,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[174,177,190,192],defaultsto:174,defin:[1,5,9,10,18,26,27,41,44,47,50,51,55,60,61,63,81,85,86,88,89,93,94,99,100,102,108,111,121,122,123,124,125,126,127,128,129,130,131,132,133,137,138,139,140,141,142,143,144,145,146,149,154,155,156,157,158,159,160,163,164,166,167,171,172,174,175,176,177,179,183,184,188,189,190,192,193,195],definit:[27,46,54,89,159,162,164,167,174,175,177,179],deg:[95,100],degrad:[135,136,189],degre:[11,25,85,86,135,157,160,189],delai:[85,86,189],delet:[158,174,182],deliv:26,deliveri:1,deloc:52,delsei:[14,169],delta:109,demand:[27,165,166,189],demo:[8,10,22,27,158,160,172,179,182,189,190,192],demo_inspect:26,demo_nodes_cpp:182,demo_nodes_pi:182,demo_pick:26,demo_secur:26,demonstr:[4,10,26,86,148,158,160,164,189,193,194],deni:167,denois:[94,169],denoise_lay:[113,183],denoiselay:[113,178,183],denot:[175,184],dens:[26,136],dense_qr:92,densiti:[87,95,100],depend:[18,27,86,97,100,118,148,149,150,155,157,158,159,160,162,163,165,166,167,171,172,174,177,178,182,183,184,186,188,189,190,194],depict:[22,92],deploi:[4,100,154,160,171,182],deploy:[157,179,189],deprec:[6,92,157,158],depth:[27,86,94,116,120,169,171,175,176,177,178,186,193],depth_camera:175,depth_camera_control:175,deriv:[86,150,162,164,174,177,189],descent:[105,158],describ:[18,19,100,152,153,160,164,165,166,167,171,174,177,182,184,185,189,192,193,194,195],descriopt:112,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,106,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,156,157,160,162,163,164,165,166,167,169,171,174,177,178,182,190,192],descriptor:176,design:[5,6,8,26,27,91,100,105,107,157,159,164,178,183,190,192,194,195],desir:[85,86,100,103,132,135,136,149,152,157,159,160,165,178,186,187,192],desired_linear_vel:[103,165],desired_linear_vel_:165,desk:154,desktop:182,despit:189,destin:[26,27,62,63,64,84,153,174,175,177],destroi:[149,182],destroynod:26,detach:182,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,89,100,107,112,115,118,149,152,156,157,158,159,160,162,164,165,166,167,171,172,173,174,176,178,182,184,189,192,193,195],detect:[4,27,54,58,85,86,91,92,103,149,160,172,174,175,178,181,187],detection2d:175,detection3d:175,detector:[27,91,187],detectron2:4,determin:[0,69,97,111,121,132,160,167,171,177,183,184,185,194],determinist:[11,27,98,105,179],dev:[148,151,182,189],devcontain:[149,150],devcontainerid:149,devel:[191,193],develop:[3,4,5,8,11,14,21,23,24,27,86,107,109,147,149,150,158,160,170,177,178,179,184,196,197],developercertif:152,dever:149,deviat:[87,100,110,160,178],devic:[149,178,189],diademata:153,diagnost:174,diagnostic_msg:174,diagnosticarrai:174,diagon:113,diagram:[154,176,187],diamet:174,dictat:196,dictionari:160,did:[19,20,160,162,165,166,175,177,184,185],didn:178,diego:14,diff:[92,107,169,178,182,189],diff_driv:174,diff_drive_control:174,diffdriv:100,differ:[10,17,18,19,21,22,23,24,27,62,85,86,90,95,97,103,104,107,109,112,115,118,135,149,150,152,154,156,158,159,160,164,167,171,173,174,175,176,177,178,179,180,182,184,186,187,189,190,192,194,195,196],differenti:[8,87,97,100,104,107,109,154,157,158,160,169,171,172,174,175,177,178,186,189,196],differentialmotionmodel:87,difficult:[27,104,158,178,196],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],dig:182,digit:[105,132,169],dijkstra:[3,101,158,169,171],dilig:150,dime:178,dimens:[157,177,181,186],dimension:189,dir:182,direct:[4,58,86,92,100,103,107,110,122,135,136,141,148,149,157,160,170,171,176,181,188,189,194],direction_end_angl:[86,194],direction_start_angl:[86,194],directli:[27,95,100,133,149,150,152,157,160,163,164,177,184,189,190,192],directori:[132,148,149,150,157,158,160,162,164,165,166,167,169,172,174,175,177,178,182,190,192],disabl:[85,86,87,93,134,135,136,158,159,178,181,186],disable_calib_cb_fast_check:181,disagre:87,disappear:86,discard:[88,89,93,102,108,111,113,158,160,183],discontinu:[95,105,107,136],discours:[0,152],discov:[148,163],discover:[162,164,165,166,167],discoveri:[98,149],discret:[27,113,149,152,171,174],discretize_by_tim:126,discuss:[3,6,19,27,89,152,156,157,158,165,166,171,172,173,174,175,176,177,179,182,189,196],dislpai:175,dispatch:27,displac:[30,45],displai:[2,85,102,135,136,157,172,174,175,177,178,182,183,189,192,195],disproportion:100,disscuss:157,dist:[26,135,136,181],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,56,57,58,61,63,79,87,88,92,95,97,100,103,104,121,126,135,136,141,155,156,157,160,165,169,171,174,175,176,178,187,196],distance_backward:58,distance_forward:58,distance_remain:[157,167],distancecontrol:[17,18,90,92,156],distancetravel:90,distancetraveledcondit:156,distant:58,distinct:[27,176],distinguish:41,distort:[105,181,183],distortionk1:175,distortionk2:175,distortionk3:175,distortiont1:175,distortiont2:175,distribut:[100,147,149,150,152,153,160,161,170,182,190],distro:[147,148,153,174,175,177,181,182,188,189,191,193],distroa:147,distrob:147,disturb:189,dive:177,diverg:[135,136,178,186],divid:[156,157,189],do_beamskip:87,do_refin:[105,106,108,135,136,159,180],doc:[8,148,153,156,182,189],dock:[17,18,27,88,171],docker:[149,150,197],dockerfil:[148,149,182],dockerhub:182,document:[8,10,15,18,22,27,148,149,152,153,156,174,175,176,177,182,183,184,185,186,190,191,192],doe:[4,9,19,21,22,23,24,85,86,91,100,115,117,135,136,148,149,157,158,159,160,162,165,166,167,172,174,178,179,180,182,189,190,192,195],doesn:[76,134,157,158,162,178,182,186,190],dog:186,doing:[26,111,115,152,167,184,189],doisi:169,domin:[116,120,160],don:[135,136,140,153,157,176,178,180,184,186,187,188,189,190,191],done:[13,18,19,27,86,149,155,156,157,164,165,166,167,170,171,175,184,185,186,195],dont:177,door:17,dot:[160,189],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,106,108,109,110,111,112,114,115,116,117,118,119,120,121,123,124,125,126,127,128,129,130,131,134,135,136,137,138,139,140,141,142,143,144,145,146,157,160,165,166],doubt:100,down:[26,27,97,98,100,103,109,118,120,153,154,156,158,159,160,178,179,182,184,189,192,194],download:[5,149,181,182],downsampl:[92,100,134,135,136,158,160],downsample_costmap:[134,135],downsample_factor:[134,135],downsample_obstacle_heurist:[135,160],downsampling_factor:[134,135],downstream:157,doxygen:151,dozen:27,drag:[153,195],dramat:[135,136,156],draw:[189,190,192],drawn:190,drift:[27,174],drivabl:[104,171,178,196],drive:[1,25,26,35,45,92,100,103,107,135,136,154,157,165,169,171,172,174,175,177,178,189,190],drive_on_head:[35,88],drive_on_heading_error_cod:45,driven:[4,178],driveonhead:[25,26,90,159],driver:[1,13,16,147,149,174,175,181,186],drivetrain:169,drivewhl_l:177,drivewhl_l_joint:174,drivewhl_r:177,drivewhl_r_joint:174,drop:[9,97,156,160,186,195],dropdown:2,dual:[150,189],dual_ekf_navsat:189,dub:158,dubin:[95,135,136,157,158,169,171],dubiou:158,due:[0,6,9,11,22,27,31,32,35,36,37,87,94,100,110,113,135,136,152,156,157,158,159,167,172,174,175,178,182,183,186,195,196],dumb:27,dummi:164,dump:171,duplic:[27,167],durabl:177,durat:[54,71,84,88,89,93,98,100,141,152,158,163,165,179,187],dure:[6,22,85,86,92,98,100,135,136,149,156,157,158,159,160,163,164,172,177,178,185,188,191,195],dwa:[3,169,171],dwb:[1,3,9,21,23,24,27,28,122,123,124,125,126,137,138,139,140,141,142,143,144,145,146,155,156,169,171,178,196],dwb_core:[93,96,156,157,171,196],dwb_critic:[96,121],dwb_local_plann:156,dwb_plugin:[96,121],dwblocalplann:[93,96,156,171,196],dynam:[0,3,13,15,17,21,23,24,27,80,81,85,86,96,100,135,136,154,155,156,157,162,163,164,165,166,167,170,171,175,177,178,192,193,194,195,197],dynamicfollowpath:156,e1d7e035a824:182,e727072615d0:182,each:[11,18,21,23,24,25,26,27,62,85,86,87,88,89,93,94,100,102,108,110,133,150,152,154,155,157,158,159,160,162,163,164,165,166,171,174,175,176,177,178,179,180,182,183,184,189,190,192,194,195],earli:[5,11,16],earlier:[87,135,136,150,153,158,162,176],earth:189,earth_wgs84:189,eas:182,easi:[10,11,14,18,27,41,149,150,152,154,160,173,175,182,186,191],easier:[152,171,175,176,177,178,182,184,196],easili:[13,18,27,89,149,156,157,158,160,178,185,194],east:189,echo:[182,189],ecosystem:[0,27,107,158,178],edg:[4,95,100,160,176,190],edit:[8,157,169,174,175,180],editor:[182,190,192,195],educ:14,effect:[2,4,86,92,117,134,149,156,158,174,178,190],effici:[22,27,107,175,178,179],effort:[8,14,27,95,110,152,154,157,171,175,178,193],efk:174,eight:[183,189],eitan:169,either:[1,18,19,26,27,86,87,99,100,117,119,149,150,159,160,169,171,174,175,178,182,185,192,195],ekf:[174,186,189],ekf_filter_nod:174,ekf_filter_node_map:189,ekf_filter_node_odom:189,ekf_localization_nod:174,ekf_nod:174,elaps:157,elast:[3,155,171,196],electr:189,electromagnet:189,element:[8,155,162,174,177],elev:[17,27,86,93,110,150,152,160,189],elif:[26,158],elimin:177,ellipsoid:189,elong:92,eloqu:[27,161],els:[26,85,94,157,158,160,164,165,167,174,182,194],elsewher:185,email:[0,14,27,152],emb:176,embed:[6,27,158,178,179],emerg:[6,9,86,91],emit:175,emphas:189,emploi:86,empti:[42,43,100,116,119,120,131,156,157,158,160,165,167,182,183],emul:149,emulate_tti:[190,192],enabl:[10,13,22,53,85,86,87,94,97,100,103,111,112,113,114,115,116,117,118,119,120,131,132,133,135,136,149,150,157,158,159,162,165,166,167,169,174,175,177,178,179,182,186,191,193,194,195],enable_stamped_cmd_vel:[86,88,93,110,160,194],enabled_:164,enact:[9,81,154,196],encod:[27,112,118,174,176,186,189,190,192],encompass:178,encount:[16,171,175,184,185],encourag:[0,14,22,100,152,177,179,184],end:[6,11,20,27,85,86,100,101,105,134,136,158,160,162,164,165,166,167,169,177,178,179,182,183,184,189,194],endpoint:[135,136],energi:[100,175],enforc:[92,110,115,157,181],enforce_path_invers:[100,160],engag:152,engin:[6,148,150,155,185,186],enhanc:152,enough:[18,159,172,178,181,182,189],enrich:150,ensur:[4,9,11,13,20,21,23,24,27,86,93,98,100,103,110,149,150,152,155,157,158,159,160,171,172,176,177,178,179,182,185,193],enter:[21,23,24,27,100,162,165,166,167,190],entir:[12,18,19,21,23,24,86,148,149,152,169,171,178,186,194],entiti:174,entri:[14,174,180,184,185,194],entryfil:178,entrypoint:[148,182],enu:189,enumer:[29,30,41,42,43,45,46,54,56,195],env:[149,182],environ:[4,5,9,10,12,27,97,107,147,148,149,150,152,153,154,171,172,174,175,176,178,182,186,188,189,190,194],environemnt:175,environment:[94,120,154,182],envok:[29,30,45,56],envrion:193,ephemer:149,eppstein:169,eqal:92,equal:[27,85,86,97,112,164,181,183,190,192],equat:109,equip:[175,186,189,195],eros:183,error:[27,29,30,41,42,43,45,46,48,49,54,56,60,73,74,75,85,86,87,89,97,100,113,147,148,156,157,158,169,172,175,180,182,183,186,188,189,193],error_cod:[21,23,60,73,74,75,179,180],error_code_id:[20,21,22,23,24,29,30,41,42,43,45,46,48,49,54,56,180],error_code_id_nam:[159,179],error_code_nam:[48,49,89],error_codes_to_check:60,especi:[87,135,136,150,155,158,176,180,182,186,188,189,191,193,196],essenc:176,essenti:[6,135,136,158,175,178],establish:179,estim:[15,86,87,105,110,153,155,157,164,165,166,167,174,175,176,188,189],estimated_time_remain:[157,167],etc:[4,10,13,17,26,27,85,86,89,93,94,95,110,112,149,150,152,157,159,160,162,167,171,173,174,176,178,182,186,189,191,195],eth:5,euclidean:[157,178],europ:189,evalu:[121,124,136,171,186],evalul:7,even:[19,20,21,23,99,100,103,110,114,135,150,154,156,157,158,169,171,172,173,174,178,182,184,186,190],evenli:87,event:[1,13,152,158,182],eventu:[159,175,177],ever:[100,157],everi:[17,19,21,23,24,58,83,92,94,97,100,103,116,120,135,152,157,158,160,163,164],everyon:[150,152],everyth:[153,158,164,174,182,189],everywher:[100,155],exact:[100,105,134,135,136,149,159,171,172,178,187,190],exactli:[134,153,178,192],exampl:[1,7,15,16,17,18,19,22,27,107,148,149,150,156,157,158,160,162,163,164,165,166,167,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,190,192,193,194,195,196],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,56,88,89,93,102,108,111,118,157],exceed:[18,94,159],excel:[1,7,9,189,196],except:[26,27,39,85,93,135,136,152,157,159,166,169,174,184,186,192],exception:[167,174,185],excess:11,exchang:[100,135],exclud:159,exclus:22,exe:184,exec:[149,182],exec_depend:[174,177,179],execut:[10,11,18,20,21,23,24,26,27,77,81,86,89,93,104,110,111,149,150,152,156,157,158,160,163,164,167,169,171,172,174,175,176,177,179,182,183,184,185,190,192,195],executeprocess:[174,175],executor:[11,26,27,111,157,159],exemplari:17,exhaus:182,exhaust:170,exhibit:22,exist:[4,8,11,12,27,41,85,86,99,100,113,134,147,149,152,156,157,158,160,165,167,178,182,185,186,187,189,195],exit:[21,23,27,98,156,158,182,184,185],expand:[101,135,136,137,149,158,171,177,182],expans:[8,101,109,135,136,157,158,159,160,169],expect:[5,11,26,87,100,102,116,120,152,154,156,157,160,167,174,179,180,182,189],expected_planner_frequ:[102,109],expected_update_r:[116,120,193],expend:178,expens:[27,120,158,159,174],experi:[1,2,3,4,5,6,7,9,10,12,25,148,149,150,154,158,177,184,186,188],experienc:173,expert:[4,14],expir:[22,70,169,193],explain:[11,18,19,22,150,152,172,184,185,191,196],explan:[18,91,107],explanatori:182,explicitli:[4,26,150,190],explor:[135,175,176],exponenti:[87,97,100,114,169,175,178],expos:[19,27,108,157,159,182,189],exposur:7,express:[27,118,160,165,189,190,192],extend:[164,174,189],extens:[22,27,100,149,150,159,160,186],extent:[97,103],extern:[4,21,23,24,26,85,93,98,131,148,149,155,156,159,160,179,182,186,197],extra:[92,135,136,158,190],extract:[158,167,169],extrem:[2,18,85,97,115,157,175],face:189,facilit:[150,158,160],factor:[81,92,97,100,114,134,135,145,175,178],factori:163,fail:[18,19,21,23,24,26,27,93,98,111,134,135,136,155,157,158,159,162,167,169,182,184],failed_to_make_progress:[73,159],failed_to_smooth_path:[75,159],failur:[1,17,18,19,20,21,23,24,27,29,30,45,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,100,154,155,157,158,163,169,179,184,187],failure_toler:93,fair:8,fairli:184,faith:152,fake:27,fall:86,fallback:[21,23,24,86,194],fallbackcomputepathtopos:24,fallbackrecoveri:24,fals:[25,26,29,54,67,85,86,87,88,89,92,93,94,95,97,98,100,101,103,109,110,111,112,114,116,117,118,119,120,121,124,126,134,135,136,137,140,153,157,158,159,160,162,164,166,167,174,175,178,183,184,186,188,189,190,193,194,195],familiar:[18,27,177,182],fanci:[149,182],far:[85,86,95,100,135,136,153,158,160,175,178,187,196],farm:193,fashion:19,fast:[85,86,87,97,105,106,135,136,158,183,186],faster:[97,158,178,182],fault:[12,26,27],favor:158,favorit:182,favourit:[190,192],fe0cbdee2808:182,fear:182,feasibl:[27,100,104,106,107,115,135,154,157,158,160,169,171,178,196],featur:[1,4,6,8,9,14,27,87,93,95,103,106,110,135,149,152,153,157,158,169,170,177,178,182,189,190],feaur:190,feed:179,feedback:[14,26,27,89,97,110,152,158,167],feedback_msg:167,feel:[6,147,150,177,178],ferguson:[14,154],fetch:[165,166],fetullah:169,few:[4,11,14,19,26,81,92,95,148,149,160,171,175,178,182,184],field:[4,26,41,63,85,86,87,93,95,118,134,156,157,158,159,160,162,164,166,167,174,175,177,179,181,182,184,186,189,190,192,193],field_filepath:41,fields2cov:[41,95,160],figur:[189,195],file:[1,2,17,27,41,86,88,89,98,99,109,132,136,147,149,150,152,153,154,156,157,158,163,164,169,172,176,177,178,179,180,181,182,186,187,188,189,190,191,192,193,194,195],file_field:41,file_field_id:41,filenam:[174,175,189],filepath:[41,136,167,178],filesystem:[150,182,184],fill:[4,152,156,163,181,190,192,195],filter:[6,13,29,87,93,105,174,178,182,186,189,193,194,197],filter_dur:84,filter_info_top:[99,112,115,118,190,192],filter_mask:99,filter_mask_data:192,filter_mask_serv:[190,192],filter_space_valu:99,final_bt_statu:167,final_rot:97,find:[14,27,58,88,89,93,95,97,100,102,103,108,110,111,135,136,149,150,152,153,156,157,159,160,165,167,171,177,178,180,182,183,184,185,187,188],find_if:165,find_packag:184,findchessboardcorn:181,finder:[157,175],findpackageshar:177,fine:[100,153,178,192],finish:[156,160,185,189],finit:[27,100,135,186,195],first:[19,27,41,76,77,85,86,100,114,119,148,149,152,154,158,159,160,165,169,170,172,174,175,176,177,178,179,180,183,184,186,187,188,189,190,191,192,193,194,195],first_map_onli:87,first_map_only_:87,firstli:22,fit:[100,178,189,194],fix:[103,117,152,156,159,160,170,172,174,175,176,177,181,186,189],flag:[9,149,174,177,181,182,184,185],flagship:14,flat:186,flavor:182,fleet:[27,182],flexibl:[14,89,100,162],flip:[112,157,159,171,177],flip_threshold:112,flood:18,flow:[1,18,19,21,23,24,77,78,152,163,195],fluidli:100,fly:[157,160,184,195],fn_tol:92,focal:181,focallength:175,focu:[12,18,26,177,194,195],focus:[109,182,183,186],focuscamera:177,folder:[19,149,150,175,181,189],folk:[152,158,184],folllow:174,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,54,80,86,88,92,93,94,97,99,102,103,110,118,131,132,133,135,136,148,150,152,153,154,155,156,157,158,159,162,164,165,166,167,169,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,188,190,191,192,193,194,196,197],follow_gps_waypoint:[27,160,189],follow_path_error_cod:[20,21,22,23,24,46,73,89],follow_path_error_code_id:179,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,51,90,93,96,97,100,103,104,156,159,160,163,165,167,171,187,196],followpathact:[44,47,51,55],followpathrecoveryfallback:[18,90],followwaypoint:[26,159],fonction:158,fondli:14,fool:178,footprint:[2,85,86,88,94,100,108,115,116,120,135,136,140,158,159,160,164,171,173,177,194],footprint_clearing_en:[94,116,120],footprint_pad:94,footprint_top:[86,105,106,108,162,180],footprintapproach:86,footprintcost:26,footprintcostatpos:26,forc:[87,100,160,186],forcefulli:149,forese:156,forget:188,forgot:152,fork:[27,96,182],forklift:22,form:[5,41,86,109,164,175,176,182],formal:[27,154,183],format:[10,41,85,86,92,100,132,136,149,157,174,175,177,182,189,190,192,195],former:[14,85,86],formerli:[93,159,169],formul:160,formula:192,fortun:174,forward:[0,9,18,27,58,92,99,103,104,121,126,136,141,144,145,149,153,160,163,176,178,182,189,194,196],forward_point_dist:[96,138,142],forward_prune_dist:[121,159],forward_sampling_dist:[104,196],found:[3,8,19,22,26,27,72,86,91,100,104,107,121,134,135,136,149,150,154,155,157,158,159,160,162,163,164,165,166,167,169,170,171,172,174,175,177,179,185,188,189,190,191,192,193],foundat:167,four:[18,27],foxi:[11,27,161,166],fraction:158,fragment:183,frame:[2,27,41,53,58,61,63,72,79,85,86,87,88,89,92,94,95,99,108,111,112,115,116,118,120,124,147,155,165,166,172,174,175,176,177,181,186,189,194],frame_id:[26,63,99,116,120,160,165,166,174,190,191,192],frame_nam:175,framework:[0,2,8,14,27,107,134,154,159,174,178,179],francisco:[154,169,186],free:[10,27,94,99,100,117,134,147,150,155,169,174,175,177,178,183,186,188,189,190],free_spac:183,free_thresh:[190,192],free_thresh_default:99,freeli:177,freespac:[21,23,24,178],frequenc:[18,19,85,88,93,94,100,102,110,135,136,174,186,189],frequent:[136,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horten:159,shorten_transformed_plan:[121,159],shorter:[22,57,58,135,136,169,177,187],shortest:[27,171],should:[1,2,3,6,9,11,17,18,22,27,41,73,74,75,77,84,85,86,88,89,92,93,94,97,99,100,102,103,108,110,111,113,116,118,120,135,136,150,152,153,155,156,157,158,159,160,162,163,164,165,166,167,172,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,192,194,195,196],shouldn:[100,182],shovel:27,show:[2,26,118,136,150,153,158,162,163,164,165,166,167,171,172,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],showcas:189,shown:[13,18,26,100,152,153,157,163,167,171,172,174,175,179,180,187,189,192,194,195],shrijit:154,shut:[26,27,179],shutdown:[27,158,179],shutter:186,shuttingdown:179,sid:162,side:[25,38,39,94,100,132,149,175,177,179,183,185,195],sidebar:[152,181,185],siemen:195,sig:184,sight:[105,171,189],sigma_hit:87,sign:[0,110,152],signal:[9,105,169,185,189],signatur:[163,167],signific:[8,9,100,178,189],significantli:[7,9,17,22,23,24,81,100,104,135,158,160,169,178,189,196],silent:157,sim_tim:[96,125,126],simiar:176,similar:[7,9,10,19,21,23,26,27,85,97,99,100,107,148,150,157,158,163,171,174,175,177,178,180,182,184,186,189,193,195,196],similarli:[21,23,85,91,160,174,182],simpl:[3,27,28,105,113,135,136,150,152,155,162,163,164,166,169,171,172,176,177,178,180,184,187,189,191,195,196],simple_smooth:[54,106,108,180],simplegoalcheck:[46,93,96,97,103,104,121,157,169,196],simpleprogresscheck:[93,96,97,103,104,159,169,196],simpler:[135,176,177],simplesmooth:[55,106,108,180],simplest:163,simpli:[17,100,135,149,152,157,158,162,163,174,177,178,182,184,190,192,193,195],simplic:190,simplifi:[6,153,156,163,165,167,184],simul:[1,2,3,4,5,6,7,9,10,11,12,13,86,89,100,104,125,126,147,153,160,162,164,165,166,167,172,173,177,178,182,184,185,188,189,190,191,192,193],simulate_ahead_tim:[88,104,162,196],simulation_time_step:[86,88],simultan:[149,164,175,190,192],sinc:[6,27,41,92,95,100,103,104,106,115,135,136,157,158,160,164,167,171,172,173,174,175,176,177,178,179,180,182,184,186,189,190,192,194,195,196],singh:[103,154,169],singl:[11,19,21,23,24,26,27,93,99,100,111,135,136,152,155,156,157,158,163,164,166,169,174,175,176,177,178,179,180,184,185,186,189,193],singletrigg:[90,157],singular:178,sister:157,sit:9,situat:[1,10,18,21,23,24,27,86,103,153,154,157,158,169,172,175,178,180,182,184,185,186],size:[26,27,38,39,95,119,135,136,158,164,170,171,172,174,175,177,178,181,182,183,186,189,190,192,193],skew:181,skid:[157,171,186],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,184],skillset:7,skinni:178,skip:[87,95,100,162,174,182],skirt:158,slack:[0,14,27,152],slam:[6,15,94,119,154,155,156,175,176,178,184,186,188,197],slam_toolbox:[15,148,184,191],slate:182,sleep:[86,133,163],slide:177,slider:[177,190],slight:105,slightli:[100,105,110,134,135],slop:181,slow:[86,87,97,100,103,118,145,157,159,160,178,184,192,194],slowdown:[86,194],slowdown_radiu:97,slowdown_ratio:[86,194],slower:[85,86,183],slowing_factor:[96,145],slowli:100,smac:[28,92,100,103,104,115,154,157,170,171,172,196],smac_plann:103,smacplann:169,smacplanner2d:[107,134,157,169],smacplannerhybrid:[107,135,158,169],smacplannerlattic:[107,136,169],small:[100,110,135,156,159,167,169,170,172,174,177,178,183,186,188,189,196],smaller:[13,18,27,97,103,113,135,136,158,186,190,192],smart:[27,112],smash:182,smooth:[20,26,27,54,84,92,97,100,104,105,106,108,110,134,135,136,154,157,158,159,160,169,174,178,180,189,194,196],smooth_path:[135,136],smoothed_path:[26,54,180],smoothed_path_in_collis:[75,159],smoother:[28,54,55,75,134,135,136,154,167,170,171,179,194,197],smoother_error_cod:[75,89,180],smoother_id:[26,54,180],smoother_plugin:[92,105,106,108,180],smoother_selector:55,smoother_serv:[92,105,106,108,179,180],smootherselector:90,smoothing_complet:54,smoothing_dur:54,smoothing_duration_us:54,smoothing_frequ:110,smoothing_path_error_cod:54,smoothli:[100,178],smoothpath:[26,90,92,158,180],sms:162,snake:95,snippet:[18,162,165,166,167,172,174,175,177,179,184],snuff:160,soc:4,soccer:[27,189],socket:150,soft:[22,86,93,100,110],soften:105,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,103,152,159,175,178,179,182,184],sole:[160,195],solut:[27,88,89,93,100,102,108,111,135,136,178,183,186],solv:[22,147,166,184],solver:[92,169],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,51,55,85,88,89,93,100,102,105,107,108,110,111,115,135,149,152,155,157,158,160,163,165,166,167,171,172,174,175,176,177,178,182,183,184,186,187,189,190,194,195],someon:[11,14],someth:[0,18,19,26,152,158,174,176,182,184,189,190],sometim:[18,152,178,195],somewhat:[135,178,196],somewher:192,sonar:[27,86,117,159,175,178,193,194],sonoma:189,soon:27,sooner:190,sound:[85,160],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,110,111,116,120,147,149,151,152,153,154,158,162,163,164,165,166,167,172,173,174,175,176,177,181,182,184,186,188,189,190,191,192,193,194],source_fil:[190,192],source_timeout:[85,86,194],south:189,space:[1,4,10,20,27,85,86,87,94,99,100,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Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","ProgressCheckerSelector","ReinitializeGlobalLocalization","RemovePassedGoals","SmoothPath","SmootherSelector","Spin","TruncatePath","TruncatePathLocal","Wait","AreErrorCodesPresent","DistanceTraveled","GloballyUpdatedGoal","GoalReached","GoalUpdated","InitialPoseReceived","IsBatteryCharging","IsBatteryLow","IsPathValid","IsStuck","PathExpiringTimer","TimeExpired","TransformAvailable","WouldAControllerRecoveryHelp","WouldAPlannerRecoveryHelp","WouldASmootherRecoveryHelp","PipelineSequence","RecoveryNode","RoundRobin","DistanceController","GoalUpdater","PathLongerOnApproach","RateController","SingleTrigger","SpeedController","Collision 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Parameters","Publisher","LimitedAccelGenerator","StandardTrajectoryGenerator","PoseProgressChecker","SimpleGoalChecker","SimpleProgressChecker","StoppedGoalChecker","InputAtWaypoint","PhotoAtWaypoint","WaitAtWaypoint","Smac 2D Planner","Smac Hybrid-A* Planner","Smac State Lattice Planner","BaseObstacleCritic","GoalAlignCritic","GoalDistCritic","ObstacleFootprintCritic","OscillationCritic","PathAlignCritic","PathDistCritic","PreferForwardCritic","RotateToGoalCritic","TwirlingCritic","Build Troubleshooting Guide","Build and Install","Dev Container Guide","Dev Containers","Development Guides","Getting Involved","Getting Started","Nav2","Dashing to Eloquent","Eloquent to Foxy","Foxy to Galactic","Galactic to Humble","Humble to Iron","Iron to Jazzy","Migration Guides","Writing a New Behavior Plugin","Writing a New Behavior Tree Plugin","Writing a New Costmap2D Plugin","Writing a New Controller Plugin","Writing a New Planner Plugin","Writing a New Navigator Plugin","Plugin Tutorials","Navigation Plugins","Roadmaps","Setting Up Navigation Plugins","Setting Up the Robot\u2019s Footprint","First-Time Robot Setup Guide","Setting Up Odometry","Setting Up Sensors","Setting Up Transformations","Setting Up The URDF","Tuning Guide","Adding a New Nav2 Task Server","Adding a Smoother to a BT","Camera Calibration","Docker for Development: Zero to Hero","Filtering of Noise-Induced Obstacles","Get Backtrace in ROS 2 / Nav2","Profiling in ROS 2 / Nav2","Using VIO to Augment Robot Odometry","Dynamic Object Following","Navigating with a Physical Turtlebot 3","Navigating Using GPS Localization","Navigating with Keepout Zones","(SLAM) Navigating While Mapping","Navigating with Speed Limits","(STVL) Using an External Costmap Plugin","Using Collision Monitor","Groot - Interacting with Behavior Trees","Using Rotation Shim Controller","General Tutorials"],titleterms:{"2021":0,"case":158,"default":[88,93,94,102,111,157,159,160],"export":[162,163,164,165,166,167],"import":182,"long":159,"new":[3,155,156,157,158,159,160,162,163,164,165,166,167,179],"static":[119,176],"while":191,Added:[157,158,159,160],Adding:[174,175,177,179,180,195],And:24,For:[160,182],GPS:[160,189],Into:186,Near:22,ROS:[5,11,27,94,159,182,184,185,186],The:[160,177],Use:158,Uses:[159,160],Using:[16,149,186,189,193,194,196],With:[18,24],about:14,academ:27,access:[159,160],ackermann:100,action:[19,27,90,156,157,158,160],activ:160,add:[160,163],added:160,addit:160,advanc:12,algorithm:171,align:100,allow:[159,160],amcl:[87,158],analog:2,angl:[100,160],api:[26,158,159,160],appendix:182,appli:159,approach:[158,160],architectur:155,areerrorcodespres:60,assist:[1,2,158],assistedteleop:[29,88],attribut:157,augment:186,automat:184,avail:160,backtrac:184,backup:[30,88,157],base:[160,182],baseobstaclecrit:137,becom:24,behavior:[17,18,27,88,89,90,156,157,158,159,160,162,163,169,178,187,195],being:158,benchmark:159,binari:[112,148],block:160,bond:27,both:159,brand:8,bringup:[160,184,185],btactionserv:160,btservicenod:158,build:[147,148,149,172,174,175,177,182],cach:178,calibr:[25,181],camera:[181,186],cancel:158,cancelassistedteleop:31,cancelbackup:32,cancelcontrol:33,cancelcoverag:34,canceldriveonhead:35,cancelspin:36,cancelwait:37,capabl:156,certif:152,chang:[155,157,158,159,160],check:159,checker:[26,157,158,159,160,169],citat:154,cleararea:158,clearcostmaparoundrobot:[38,157],clearcostmapexceptregion:[39,157],clearentirecostmap:40,click:187,clock:160,code:[159,160,179],collis:[26,85,86,91,159,160,194],command:[26,158,159,160,182],common:[147,175],composit:[158,179],computecoveragepath:41,computepaththroughpos:[42,157],computepathtopos:[43,157],concept:27,conclus:[171,172,174,175,176,177,179,182,189],condit:[19,90],config:163,configur:[2,13,28,157,171,172,174,175,190,192,194,196],consist:24,constant:158,constrain:[92,158],constraint:100,constructor:159,contact:14,contain:[148,149,150,182],control:[3,19,27,90,93,96,97,100,104,121,157,158,159,160,165,169,171,178,196],controllerselector:44,controllerserv:157,convert:13,corner:158,cost:[100,160],costmap2d:[94,157,164,178,193],costmap:[26,27,94,99,100,156,157,159,160,169,175,190,192,193],costmap_2d_nod:159,costmaplay:158,costmapupd:160,could:160,coverag:95,crash:184,creat:[2,3,149,162,163,165,166,167,187],critic:[96,100,160],current_:157,curv:159,custom:[163,195],dash:155,dco:152,debug:160,deceler:159,decor:[19,90],demo:[26,174,176,194,196],denois:[113,159,183],depend:147,deploy:182,depreci:160,descript:[107,175],detail:18,detect:158,detector:[85,160],determin:11,dev:[149,150],develop:[148,151,152,182],direction:160,disabl:160,distanc:[158,159],distancecontrol:79,distancetravel:61,distribut:148,docker:[148,182],doxygen:148,driveonhead:[45,88],drop:158,durat:160,dwb:[96,121,159],dynam:[4,20,158,160,187],each:156,ecosystem:13,edit:195,eloqu:[155,156],enabl:[160,164,183,190,192],enumer:160,enviro:188,environ:177,environment:[5,27],error:[159,160,179],estim:[27,186],euclidean:158,exampl:[26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,108,109,110,111,112,113,115,118,134,135,136,153,171],except:158,execut:[194,196],executor:[158,169],expand:159,explor:182,expos:160,extend:158,extern:193,fail:160,failur:[147,159],failure_toler:157,familiar:180,featur:[85,86,160],feedback:[157,159],field:178,file:[159,160,162,165,166,167,174,175,184,185],filter:[27,94,99,112,115,118,156,157,159,169,183,190,192],first:[173,182],fix:158,follow:[20,27,100,111,160,187,189],followpath:[46,157],followpoint:156,footprint:[26,27,172,178],form:27,format:160,forward:[100,159],foxi:[156,157],frame:160,framework:12,from:[159,160,182,184,185],full:160,fuse:186,galact:[157,158],gazebo:[158,174,175,189],gener:[100,148,156,197],get:[150,152,153,184,191],give:159,global:[27,160,186,189],globallyupdatedgo:62,goal:[22,100,157,158,159,160,169,188],goal_checker_id:157,goalaligncrit:138,goalcheckerselector:47,goaldistcrit:139,goalreach:63,goalupd:64,goalupdat:80,golai:[105,159],grace:[97,160],gradientlay:164,grid:5,groot:[157,158,195],guid:[28,147,149,151,161,173,178],halttre:160,handl:160,handler:100,help:148,hero:182,heurist:178,horizon:100,how:[150,183],humbl:[158,159,170],hybrid:[135,160],ignor:158,imag:[148,149,175,182],improv:[6,158],includ:[158,159],induc:183,inflat:[100,114,178],info:[99,190,192],inform:157,initi:188,initialposereceiv:65,input:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,72,73,74,75,77,79,80,81,82,84],inputatwaypoint:131,instal:[148,153,193],integr:[4,10,100,159],interact:[189,195],interfac:[157,191],interpret:185,introduc:160,introduct:[19,160,172,174,175,176],invalid:[24,158],invert:158,involv:152,iron:[159,1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