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_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt

@@ -30,7 +30,7 @@ Tutorial Steps
 1- Create a new Navigator Plugin
 --------------------------------
 
-We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in `Nav2's BT Navigator package <https://github.com/ros-planning/navigation2/nav2_bt_navigator>`_ as the ``NavigateToPoseNavigator``. This package can be considered as a reference for writing your own plugin.
+We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in `Nav2's BT Navigator package <https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator>`_ as the ``NavigateToPoseNavigator``. This package can be considered as a reference for writing your own plugin.
 
 Our example plugin class ``nav2_bt_navigator::NavigateToPoseNavigator`` inherits from the base class ``nav2_core::BehaviorTreeNavigator``. The base class provides a set of virtual methods to implement a navigator plugin. These methods are called at runtime by the BT Navigator server or as a response to ROS 2 actions to process a navigation request.
 

plugin_tutorials/docs/writing_new_navigator_plugin.html

@@ -1074,7 +1074,7 @@ <h2>Requirements<a class="headerlink" href="#requirements" title="Permalink to t
 <h2>Tutorial Steps<a class="headerlink" href="#tutorial-steps" title="Permalink to this headline">¶</a></h2>
 <div class="section" id="create-a-new-navigator-plugin">
 <h3>1- Create a new Navigator Plugin<a class="headerlink" href="#create-a-new-navigator-plugin" title="Permalink to this headline">¶</a></h3>
-<p>We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in <a class="reference external" href="https://github.com/ros-planning/navigation2/nav2_bt_navigator">Nav2’s BT Navigator package</a> as the <code class="docutils literal notranslate"><span class="pre">NavigateToPoseNavigator</span></code>. This package can be considered as a reference for writing your own plugin.</p>
+<p>We will be implementing pure point-to-point navigation behavior. The code in this tutorial can be found in <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator">Nav2’s BT Navigator package</a> as the <code class="docutils literal notranslate"><span class="pre">NavigateToPoseNavigator</span></code>. This package can be considered as a reference for writing your own plugin.</p>
 <p>Our example plugin class <code class="docutils literal notranslate"><span class="pre">nav2_bt_navigator::NavigateToPoseNavigator</span></code> inherits from the base class <code class="docutils literal notranslate"><span class="pre">nav2_core::BehaviorTreeNavigator</span></code>. The base class provides a set of virtual methods to implement a navigator plugin. These methods are called at runtime by the BT Navigator server or as a response to ROS 2 actions to process a navigation request.</p>
 <p>Note that this class has itself a base class of <code class="docutils literal notranslate"><span class="pre">NavigatorBase</span></code>. This class is to provide a non-templated base-class for use in loading the plugins into vectors for storage and calls for basic state transition in the lifecycle node. Its members (e.g. <code class="docutils literal notranslate"><span class="pre">on_XYZ</span></code>) are implemented for you in <code class="docutils literal notranslate"><span class="pre">BehaviorTreeNavigator</span></code> and marked as <code class="docutils literal notranslate"><span class="pre">final</span></code> so they are not possible to be overrided by the user. The API that you will be implementing for your navigator are the virtual methods within <code class="docutils literal notranslate"><span class="pre">BehaviorTreeNavigator</span></code>, not <code class="docutils literal notranslate"><span class="pre">NavigatorBase</span></code>. These <code class="docutils literal notranslate"><span class="pre">on_XYZ</span></code> APIs are implemented in necessary functions in <code class="docutils literal notranslate"><span class="pre">BehaviorTreeNavigator</span></code> to handle boilerplate logic regarding the behavior tree and action server to minimize code duplication across the navigator implementations (e.g. <code class="docutils literal notranslate"><span class="pre">on_configure</span></code> will create the action server, register callbacks, populate the blackboard with some necessary basic information, and then call a user-defined <code class="docutils literal notranslate"><span class="pre">configure</span></code> function for any additional user-specific needs).</p>
 <p>The list of methods, their descriptions, and necessity are presented in the table below:</p>