diff --git a/_sources/configuration/packages/configuring-behavior-server.rst.txt b/_sources/configuration/packages/configuring-behavior-server.rst.txt
index bea359534..e4bc2658d 100644
--- a/_sources/configuration/packages/configuring-behavior-server.rst.txt
+++ b/_sources/configuration/packages/configuring-behavior-server.rst.txt
@@ -7,7 +7,7 @@ Source code on Github_.
 
 .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors
 
-The Behavior Server implements the server for handling recovery behavior requests and hosting a vector of plugins implementing various C++ behaviors.
+The Behavior Server implements the server for handling various behavior, such as recoveries and docking, requests and hosting a vector of plugins implementing various C++ behaviors.
 It is also possible to implement independent behavior servers for each custom behavior, but this server will allow multiple behaviors to share resources such as costmaps and TF buffers to lower incremental costs for new behaviors.
 
 Note: the wait recovery behavior has no parameters, the duration to wait is given in the action request.
diff --git a/_sources/configuration/packages/configuring-bt-navigator.rst.txt b/_sources/configuration/packages/configuring-bt-navigator.rst.txt
index da849cb8c..8553242f6 100644
--- a/_sources/configuration/packages/configuring-bt-navigator.rst.txt
+++ b/_sources/configuration/packages/configuring-bt-navigator.rst.txt
@@ -7,7 +7,7 @@ Source code on Github_.
 
 .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator
 
-The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose task interface. 
+The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose, NavigateThroughPoses, and other task interfaces. 
 It is a Behavior Tree-based implementation of navigation that is intended to allow for flexibility 
 in the navigation task and provide a way to easily specify complex robot behaviors, including recovery.
 
diff --git a/_sources/configuration/packages/configuring-constrained-smoother.rst.txt b/_sources/configuration/packages/configuring-constrained-smoother.rst.txt
index c3f79df75..941b67dfb 100644
--- a/_sources/configuration/packages/configuring-constrained-smoother.rst.txt
+++ b/_sources/configuration/packages/configuring-constrained-smoother.rst.txt
@@ -10,7 +10,7 @@ Source code on Github_.
 .. _`RoboTech Vision`: https://robotechvision.com/
 
 A smoother plugin for nav2_smoother based on the original deprecated smoother in nav2_smac_planner and put into operational state by `RoboTech Vision`_.
-Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.
+Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models. It optimizes for path length, smoothness, distance from obstacles, and curvature in a large Ceres-based optimization program.
 
 .. _`TruncatePathLocal BT Node`: bt-plugins/actions/TruncatePathLocal.html
 
diff --git a/_sources/configuration/packages/configuring-controller-server.rst.txt b/_sources/configuration/packages/configuring-controller-server.rst.txt
index 8e8bb15e2..9d2073603 100644
--- a/_sources/configuration/packages/configuring-controller-server.rst.txt
+++ b/_sources/configuration/packages/configuring-controller-server.rst.txt
@@ -9,6 +9,7 @@ Source code on Github_.
 
 The Controller Server implements the server for handling the controller requests for the stack and host a map of plugin implementations.
 It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins.
+It also hosts the local costmap.
 
 Parameters
 **********
diff --git a/_sources/configuration/packages/configuring-costmaps.rst.txt b/_sources/configuration/packages/configuring-costmaps.rst.txt
index 638188243..8cc478ec4 100644
--- a/_sources/configuration/packages/configuring-costmaps.rst.txt
+++ b/_sources/configuration/packages/configuring-costmaps.rst.txt
@@ -7,7 +7,7 @@ Source code on Github_.
 
 .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d
 
-The Costmap 2D package implements a 2D grid-based costmap for environmental representations and a number of sensor processing plugins.
+The Costmap 2D package implements a 2D grid-based costmap for environmental representations and a number of sensor processing plugins (AI outputs, depth sensor obstacle buffering, semantic information, etc).
 It is used in the planner and controller servers for creating the space to check for collisions or higher cost areas to negotiate around. 
 
 Costmap2D ROS Parameters
diff --git a/_sources/configuration/packages/configuring-dwb-controller.rst.txt b/_sources/configuration/packages/configuring-dwb-controller.rst.txt
index f3f2ac42f..de74372d1 100644
--- a/_sources/configuration/packages/configuring-dwb-controller.rst.txt
+++ b/_sources/configuration/packages/configuring-dwb-controller.rst.txt
@@ -9,7 +9,7 @@ Source code on Github_.
 
 The DWB controller is the default controller. It is a fork of `David Lu's
 controller <https://github.com/locusrobotics/robot_navigation/tree/master/dwb_local_planner>`_
-modified for ROS 2.
+modified for ROS 2 using the Dynamic Window Approach.
 
 Controller
 **********
diff --git a/_sources/configuration/packages/configuring-mppic.rst.txt b/_sources/configuration/packages/configuring-mppic.rst.txt
index a1a2ee176..c41f3bb51 100644
--- a/_sources/configuration/packages/configuring-mppic.rst.txt
+++ b/_sources/configuration/packages/configuring-mppic.rst.txt
@@ -351,6 +351,8 @@ Ackermann Motion Model
 Constraint Critic
 -----------------
 
+This critic penalizes trajectories that have components outside of the set dynamic or kinematic constraints
+
 :cost_weight:
 
   ============== ===========================
@@ -376,6 +378,8 @@ Constraint Critic
 Goal Angle Critic
 -----------------
 
+This critic incentivizes navigating to achieve the angle of the goal posewhen in reasonable proximity to goal
+
 :cost_weight:
 
   ============== ===========================
@@ -412,6 +416,8 @@ Goal Angle Critic
 Goal Critic
 -----------
 
+This critic incentivizes navigating spatially towards the goal when in reasonable proximity to goal
+
 :cost_weight:
 
   ============== ===========================
@@ -448,6 +454,8 @@ Goal Critic
 Obstacles Critic
 ----------------
 
+This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check.
+
 :critical_weight:
 
   ============== ===========================
@@ -550,6 +558,8 @@ Obstacles Critic
 Path Align Critic
 -----------------
 
+This critic incentivizes aligning with the global path, if relevant. It does not implement path following behavior.
+
 :cost_weight:
 
   ============== ===========================
@@ -619,6 +629,8 @@ Path Align Critic
 Path Angle Critic
 -----------------
 
+This critic penalizes trajectories at a high relative angle to the path. This helps the robot make sharp turns when necessary due to large accumulated angular errors.
+
 :cost_weight:
 
   ============== ===========================
@@ -689,6 +701,8 @@ Path Angle Critic
 Path Follow Critic
 ------------------
 
+This critic incentivizes making progress along the path. This is what drives the robot forward along the path.
+
 :cost_weight:
 
   ============== ===========================
@@ -736,6 +750,8 @@ Path Follow Critic
 Prefer Forward Critic
 ---------------------
 
+This critic incentivizes moving in the forward direction, rather than reversing.
+
 :cost_weight:
 
   ============== ===========================
@@ -772,6 +788,8 @@ Prefer Forward Critic
 Twirling Critic
 ---------------
 
+This critic penalizes unnecessary 'twisting' with holonomic vehicles. It adds a constraint on the rotation angle to keep it consistent.
+
 :cost_weight:
 
   ============== ===========================
diff --git a/_sources/configuration/packages/configuring-navfn.rst.txt b/_sources/configuration/packages/configuring-navfn.rst.txt
index f72336815..114a51ff5 100644
--- a/_sources/configuration/packages/configuring-navfn.rst.txt
+++ b/_sources/configuration/packages/configuring-navfn.rst.txt
@@ -7,7 +7,7 @@ Source code on Github_.
 
 .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_navfn_planner
 
-The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded planner.
+The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded holonomic planner.
 
 ``<name>`` is the corresponding planner plugin ID selected for this type.
 
diff --git a/_sources/configuration/packages/configuring-planner-server.rst.txt b/_sources/configuration/packages/configuring-planner-server.rst.txt
index 777c50e50..1cac857de 100644
--- a/_sources/configuration/packages/configuring-planner-server.rst.txt
+++ b/_sources/configuration/packages/configuring-planner-server.rst.txt
@@ -9,6 +9,7 @@ Source code on Github_.
 
 The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations.
 It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.
+It also hosts the global costmap.
 
 Parameters
 **********
diff --git a/_sources/configuration/packages/configuring-thetastar.rst.txt b/_sources/configuration/packages/configuring-thetastar.rst.txt
index eb76219c9..acd4e506f 100644
--- a/_sources/configuration/packages/configuring-thetastar.rst.txt
+++ b/_sources/configuration/packages/configuring-thetastar.rst.txt
@@ -7,7 +7,7 @@ Theta Star Planner
 
 .. .. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_theta_star_planner
 
-Theta Star Planner implements the Theta* path planner meant to plan any-angled paths using A*.
+Theta Star Planner implements the Theta* path planner meant to plan any-angled line-segment focused paths using A*.
 
 For the below example the planner took ~46ms (averaged value) to compute the path of 87.5m - 
 
diff --git a/_sources/configuration/packages/configuring-velocity-smoother.rst.txt b/_sources/configuration/packages/configuring-velocity-smoother.rst.txt
index 7280ded42..ab4844263 100644
--- a/_sources/configuration/packages/configuring-velocity-smoother.rst.txt
+++ b/_sources/configuration/packages/configuring-velocity-smoother.rst.txt
@@ -9,6 +9,7 @@ Source code on Github_.
 
 The ``nav2_velocity_smoother`` is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers.
 The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners' control efforts.
+It can also interpolate velocity commands at higher rates than the controller server publishes.
 
 See the package's README for more information.
 
diff --git a/_sources/configuration/packages/costmap-plugins/denoise.rst.txt b/_sources/configuration/packages/costmap-plugins/denoise.rst.txt
index 8b593c09f..5718ea95a 100644
--- a/_sources/configuration/packages/costmap-plugins/denoise.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/denoise.rst.txt
@@ -3,6 +3,8 @@
 Denoise Layer Parameters
 ========================
 
+This layer attempts to remove simple noise that may exist in a costmap's layers due to sensor noise or discrete raycasting errors.
+
 ``<denoise layer>`` is the corresponding plugin name selected for this type.
 
 :``<denoise layer>``.enabled:
diff --git a/_sources/configuration/packages/costmap-plugins/inflation.rst.txt b/_sources/configuration/packages/costmap-plugins/inflation.rst.txt
index b195982b3..582871529 100644
--- a/_sources/configuration/packages/costmap-plugins/inflation.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/inflation.rst.txt
@@ -3,6 +3,8 @@
 Inflation Layer Parameters
 ==========================
 
+This layer places an exponential decay functions around obstacles to increase cost to traverse near collision. It also places a lethal cost around obstacles within the robot's fully inscribed radius - even if a robot is non-circular for optimized first-order collision checking.
+
 ``<inflation layer>`` is the corresponding plugin name selected for this type.
 
 
diff --git a/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt b/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt
index e9ad5d460..d52f3d272 100644
--- a/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt
@@ -3,6 +3,8 @@
 Obstacle Layer Parameters
 =========================
 
+This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, depth, or other sensors. It contains a 2D costmap model within it that manages the planning space by the parameters specified below.
+
 ``<obstacle layer>`` is the corresponding plugin name selected for this type.
 
 ``<data source>`` is the corresponding observation source name for that sources parameters.
diff --git a/_sources/configuration/packages/costmap-plugins/range.rst.txt b/_sources/configuration/packages/costmap-plugins/range.rst.txt
index ff0b98df2..1d789d14a 100644
--- a/_sources/configuration/packages/costmap-plugins/range.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/range.rst.txt
@@ -3,6 +3,8 @@
 Range Sensor Parameters
 =======================
 
+This costmap layer implements a plugin that processes sonar, IR, or other 1-D sensors for collision avoidance.
+
 ``<range layer>`` is the corresponding plugin name selected for this type.
 
 :``<range layer>``.enabled:
diff --git a/_sources/configuration/packages/costmap-plugins/static.rst.txt b/_sources/configuration/packages/costmap-plugins/static.rst.txt
index 4cad056eb..2b8efe957 100644
--- a/_sources/configuration/packages/costmap-plugins/static.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/static.rst.txt
@@ -3,6 +3,8 @@
 Static Layer Parameters
 =======================
 
+This implements a costmap layer taking in a map from either SLAM or ``map_server`` (or other) to place into the costmap. It resizes the costmap to its size and places the static obstacles on the planning space. 
+
 ``<static layer>`` is the corresponding plugin name selected for this type.
 
 :``<static layer>``.enabled:
diff --git a/_sources/configuration/packages/costmap-plugins/voxel.rst.txt b/_sources/configuration/packages/costmap-plugins/voxel.rst.txt
index c5fbabffe..2a7b0105b 100644
--- a/_sources/configuration/packages/costmap-plugins/voxel.rst.txt
+++ b/_sources/configuration/packages/costmap-plugins/voxel.rst.txt
@@ -3,6 +3,8 @@
 Voxel Layer Parameters
 ======================
 
+This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or other sensors. It contains a 3D environmental model within it that manages the planning space and squashes down to 2D for planning and control by the parameters specified below.
+
 ``<voxel layer>`` is the corresponding plugin name selected for this type.
 
 ``<data source>`` is the corresponding observation source name for that sources parameters.
diff --git a/_sources/configuration/packages/nav2_controller-plugins/simple_progress_checker.rst.txt b/_sources/configuration/packages/nav2_controller-plugins/simple_progress_checker.rst.txt
index 36984da13..410dd7ccc 100644
--- a/_sources/configuration/packages/nav2_controller-plugins/simple_progress_checker.rst.txt
+++ b/_sources/configuration/packages/nav2_controller-plugins/simple_progress_checker.rst.txt
@@ -3,7 +3,7 @@
 SimpleProgressChecker
 =====================
 
-Checks whether the robot has made progress.
+Checks whether the robot has made positional progress.
 
 Parameters
 **********
diff --git a/_sources/configuration/packages/smac/configuring-smac-2d.rst.txt b/_sources/configuration/packages/smac/configuring-smac-2d.rst.txt
index b9658edd9..1f96e6a34 100644
--- a/_sources/configuration/packages/smac/configuring-smac-2d.rst.txt
+++ b/_sources/configuration/packages/smac/configuring-smac-2d.rst.txt
@@ -8,6 +8,8 @@ Smac 2D Planner
     :alt: Paths generated by the Smac 2D-A*
     :width: 640px
 
+This planner implements a cost-aware holonomic A* algorithm within the Smac Planner framework sharing the same code and behaviors as the Hybrid-A* and State Lattice planners.
+
 ``<name>`` is the corresponding planner plugin ID selected for this type.
 
 Parameters
diff --git a/_sources/configuration/packages/smac/configuring-smac-hybrid.rst.txt b/_sources/configuration/packages/smac/configuring-smac-hybrid.rst.txt
index 66cc8fd36..ec840dda6 100644
--- a/_sources/configuration/packages/smac/configuring-smac-hybrid.rst.txt
+++ b/_sources/configuration/packages/smac/configuring-smac-hybrid.rst.txt
@@ -8,6 +8,8 @@ Smac Hybrid-A* Planner
     :alt: Paths generated by the Smac Hybrid-A*
     :width: 640px
 
+This plugin implements a cost-aware Hybrid-A* global path planner with motion primitives proportionally sized to the minimum required to leave a user's costmap cell allowing for finite moves. 
+
 ``<name>`` is the corresponding planner plugin ID selected for this type.
 
 Parameters
diff --git a/_sources/configuration/packages/smac/configuring-smac-lattice.rst.txt b/_sources/configuration/packages/smac/configuring-smac-lattice.rst.txt
index 0fb895743..5a155a9f3 100644
--- a/_sources/configuration/packages/smac/configuring-smac-lattice.rst.txt
+++ b/_sources/configuration/packages/smac/configuring-smac-lattice.rst.txt
@@ -8,6 +8,8 @@ Smac State Lattice Planner
     :alt: Paths generated by the Smac State Lattice
     :width: 640px
 
+This planner implements a generic state lattice global path planner using precomputed, offline minimum control sets. The package also contains a python utility for computing minimum control sets based on minimum curvature constraints, in-place rotations, and omnidirectional moves. Though, any other minimum control set may be used as long as it follows the file format specification in the package's README file.
+
 ``<name>`` is the corresponding planner plugin ID selected for this type.
 
 Note: State Lattice does not have the costmap downsampler due to the minimum control sets being tied with map resolutions on generation. The minimum turning radius is also not a parameter in State Lattice since this was specified at the minimum control set pre-computation phase. See the Smac Planner package to generate custom control sets for your vehicle or use one of our pre-generated examples.
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index f1a84c760..2485776ee 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -1005,7 +1005,7 @@
   <div class="section" id="behavior-server">
 <span id="configuring-behavior-server"></span><h1>Behavior Server<a class="headerlink" href="#behavior-server" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors">Github</a>.</p>
-<p>The Behavior Server implements the server for handling recovery behavior requests and hosting a vector of plugins implementing various C++ behaviors.
+<p>The Behavior Server implements the server for handling various behavior, such as recoveries and docking, requests and hosting a vector of plugins implementing various C++ behaviors.
 It is also possible to implement independent behavior servers for each custom behavior, but this server will allow multiple behaviors to share resources such as costmaps and TF buffers to lower incremental costs for new behaviors.</p>
 <p>Note: the wait recovery behavior has no parameters, the duration to wait is given in the action request.
 Note: pre-Rolling/Humble this was the Recovery server, not behavior server. Launch files, behaviors and tests were all renamed.</p>
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index 8e0c3df37..a3100bba9 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -1005,7 +1005,7 @@
   <div class="section" id="behavior-tree-navigator">
 <span id="configuring-bt-navigator"></span><h1>Behavior-Tree Navigator<a class="headerlink" href="#behavior-tree-navigator" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator">Github</a>.</p>
-<p>The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose task interface.
+<p>The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose, NavigateThroughPoses, and other task interfaces.
 It is a Behavior Tree-based implementation of navigation that is intended to allow for flexibility
 in the navigation task and provide a way to easily specify complex robot behaviors, including recovery.</p>
 <p>Consider checking out the <a class="reference internal" href="../../tutorials/docs/using_groot.html#groot-introduction"><span class="std std-ref">Groot - Interacting with Behavior Trees</span></a> tutorial for using Groot to visualize and modify behavior trees.</p>
diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html
index 8cc4e7caf..7811c3ae0 100644
--- a/configuration/packages/configuring-constrained-smoother.html
+++ b/configuration/packages/configuring-constrained-smoother.html
@@ -1006,7 +1006,7 @@
 <span id="configuring-constrained-smoother"></span><h1>Constrained smoother<a class="headerlink" href="#constrained-smoother" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_constrained_smoother">Github</a>.</p>
 <p>A smoother plugin for nav2_smoother based on the original deprecated smoother in nav2_smac_planner and put into operational state by <a class="reference external" href="https://robotechvision.com/">RoboTech Vision</a>.
-Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.</p>
+Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models. It optimizes for path length, smoothness, distance from obstacles, and curvature in a large Ceres-based optimization program.</p>
 <p>Important note: Constrained smoother uses a rather heavy optimization algorithm and thus is suggested to be used on a periodically truncated path.
 <a class="reference external" href="bt-plugins/actions/TruncatePathLocal.html">TruncatePathLocal BT Node</a> can be used for achieving a proper path length and DistanceController BT Node can be used for achieving periodicity.</p>
 <p>Following image depicts how Constrained Smoother can improve quality of an input path (cyan, generated by an outdated version of Smac Planner, intentionally not configured optimally to highlight the power of the smoother),
diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html
index b92a554ba..6bd6d2fb8 100644
--- a/configuration/packages/configuring-controller-server.html
+++ b/configuration/packages/configuring-controller-server.html
@@ -1006,7 +1006,8 @@
 <span id="configuring-controller-server"></span><h1>Controller Server<a class="headerlink" href="#controller-server" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_controller">Github</a>.</p>
 <p>The Controller Server implements the server for handling the controller requests for the stack and host a map of plugin implementations.
-It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins.</p>
+It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins.
+It also hosts the local costmap.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
 <dl class="field-list">
diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html
index e229baa8f..88fa07de4 100644
--- a/configuration/packages/configuring-costmaps.html
+++ b/configuration/packages/configuring-costmaps.html
@@ -1005,7 +1005,7 @@
   <div class="section" id="costmap-2d">
 <span id="configuring-cosmaps"></span><h1>Costmap 2D<a class="headerlink" href="#costmap-2d" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d">Github</a>.</p>
-<p>The Costmap 2D package implements a 2D grid-based costmap for environmental representations and a number of sensor processing plugins.
+<p>The Costmap 2D package implements a 2D grid-based costmap for environmental representations and a number of sensor processing plugins (AI outputs, depth sensor obstacle buffering, semantic information, etc).
 It is used in the planner and controller servers for creating the space to check for collisions or higher cost areas to negotiate around.</p>
 <div class="section" id="costmap2d-ros-parameters">
 <h2>Costmap2D ROS Parameters<a class="headerlink" href="#costmap2d-ros-parameters" title="Permalink to this headline">¶</a></h2>
diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html
index 88c46808f..6729033f2 100644
--- a/configuration/packages/configuring-dwb-controller.html
+++ b/configuration/packages/configuring-dwb-controller.html
@@ -1007,7 +1007,7 @@
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_dwb_controller">Github</a>.</p>
 <p>The DWB controller is the default controller. It is a fork of <a class="reference external" href="https://github.com/locusrobotics/robot_navigation/tree/master/dwb_local_planner">David Lu’s
 controller</a>
-modified for ROS 2.</p>
+modified for ROS 2 using the Dynamic Window Approach.</p>
 <div class="section" id="controller">
 <h2>Controller<a class="headerlink" href="#controller" title="Permalink to this headline">¶</a></h2>
 <div class="toctree-wrapper compound">
diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html
index db45bef2b..e071e65c6 100644
--- a/configuration/packages/configuring-mppic.html
+++ b/configuration/packages/configuring-mppic.html
@@ -1596,6 +1596,7 @@ <h3>Ackermann Motion Model<a class="headerlink" href="#ackermann-motion-model" t
 </div>
 <div class="section" id="constraint-critic">
 <h3>Constraint Critic<a class="headerlink" href="#constraint-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic penalizes trajectories that have components outside of the set dynamic or kinematic constraints</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -1641,6 +1642,7 @@ <h3>Constraint Critic<a class="headerlink" href="#constraint-critic" title="Perm
 </div>
 <div class="section" id="goal-angle-critic">
 <h3>Goal Angle Critic<a class="headerlink" href="#goal-angle-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes navigating to achieve the angle of the goal posewhen in reasonable proximity to goal</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -1706,6 +1708,7 @@ <h3>Goal Angle Critic<a class="headerlink" href="#goal-angle-critic" title="Perm
 </div>
 <div class="section" id="goal-critic">
 <h3>Goal Critic<a class="headerlink" href="#goal-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes navigating spatially towards the goal when in reasonable proximity to goal</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -1771,6 +1774,7 @@ <h3>Goal Critic<a class="headerlink" href="#goal-critic" title="Permalink to thi
 </div>
 <div class="section" id="obstacles-critic">
 <h3>Obstacles Critic<a class="headerlink" href="#obstacles-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes navigating away from obstacles and critical collisions using either a circular robot point-check or full SE2 footprint check.</p>
 <dl class="field-list">
 <dt class="field-odd">critical_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -1956,6 +1960,7 @@ <h3>Obstacles Critic<a class="headerlink" href="#obstacles-critic" title="Permal
 </div>
 <div class="section" id="path-align-critic">
 <h3>Path Align Critic<a class="headerlink" href="#path-align-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes aligning with the global path, if relevant. It does not implement path following behavior.</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -2081,6 +2086,7 @@ <h3>Path Align Critic<a class="headerlink" href="#path-align-critic" title="Perm
 </div>
 <div class="section" id="path-angle-critic">
 <h3>Path Angle Critic<a class="headerlink" href="#path-angle-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic penalizes trajectories at a high relative angle to the path. This helps the robot make sharp turns when necessary due to large accumulated angular errors.</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -2206,6 +2212,7 @@ <h3>Path Angle Critic<a class="headerlink" href="#path-angle-critic" title="Perm
 </div>
 <div class="section" id="path-follow-critic">
 <h3>Path Follow Critic<a class="headerlink" href="#path-follow-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes making progress along the path. This is what drives the robot forward along the path.</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -2291,6 +2298,7 @@ <h3>Path Follow Critic<a class="headerlink" href="#path-follow-critic" title="Pe
 </div>
 <div class="section" id="prefer-forward-critic">
 <h3>Prefer Forward Critic<a class="headerlink" href="#prefer-forward-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic incentivizes moving in the forward direction, rather than reversing.</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
@@ -2356,6 +2364,7 @@ <h3>Prefer Forward Critic<a class="headerlink" href="#prefer-forward-critic" tit
 </div>
 <div class="section" id="twirling-critic">
 <h3>Twirling Critic<a class="headerlink" href="#twirling-critic" title="Permalink to this headline">¶</a></h3>
+<p>This critic penalizes unnecessary ‘twisting’ with holonomic vehicles. It adds a constraint on the rotation angle to keep it consistent.</p>
 <dl class="field-list">
 <dt class="field-odd">cost_weight</dt>
 <dd class="field-odd"><table class="docutils align-default">
diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html
index 468be9061..21aab88e0 100644
--- a/configuration/packages/configuring-navfn.html
+++ b/configuration/packages/configuring-navfn.html
@@ -1005,7 +1005,7 @@
   <div class="section" id="navfn-planner">
 <span id="configuring-navfn"></span><h1>NavFn Planner<a class="headerlink" href="#navfn-planner" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_navfn_planner">Github</a>.</p>
-<p>The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded planner.</p>
+<p>The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded holonomic planner.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code> is the corresponding planner plugin ID selected for this type.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html
index 1200dc51b..b930baa87 100644
--- a/configuration/packages/configuring-planner-server.html
+++ b/configuration/packages/configuring-planner-server.html
@@ -1006,7 +1006,8 @@
 <span id="configuring-planner-server"></span><h1>Planner Server<a class="headerlink" href="#planner-server" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_planner">Github</a>.</p>
 <p>The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations.
-It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.</p>
+It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.
+It also hosts the global costmap.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
 <dl class="field-list">
diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html
index c894dc170..7fdafe04b 100644
--- a/configuration/packages/configuring-thetastar.html
+++ b/configuration/packages/configuring-thetastar.html
@@ -1004,7 +1004,7 @@
              
   <div class="section" id="theta-star-planner">
 <span id="configuring-theta-star-planner"></span><h1>Theta Star Planner<a class="headerlink" href="#theta-star-planner" title="Permalink to this headline">¶</a></h1>
-<p>Theta Star Planner implements the Theta* path planner meant to plan any-angled paths using A*.</p>
+<p>Theta Star Planner implements the Theta* path planner meant to plan any-angled line-segment focused paths using A*.</p>
 <p>For the below example the planner took ~46ms (averaged value) to compute the path of 87.5m -</p>
 <a class="reference internal image-reference" href="../../_images/00-37.png"><img alt="Path generated by the Theta* planner" class="align-center" src="../../_images/00-37.png" style="width: 640px;" /></a>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code> is the corresponding planner plugin ID selected for this type.</p>
diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html
index 88ab778cb..c63c55cca 100644
--- a/configuration/packages/configuring-velocity-smoother.html
+++ b/configuration/packages/configuring-velocity-smoother.html
@@ -1006,7 +1006,8 @@
 <span id="configuring-velocity-smoother"></span><h1>Velocity Smoother<a class="headerlink" href="#velocity-smoother" title="Permalink to this headline">¶</a></h1>
 <p>Source code on <a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_velocity_smoother">Github</a>.</p>
 <p>The <code class="docutils literal notranslate"><span class="pre">nav2_velocity_smoother</span></code> is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers.
-The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners’ control efforts.</p>
+The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners’ control efforts.
+It can also interpolate velocity commands at higher rates than the controller server publishes.</p>
 <p>See the package’s README for more information.</p>
 <div class="section" id="velocity-smoother-parameters">
 <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-parameters" title="Permalink to this headline">¶</a></h2>
diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html
index b3c09cef8..5f245b51a 100644
--- a/configuration/packages/costmap-plugins/denoise.html
+++ b/configuration/packages/costmap-plugins/denoise.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="denoise-layer-parameters">
 <span id="denoise"></span><h1>Denoise Layer Parameters<a class="headerlink" href="#denoise-layer-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This layer attempts to remove simple noise that may exist in a costmap’s layers due to sensor noise or discrete raycasting errors.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;denoise</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <dl class="field-list">
 <dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;denoise</span> <span class="pre">layer&gt;</span></code>.enabled</dt>
diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html
index 69c16d83d..5544f2705 100644
--- a/configuration/packages/costmap-plugins/inflation.html
+++ b/configuration/packages/costmap-plugins/inflation.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="inflation-layer-parameters">
 <h1>Inflation Layer Parameters<a class="headerlink" href="#inflation-layer-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This layer places an exponential decay functions around obstacles to increase cost to traverse near collision. It also places a lethal cost around obstacles within the robot’s fully inscribed radius - even if a robot is non-circular for optimized first-order collision checking.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;inflation</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <dl class="field-list">
 <dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;inflation</span> <span class="pre">layer&gt;</span></code>.enabled</dt>
diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html
index 881010a59..0d99641e1 100644
--- a/configuration/packages/costmap-plugins/obstacle.html
+++ b/configuration/packages/costmap-plugins/obstacle.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="obstacle-layer-parameters">
 <h1>Obstacle Layer Parameters<a class="headerlink" href="#obstacle-layer-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, depth, or other sensors. It contains a 2D costmap model within it that manages the planning space by the parameters specified below.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;obstacle</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;data</span> <span class="pre">source&gt;</span></code> is the corresponding observation source name for that sources parameters.</p>
 <dl class="field-list">
diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html
index 8ef64887d..c131a87ad 100644
--- a/configuration/packages/costmap-plugins/range.html
+++ b/configuration/packages/costmap-plugins/range.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="range-sensor-parameters">
 <h1>Range Sensor Parameters<a class="headerlink" href="#range-sensor-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This costmap layer implements a plugin that processes sonar, IR, or other 1-D sensors for collision avoidance.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;range</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <dl class="field-list">
 <dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;range</span> <span class="pre">layer&gt;</span></code>.enabled</dt>
diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html
index 862160255..0ef828565 100644
--- a/configuration/packages/costmap-plugins/static.html
+++ b/configuration/packages/costmap-plugins/static.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="static-layer-parameters">
 <h1>Static Layer Parameters<a class="headerlink" href="#static-layer-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This implements a costmap layer taking in a map from either SLAM or <code class="docutils literal notranslate"><span class="pre">map_server</span></code> (or other) to place into the costmap. It resizes the costmap to its size and places the static obstacles on the planning space.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;static</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <dl class="field-list">
 <dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;static</span> <span class="pre">layer&gt;</span></code>.enabled</dt>
diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html
index d0c5acd4a..4ca1ac26e 100644
--- a/configuration/packages/costmap-plugins/voxel.html
+++ b/configuration/packages/costmap-plugins/voxel.html
@@ -1005,6 +1005,7 @@
              
   <div class="section" id="voxel-layer-parameters">
 <h1>Voxel Layer Parameters<a class="headerlink" href="#voxel-layer-parameters" title="Permalink to this headline">¶</a></h1>
+<p>This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or other sensors. It contains a 3D environmental model within it that manages the planning space and squashes down to 2D for planning and control by the parameters specified below.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;voxel</span> <span class="pre">layer&gt;</span></code> is the corresponding plugin name selected for this type.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;data</span> <span class="pre">source&gt;</span></code> is the corresponding observation source name for that sources parameters.</p>
 <dl class="field-list">
diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
index d2af41171..dce4e4662 100644
--- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
+++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html
@@ -1005,7 +1005,7 @@
              
   <div class="section" id="simpleprogresschecker">
 <span id="configuring-nav2-controller-simple-progress-checker-plugin"></span><h1>SimpleProgressChecker<a class="headerlink" href="#simpleprogresschecker" title="Permalink to this headline">¶</a></h1>
-<p>Checks whether the robot has made progress.</p>
+<p>Checks whether the robot has made positional progress.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;nav2_controller</span> <span class="pre">plugin&gt;</span></code>: nav2_controller plugin name defined in the <strong>progress_checker_plugin_id</strong> parameter in <a class="reference internal" href="../configuring-controller-server.html#configuring-controller-server"><span class="std std-ref">Controller Server</span></a>.</p>
diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html
index d46e869db..40e922852 100644
--- a/configuration/packages/smac/configuring-smac-2d.html
+++ b/configuration/packages/smac/configuring-smac-2d.html
@@ -1006,6 +1006,7 @@
   <div class="section" id="smac-2d-planner">
 <span id="configuring-smac-2d-planner"></span><h1>Smac 2D Planner<a class="headerlink" href="#smac-2d-planner" title="Permalink to this headline">¶</a></h1>
 <a class="reference internal image-reference" href="../../../_images/2d_test.png"><img alt="Paths generated by the Smac 2D-A*" class="align-center" src="../../../_images/2d_test.png" style="width: 640px;" /></a>
+<p>This planner implements a cost-aware holonomic A* algorithm within the Smac Planner framework sharing the same code and behaviors as the Hybrid-A* and State Lattice planners.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code> is the corresponding planner plugin ID selected for this type.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html
index 4be97f9c0..a3904478a 100644
--- a/configuration/packages/smac/configuring-smac-hybrid.html
+++ b/configuration/packages/smac/configuring-smac-hybrid.html
@@ -1006,6 +1006,7 @@
   <div class="section" id="smac-hybrid-a-planner">
 <span id="configuring-smac-hybrid-planner"></span><h1>Smac Hybrid-A* Planner<a class="headerlink" href="#smac-hybrid-a-planner" title="Permalink to this headline">¶</a></h1>
 <a class="reference internal image-reference" href="../../../_images/hybrid_144.png"><img alt="Paths generated by the Smac Hybrid-A*" class="align-center" src="../../../_images/hybrid_144.png" style="width: 640px;" /></a>
+<p>This plugin implements a cost-aware Hybrid-A* global path planner with motion primitives proportionally sized to the minimum required to leave a user’s costmap cell allowing for finite moves.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code> is the corresponding planner plugin ID selected for this type.</p>
 <div class="section" id="parameters">
 <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html
index 1cd338aa1..0fdac3db4 100644
--- a/configuration/packages/smac/configuring-smac-lattice.html
+++ b/configuration/packages/smac/configuring-smac-lattice.html
@@ -1006,6 +1006,7 @@
   <div class="section" id="smac-state-lattice-planner">
 <span id="configuring-smac-lattice-planner"></span><h1>Smac State Lattice Planner<a class="headerlink" href="#smac-state-lattice-planner" title="Permalink to this headline">¶</a></h1>
 <a class="reference internal image-reference" href="../../../_images/state_reverse.png"><img alt="Paths generated by the Smac State Lattice" class="align-center" src="../../../_images/state_reverse.png" style="width: 640px;" /></a>
+<p>This planner implements a generic state lattice global path planner using precomputed, offline minimum control sets. The package also contains a python utility for computing minimum control sets based on minimum curvature constraints, in-place rotations, and omnidirectional moves. Though, any other minimum control set may be used as long as it follows the file format specification in the package’s README file.</p>
 <p><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code> is the corresponding planner plugin ID selected for this type.</p>
 <p>Note: State Lattice does not have the costmap downsampler due to the minimum control sets being tied with map resolutions on generation. The minimum turning radius is also not a parameter in State Lattice since this was specified at the minimum control set pre-computation phase. See the Smac Planner package to generate custom control sets for your vehicle or use one of our pre-generated examples.</p>
 <p>The image above you can see the reverse expansion enabled, such that the robot can back into a tight requested spot close to an obstacle.</p>
diff --git a/searchindex.js b/searchindex.js
index 91836745b..0ef47a029 100644
--- a/searchindex.js
+++ b/searchindex.js
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7,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,97,98,99,102,104,106,107,110,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151,america:187,among:[17,28,108,170,177,181],amongst:176,amount:[94,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[22,24,25],amr:184,analog:[8,86,156,158,162,182,194],analysi:[7,28,151,153,183],analyt:[134,135,156,157],analytic_expansion_max_length:[134,135,157],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,27,28,162,183],andrei:168,angl:[27,28,56,85,86,95,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[58,86,95,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,194],angular_dist_threshold:[103,194],angular_distance_weight:58,angular_granular:[96,125],angular_limit:[86,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,17,19,20,21,23,28,45,48,51,53,55,60,62,76,85,86,93,97,99,102,105,106,108,114,115,119,134,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[28,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,21,22,24,27,28,60,85,88,89,93,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[21,28,85,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[23,194],apex:149,api:[18,28,54,153,154,156,161,163,166,174,179,187],appear:[86,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,28,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,18,19,22,23,24,25,27,28,42,58,85,86,88,89,92,93,99,101,107,110,146,148,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[28,151],approach:[23,28,81,86,99,100,102,106,108,133,134,135,153,156,158,159,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,19,93,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approv:[3,151],approxim:[86,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[28,86,106,149,168,170,172,177],arbitrarili:153,arc:[85,86,174],architectur:[11,156,184],area:[3,7,28,39,40,86,94,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[90,158],arg:[147,180,182,183,192],argc:182,argument:[27,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,19,23,28,39,58,81,85,86,92,94,99,102,113,151,153,156,168,174,175,176,177,180,187,189,194],arrai:[92,134],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,as_str:166,asid:[173,174],ask:[0,3,28,151,163,182,193],asla:14,aspect:[20,148,149,179,180],assembl:193,assess:177,asset:182,assign:[28,54,58,92],assist:[0,27,30,151,168,177],assisted_teleop:[32,88],assisted_teleop_error_cod:30,assisted_teleop_serv:30,assistedteleop:[27,32,90,157,158,168],associ:[28,158,173,174,175],assum:[19,20,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:92,async_slam_toolbox_nod:174,asynchron:[19,20,28,155],ata:[131,168],atom:13,attach:[28,94,151,171,173,174,175,178],attempt:[1,19,21,22,24,25,28,81,97,98,99,105,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[28,99,177],attest:151,attract:99,attribut:[99,158,188],augment:[187,195],auth_token:161,author:[149,151,153],auto:[148,164,166],auto_start:186,autom:[147,148,149],automat:[18,28,95,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,27,28,99,102,153,156,184,187],autonomi:[1,27,28,154,157,158,178,187,193],autostart:[27,97,152,177,178,186,188,190],auxiliari:27,avail:[5,9,27,28,72,85,86,94,95,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[85,86,87,108],avoid:[1,28,86,88,89,91,92,93,94,99,101,107,110,114,135,148,153,156,157,163,170,171,173,174,175,176,177,192],awai:[21,92,99,103,133,158,174,180,193,194],awar:[22,24,25,92,99,106,108,134,135,156,174,177],awkward:[99,177],axes:109,axi:[27,109,163,176,187],back:[1,9,22,24,25,27,28,31,92,95,99,103,111,135,151,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:88,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,19,20,22,23,24,25,27,33,90,154,157,158,161,168],backup_dist:[19,22,23,24,25,27,31,90,156],backup_error_cod:31,backup_serv:[31,46],backup_spe:[19,22,23,24,25,27,31,90,156],backward:[58,120,140,143,156,158,182],backward_ro:182,bad:[22,24,25,28,87,161,184],bake:177,balanc:[99,105],ball:28,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,17,19,21,28,53,58,61,63,79,84,85,86,87,88,89,92,94,98,99,104,106,107,111,114,117,126,134,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,163,164,165,166],base_footprint:[85,86,87,176,187,192],base_frame_id:[85,86,87,192],base_heig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,22,23,24,25,41,90,162],clear_except_:156,clear_except_local_costmap:40,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:27,cleararoundrobot:157,clearcostmaparoundrobot:90,clearcostmapexceptregion:90,clearcostmapservic:20,clearentirecostmap:[19,22,23,24,25,90,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[19,22,23,24,25,27,90,162],clearing_endpoint:156,clearingact:[19,22,23,24,25,90],clearlocalcostmap:[19,20,22,23,24,25,27,39,40,41,90,162],clever:182,cli:[28,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[20,28,95,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[23,28,53,81,85,86,94,99,102,109,135,138,144,148,156,157,164,171,177,187,192],closed_loop:109,closer:[57,99,134,158],closest:[58,102,120],closur:184,cloud:[7,28,148,149,152,155],cmake:[161,163,164,165,166,180,183],cmake_build_typ:183,cmakelist:[161,163,164,165,166,173,174,176,182,183],cmd:[173,174],cmd_vel:[13,85,86,164,173,183,192],cmd_vel_in_top:[86,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[86,192],cmd_vel_raw:86,cmd_vel_smooth:[86,192],cmd_vel_teleop:88,code:[5,6,15,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[86,93,109,151,159],codecov:12,codespac:[148,149],codifi:148,coeffici:[117,180,188,190],coffe:[149,193],colcon:[147,148,163,171,173,174,176,182,183,188,190],collabor:[4,14,151],collect:[27,172,174,183,184],collid:[4,9,171],collis:[1,7,9,28,29,30,54,88,92,94,99,102,103,107,114,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:85,collision_detector_st:[85,159],collision_margin_dist:99,collision_monitor:[86,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:86,collisionmonitor:158,color:[8,92,131,174,176,177,181,188,190,191],color_dark:188,color_light:188,column:[119,174],com:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],combin:[28,94,134,137,138,141,142,156,189],combination_method:[94,115,119,159,191],come:[8,13,14,28,95,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,17,23,30,45,48,51,55,80,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[28,151,187],commit:[148,151,169,180],common:[19,27,28,99,148,149,153,156,157,166,173,184,187],commonli:[20,45,48,51,55,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,17,28,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[28,60,73,74,75,89,92,106,158],comparison:[14,153],compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,20,23,27,28,35,54,86,95,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[17,28,89,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,17,42,76,77,78,79,80,81,82,83,84,108,109,143,156,157,172,176,178,184,188,190],component_contain:178,component_container_isol:157,componentcontain:182,compos:[11,157,163,177,178,182,183],composable_node_descript:178,composablenod:[178,192],composablenodecontain:178,composit:[169,182,183,188,190],composition_demo:178,comprehens:148,compris:[13,176],comput:[7,17,18,19,20,21,22,28,42,43,44,95,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[28,119,157],compute_complete_coverag:35,compute_coverage_error_cod:42,compute_path_error_cod:[43,44,89,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:74,computeandpublishveloc:156,computeandsmoothpath:179,computecoverag:42,computecoveragepath:90,computepaththroughpos:[22,90],computepaththroughposesrecoveryfallback:22,computepathtopos:[18,19,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,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],give:[11,86,93,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,23,27,28,31,34,35,46,54,56,86,88,95,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[19,22,23,24,25,27,52,62,63,64,68,81,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start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,28,97,146,148,152,155,178,180,188,190],state:[3,15,17,20,22,24,25,27,62,86,92,93,94,96,97,99,102,103,106,109,111,127,129,152,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[86,158],statement:151,static_lay:[94,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[94,174],station:[28,170],statist:[4,9,183],statu:[18,28,151,157,161,162,188],status1:176,status:[27,166],std:[60,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steep:108,steeper:108,steer:[92,133,157,174,177,184],step:[20,28,86,88,95,99,174,176,182,183,184],step_siz:27,stereo:[86,180,184],stereolab:184,steve:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,99,153,168,182,184],stevemacenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,189,191],steven:153,sticki:1,still:[19,20,27,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,21,28,76,86,91,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[86,192],stoppedgoalcheck:[93,168],storag:[148,166],store:[87,94,115,119,148,153,158,163,164,166,174,175,183,187],stori:10,strace:148,strafe_theta:143,strafe_x:143,straight:[134,135,165,176,177,179],straightforward:174,strategi:[151,187],stream:157,streamlin:[147,149],stretch:149,strictli:[6,135,158],stride:8,string:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,58,59,61,63,72,79,80,85,86,87,88,89,92,93,94,95,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:28,structur:[6,8,19,28,153,158,166,170,175,176,178,187,190,191,193],stuck:[1,19,22,24,25,28,30,31,46,56,69,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[94,191],style:[22,24,25,177,191],sub:[0,22,24,25,157,159],subcommand:148,subfield:184,subject:[28,99,173],submit:[13,151,168],suboptim:[99,177,184],subproject:13,subscrib:[28,45,48,51,55,66,67,80,86,87,93,116,118,156,159,173,174,185,187],subscribe_to_upd:[94,118],subscript:[80,85,86,156,166,168,173,178],subsect:[148,174],subsequ:[20,28,87,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[89,176,185,188,190],subtleti:166,subtli:157,subtre:[18,20,22,23,24,25,28,39,40,41,90,162,168],succe:[19,20,76,77,168],succeed:[27,83,157,161,165],success:[14,19,20,23,28,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,99,156,157,158,161,162,168,176,181,187,194],successfulli:[1,19,28,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,19,28,99,135,144,166,181,183,184],suffix:183,suggest:[20,92,99,170,175,176],suit:[0,148],suitabl:[92,103,157,168,170,175,194],sum:[87,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summari:17,summer:[5,11],superior:158,suppli:[11,28,79,82,84,89],support:[2,6,13,14,27,28,45,48,51,55,85,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,27,89,99,115,119,146,147,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[28,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:28,swap:[157,158],swath:[42,95],sweep:[176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[28,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,19,20,22,24,25,28,86,87,93,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],systemat:178,systemdefaultsqo:166,sysv:182,tab:[146,171,174],tabl:[157,163,164,166,172,177,178],tackl:[171,172],tag:[147,148,157,162,173,174,176],tailor:170,take:[1,9,12,17,18,22,23,27,28,42,43,44,47,49,50,63,81,85,86,87,88,89,93,95,97,99,101,103,104,105,107,110,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,190,194],taken:[4,63,77,85,86,92,99,117,131,156,163,166,188,190],talk:[1,148,153,173,175,182,189,191],talker:146,tangent:[4,180,187],tangenti:180,tar:180,target:[6,99,102,117,148,149,155,156,159,170,176,182,185,186,190,193],task:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,22,23,24,25,27,28,53,80,86,89,91,95,99,103,110,151,153,154,156,158,161,162,166,170,171,172,174,177,179,184,185,187,193,194,195],taskexecutor:27,taskresult:[27,157],tb3:[153,159],tb3_gp:187,tb3_simulation_launch:[152,161,163,164,165,166,177,181,182,185,188,189,190,192],tbb:7,tcp:149,team:[14,149,185],tear:109,teardown:[28,170],teb:[3,99,154,158,168,170,177,194],teb_local_plann:155,teblocalplann:155,technic:[8,22,24,25,151,161,163,164,165,166,188],techniqu:[3,4,6,28,86,104,105,106,156,174,177,184,187],tec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7,173,177,194],accelwithcovariancestamp:173,accept:[6,27,63,87,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,28,86,93,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:92,accomplish:[8,161,168,173,176,182],accord:[28,98,173,174,187,188,190],accordingli:[9,86,187,188,190],account:[28,85,86,156,157,161,170,177,181],account_sid:161,accumul:99,accur:[6,28,85,86,156,173,177,184,187],accuraci:[26,86,154,184,187],achiev:[11,92,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:89,acquir:28,across:[18,28,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,28,133,155,156,172,174,176,188,192,194],action:[11,17,19,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,49,50,54,56,59,77,79,80,81,82,85,86,88,89,93,94,95,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,193],action_a:20,action_b:20,action_c:20,action_nam:162,action_server_result_timeout:[88,89,93,95,101,107,110,159],action_typ:[85,86,192],actionnod:20,actionnodebas:162,actiont:166,activ:[12,27,28,60,73,74,75,86,88,89,93,95,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[19,54,86,92,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,28,87,102,156,168,174,175,176],add:[0,2,8,17,76,77,78,79,80,81,82,83,84,86,92,93,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,22,24,25,89,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,42,87,134,135,148,157,158,173,174,176,178,181,184,187,188,190],addit:[3,11,17,20,22,23,24,25,28,42,85,86,89,91,134,147,148,156,157,158,159,162,166,170,173,174,176,182,183,184,187],addition:[0,11,28,148,149,154,155,156,159,166,187],address:[32,33,34,35,36,37,38,42,43,44,47,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,28,29,42,79,82,84,86,88,89,93,94,99,101,107,109,110,134,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,28,134,169,177],advantag:[12,28,158,194],advic:[170,177],advis:[22,24,25,28,173],affect:[85,91,156,157,159,176],aforement:99,after:[2,10,21,22,24,25,27,28,86,87,89,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[19,20,21,23,77,146,148,152,154,169,173,176],against:[60,73,74,75,135,158,177],agent:[86,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[86,134],agre:151,agreement:151,ahead:[88,99,102,124,125,137,141],aid:[2,23],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[28,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[85,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,18,22,24,25,28,92,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:28,align:[120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,20,27,28,40,76,86,87,88,89,95,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[28,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,20,22,23,24,25,28,81,86,87,88,89,95,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190],allow_primitive_interpol:[134,159],allow_revers:102,allow_reverse_expans:135,allow_unknown:[100,108,133,134,135,156,165],almost:[155,157],alon:184,along:[14,27,28,58,68,84,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[166,177],alot:[99,184],alpha1:87,alpha2:87,alpha3:87,alpha4:87,alpha5:87,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,17,19,20,21,22,23,24,25,27,28,85,86,87,88,90,93,94,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,23,28,58,148,149,156,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,21,72,85,86,97,109,135,146,156,157,176,177,187,188,194],always_on:[173,174,187],always_reset_initial_pos:87,always_send_full_costmap:[94,159,174],alwayson:174,ambigu:102,amcl:[6,7,17,27,28,29,52,65,152,153,155,168,174,175,177,184,187],amcl_pos:154,amclnod:157,amend:151,ament:[161,163,164,165,166,180],ament_cmak:[161,164,165,166,176],ament_cppcheck:151,ament_cpplint:151,ament_index_cpp:166,ament_index_python:[188,190],ament_uncrustifi:151,america:187,among:[17,28,108,170,177,181],amongst:176,amount:[94,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[22,24,25],amr:184,analog:[8,86,156,158,162,182,194],analysi:[7,28,151,153,183],analyt:[134,135,156,157],analytic_expansion_max_length:[134,135,157],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,27,28,162,183],andrei:168,angl:[27,28,56,85,86,95,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[58,86,95,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,194],angular_dist_threshold:[103,194],angular_distance_weight:58,angular_granular:[96,125],angular_limit:[86,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,17,19,20,21,23,28,45,48,51,53,55,60,62,76,85,86,93,97,99,102,105,106,108,114,115,119,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[28,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,21,22,24,27,28,60,85,88,89,93,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[21,28,85,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[23,194],apex:149,api:[18,28,54,153,154,156,161,163,166,174,179,187],appear:[86,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,28,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,18,19,22,23,24,25,27,28,42,58,85,86,88,89,92,93,99,101,107,110,146,148,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[28,151],approach:[23,28,81,86,96,99,100,102,106,108,133,134,135,153,156,158,159,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,19,93,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approv:[3,151],approxim:[86,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[28,86,106,149,168,170,172,177],arbitrarili:153,arc:[85,86,174],architectur:[11,156,184],area:[3,7,28,39,40,86,94,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[90,158],arg:[147,180,182,183,192],argc:182,argument:[27,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,19,23,28,39,58,81,85,86,92,94,99,102,113,151,153,156,168,174,175,176,177,180,187,189,194],arrai:[92,134],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,as_str:166,asid:[173,174],ask:[0,3,28,151,163,182,193],asla:14,aspect:[20,148,149,179,180],assembl:193,assess:177,asset:182,assign:[28,54,58,92],assist:[0,27,30,151,168,177],assisted_teleop:[32,88],assisted_teleop_error_cod:30,assisted_teleop_serv:30,assistedteleop:[27,32,90,157,158,168],associ:[28,158,173,174,175],assum:[19,20,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:92,async_slam_toolbox_nod:174,asynchron:[19,20,28,155],ata:[131,168],atom:13,attach:[28,94,151,171,173,174,175,178],attempt:[1,19,21,22,24,25,28,81,97,98,99,105,112,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[28,99,177],attest:151,attract:99,attribut:[99,158,188],augment:[187,195],auth_token:161,author:[149,151,153],auto:[148,164,166],auto_start:186,autom:[147,148,149],automat:[18,28,95,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,27,28,99,102,153,156,184,187],autonomi:[1,27,28,154,157,158,178,187,193],autostart:[27,97,152,177,178,186,188,190],auxiliari:27,avail:[5,9,27,28,72,85,86,94,95,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[85,86,87,108],avoid:[1,28,86,88,89,91,92,93,94,99,101,107,110,114,116,135,148,153,156,157,163,170,171,173,174,175,176,177,192],awai:[21,92,99,103,133,158,174,180,193,194],awar:[22,24,25,92,99,106,108,133,134,135,156,174,177],awkward:[99,177],axes:109,axi:[27,109,163,176,187],back:[1,9,22,24,25,27,28,31,92,95,99,103,111,135,151,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:88,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,19,20,22,23,24,25,27,33,90,154,157,158,161,168],backup_dist:[19,22,23,24,25,27,31,90,156],backup_error_cod:31,backup_serv:[31,46],backup_spe:[19,22,23,24,25,27,31,90,156],backward:[58,120,140,143,156,158,182],backward_ro:182,bad:[22,24,25,28,87,161,184],bake:177,balanc:[99,105],ball:28,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,17,19,21,28,53,58,61,63,79,84,85,86,87,88,89,92,94,98,99,104,106,107,111,114,117,126,134,135,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,163,164,165,166],base_footprint:[85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ath:90,computepaththroughpos:[22,90],computepaththroughposesrecoveryfallback:22,computepathtopos:[18,19,20,21,23,24,25,51,53,79,82,84,90,162,166,179,185],computepathtoposeact:51,computepathtoposerecoveryfallback:[19,24,90],computevelocitycommand:[93,164],concaten:156,concept:[7,19,20,153,156,170,174,175,178,188,190,193],conceptu:175,concern:[149,151,157],conclus:23,concret:175,condit:[12,19,22,24,25,28,30,31,46,56,68,69,72,105,148,157,158,162,168,173,176,184,187,193,194],conditionnod:162,conf:[86,93,109,159,162],confer:153,config:[148,149,171,173,174,176,182,187,189],configur:[0,1,14,16,17,18,19,20,27,28,45,48,51,55,61,85,86,91,92,93,94,97,98,99,106,111,114,117,147,148,149,154,155,157,158,159,161,162,164,165,166,168,172,176,177,178,179,181,182,184,185,186,187,189,191,193],configured_param:[178,188,190,192],confin:[99,134,148,159,171],confirm:[171,174,180,187],conflict:155,conform:153,confus:20,conjunct:[27,99],connect:[14,20,28,95,97,100,108,112,133,148,149,155,156,157,168,170,173,174,175,176,181,187,193],connector:[42,184],consequ:23,consid:[3,14,19,30,31,46,56,85,86,87,89,90,94,99,129,134,135,144,151,155,156,158,159,161,162,164,165,166,168,170,177,178,184,187,188],consider:[4,99,177],consider_footprint:99,consist:[8,18,99,149,151,156,157,168,173,174,175,177,178,187,193],consol:192,constant:[20,95,102,164,176,177],constantli:[155,157],constrain:[29,105,156,168,177],constrainedsmooth:[92,157],constraint:[22,103,109,135,156,157,166,168,170,177,194],constraintcrit:99,construct:[28,151,157],constructor:[27,28,157,159,162],constsharedptr:166,consult:14,consum:[9,157],contact:[1,2,3,4,5,6,7,8,9,10,11,12,13,151,153,177,178],contain:[9,11,18,22,24,25,28,47,50,91,99,106,109,115,119,135,150,154,155,156,157,158,159,161,163,164,165,166,168,173,174,176,177,178,179,180,182,184,188,190,192,194],container:148,containeris:148,content:[149,171,172,174,176],context:[11,13,19,20,22,23,24,25,90,147,162,168,193],contextu:[18,19,22,24,25,153,158],continu:[1,12,19,20,21,22,23,24,25,28,95,99,110,132,134,135,149,151,152,153,154,155,156,157,158,166,173,176,177,184,187,189],contractor:14,contrast:[157,187],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,28,95,134,151,159,174,177,178],contributor:[14,151],control:[2,4,7,9,11,13,17,18,19,21,22,23,24,25,27,29,34,45,47,57,58,73,74,75,77,78,79,80,84,86,94,102,106,109,117,119,121,122,123,124,125,126,127,128,129,135,136,137,138,139,140,141,142,143,144,145,153,154,155,159,161,162,163,166,167,169,171,172,173,176,178,179,182,183,184,185,186,189,190,191,192,193,195],controlcancel:23,controller_frequ:[93,96,99,102,103,194],controller_id:[19,21,22,23,24,25,27,45,47,90,156,162,185],controller_pati:156,controller_plugin:[93,96,102,103,155,164,170,194],controller_plugin_id:[120,121,122,123,124,125,136,137,138,139,140,143,144,145],controller_selector:45,controller_serv:[23,93,96,97,99,102,103,155,156,157,159,164,170,178,183,190,194],controllerselector:[22,24,25,90,156],controllerserv:157,controlnod:162,conveni:[149,159,184,190],convent:[22,24,25,28,174,175,178,187],converg:[87,92,99,187],convers:[27,98,151,188,190],convert:[0,28,95,99,110,117,134,135,153,154,156,165,175,187,188,190],convert_typ:[188,190],convex:99,cooper:2,coordiant:95,coordin:[5,27,28,42,87,94,95,110,157,173,175,176,184,185,187],coordinates_in_cartesian_fram:95,cope:187,copi:[157,171,173,174,176,179,182,188,190,191],copyright:151,core:[7,18,28,153,158,178,179],corner:[102,152,156,180,188,193],corpor:14,correct:[28,85,86,146,148,151,157,173,174,176,186,188,190,192],correctli:[20,28,152,156,157,171,173,174,175,187,188,190,192],correl:148,correspond:[28,42,81,85,86,89,99,100,108,111,112,113,114,115,116,117,118,119,133,134,135,156,157,161,162,163,174,175,181,187,190],correspont:188,corridor:[99,170,177],cost:[9,19,27,28,85,86,88,92,94,99,102,106,108,113,114,123,133,134,135,148,156,157,159,163,168,174,177,181],cost_check_point:92,cost_cloud:156,cost_penalti:[134,135],cost_pow:99,cost_scaling_factor:[94,99,108,113,163,174],cost_travel_multipli:133,cost_weight:99,costamp2d:188,costli:28,costmap2d:[146,159,167,168,181,188,190],costmap2dro:[157,164],costmap:[1,2,4,5,7,10,19,20,21,22,24,25,29,39,40,41,86,88,91,92,93,101,102,107,108,111,112,113,114,115,116,117,118,119,133,134,135,136,139,153,154,157,163,164,165,170,171,177,181,187,195],costmap_2d:[5,17,163,174],costmap_2d_cloud:156,costmap_2d_ro:118,costmap_:[163,165],costmap_filter_info:[98,111,114,117,188,190],costmap_filter_info_serv:[98,188,190],costmap_filters_demo_dir:[188,190],costmap_raw:[88,104,105,107,161,179],costmap_ro:[157,164,165],costmap_ros_:164,costmap_top:[104,105,107,161,179],costmapfilt:156,costmapfilterinfo:[111,114,117,188,190],costmapinfotyp:158,costmapsubscrib:159,could:[1,2,3,6,7,9,10,21,28,85,86,93,108,148,149,155,156,157,158,162,163,164,168,175,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[30,106,157,162,166,173],counterpart:177,coupl:[27,184,194],cours:[5,11,148,176,184],cov_path:42,covari:[87,187],cover:[2,28,116,151,156,170,177,178,182,187,188,190],coverag:[3,4,6,12,18,28,29,35,42,153,159,166,168,169,178],coverage_path:42,coverage_serv:95,coveragenavig:[42,89,168],cpp:[19,28,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,86,148,157,177,178,184],crash:[28,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,22,23,24,25,28,42,43,44,78,81,86,94,95,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[28,127,129,144,151,157,168],criterion:92,critic:[1,7,9,28,120,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_weight:99,cross:[146,148,153,170,171],crowd:[22,24,25,170],crtl:[148,149],crux:19,ctrl:148,cube:[171,174],cubic:92,cuda:7,cull:[22,53,168],current:[3,9,11,12,14,19,20,25,27,28,46,53,58,62,79,82,84,85,86,95,99,101,102,103,109,110,111,114,116,117,135,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[95,108,163,177],curvatur:[92,95,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[92,99,102],cusp_zone_length:92,custom:[10,18,19,20,22,24,25,27,28,57,58,78,80,87,88,89,95,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:158,cut:[134,135],cxprime:174,cyan:[92,176],cycl:[23,85,86,102,134,135,157,161],cycle_frequ:[88,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,86],damag:109,danc:187,danger:[92,153,192],dark:188,darker:190,dash:152,data:[1,4,7,9,10,27,28,85,86,89,91,99,105,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,178,180,183,184,187,188,190,191,192],data_typ:[94,115,119,174,191],dataset:184,date:[85,86,87,111,114,117,151,154],datum:187,david:[14,96,168],dcmake_build_typ:183,dco:150,deactiv:[28,97,161,164,165,166,178],dead:28,deadband:[109,157],deadband_veloc:109,deadlin:[86,88,89,93,101,107,109,110,159],deal:[7,28,173,175,177],dealloc:28,dealt:19,debug:[28,92,99,119,120,123,134,148,158,182,183],debug_optim:92,debug_trajectory_detail:[96,120,164],debug_visu:[134,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[87,99,113,168,174],decay_acceler:191,decay_model:191,decel_lim_i:[96,122],decel_lim_theta:[96,122],decel_lim_x:[96,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[23,87,159,175,176,178],decis:[171,187],declar:[61,63,148,151,156,159,161,163,164,165,188,190],declare_autostart_cmd:[188,190],declare_mask_yaml_file_cmd:[188,190],declare_namespace_cmd:[188,190],declare_paramet:166,declare_parameter_if_not_declar:[164,165],declare_params_file_cmd:[188,190],declare_use_sim_time_cmd:[188,190],declarelaunchargu:[173,176,188,190],declareparamet:163,decod:190,decor:[19,21,23,157,162,168,185,193],decoratornod:162,decreas:[99,158,191,192],decrement:163,dedic:14,deduc:182,deeper:[99,134,174],deepli:193,def:[157,176,188,190],default_:95,default_allow_overlap:95,default_bt_xml_filenam:[89,155,162,166,185],default_control:45,default_critic_namespac:120,default_custom_ord:95,default_goal_check:48,default_headland_typ:95,default_headland_width:95,default_model_path:176,default_nav_through_poses_bt_xml:[89,166],default_nav_to_pose_bt_xml:[89,159,166],default_path_continuity_typ:95,default_path_typ:95,default_plann:51,default_route_typ:95,default_rviz_config_path:176,default_server_timeout:89,default_smooth:55,default_spiral_n:95,default_st:111,default_step_angl:95,default_swath_angl:95,default_swath_angle_typ:95,default_swath_typ:95,default_turn_point_dist:95,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,19,27,28,42,45,48,51,55,60,61,63,81,85,86,88,89,93,94,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,154,155,156,157,158,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[28,47,54,89,158,161,163,166,173,174,176,178],deg:[95,99],degrad:[134,187],degre:[11,26,85,86,134,156,159,187],delai:[85,86,187],delet:[157,173],deliv:27,deliveri:1,deloc:52,delsei:[14,168],delta:108,demand:[28,164,165,187],demo:[8,10,23,28,157,159,171,178,187,188,190],demo_inspect:27,demo_pick:27,demo_secur:27,demonstr:[4,10,27,86,147,157,159,163,187,191,192],deni:166,denois:[94,168],denoise_lay:[112,181],denoiselay:[112,181],denot:[174,182],dens:27,dense_qr:92,densiti:[87,95,99],depend:[19,28,86,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[23,92],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,92,156,157],depth:[28,86,94,115,119,168,170,174,175,176,184,191],depth_camera:174,depth_camera_control:174,deriv:[86,149,161,163,173,176,187],descent:[104,157],describ:[19,20,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,71,72,73,74,75,77,79,80,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,27,28,91,99,104,106,156,158,163,177,181,188,190,192,193],desir:[85,86,99,102,131,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[27,28,63,152,173,174,176],destroi:148,destroynod:27,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,20,28,89,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,28,54,58,85,86,91,92,102,148,159,171,173,174,180,185],detection2d:174,detection3d:174,detector:[28,91,185],detectron2:4,determin:[0,69,110,120,131,166,170,176,181,182,183],determinist:[11,28,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,22,24,25,28,86,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[87,99,109,159,177],devic:[148,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[20,21,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[92,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,18,19,20,22,23,24,25,28,62,85,86,90,95,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,193,194],differenti:[8,87,99,103,106,108,153,156,157,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:87,difficult:[28,103,157,177,194],difficulti:[1,2,3,4,5,6,7,8,9,10,11,12,13],digit:[104,131,168],dijkstra:[3,100,157,168,170],dilig:149,dime:177,dimens:[156,176,180,184],dimension:187,direct:[4,58,92,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],directli:[28,95,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[85,86,87,93,133,134,135,157,158,180,184],disable_calib_cb_fast_check:180,disagre:87,disappear:86,discard:[88,89,93,101,107,110,112,157,159,181],discontinu:[95,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[28,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,20,28,89,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:28,displac:[31,46],displai:[2,85,101,134,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[134,135,180],dist_to_travel:[26,46],distanc:[18,20,21,27,28,31,46,56,57,58,61,63,79,87,88,92,95,99,102,103,120,125,134,135,140,154,155,156,164,168,170,173,174,175,177,185,194],distance_backward:58,distance_forward:58,distance_remain:[156,166],distancecontrol:[18,19,90,92,155],distancetravel:90,distancetraveledcondit:155,distant:58,distinct:[28,175],distinguish:42,distort:[104,180,181],distortionk1:174,distortionk2:174,distortionk3:174,distortiont1:174,distortiont2:174,distribut:[99,146,148,149,151,152,159,160,169,188],distro:[146,147,152,173,174,176,180,186,187,189,191],distroa:146,distrob:146,disturb:187,dive:176,diverg:[134,135,177,184],divid:[155,156,187],do_beamskip:87,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[18,19,28,88,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,19,23,28,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,20,22,23,24,25,85,86,91,99,114,116,134,135,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[76,133,156,157,161,177,184,188],dog:184,doing:[27,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,19,20,28,86,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:18,dot:[159,187],doubl:[30,31,32,33,34,35,36,37,38,39,40,41,43,44,46,47,49,50,52,53,54,56,57,58,59,61,63,71,79,81,82,84,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[27,28,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[92,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:28,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[28,173],drivabl:[103,170,177,194],drive:[1,26,27,36,46,92,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[36,88],drive_on_heading_error_cod:46,driven:[4,177],driveonhead:[26,90,158],driver:[1,13,16,146,148,173,174,180,184],drivetrain:168,drivewhl_l:176,drivewhl_l_joint:173,drivewhl_r:176,drivewhl_r_joint:173,drop:[9,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[95,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,23,28,32,33,36,37,38,87,94,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:28,dummi:163,dump:170,duplic:[28,166],durabl:176,durat:[54,71,84,88,89,93,97,99,140,151,157,162,164,178,185],dure:[6,23,85,86,92,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,17,168,170],dwb:[1,3,9,17,22,24,25,28,29,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[93,96,155,156,170,194],dwb_critic:[96,120],dwb_local_plann:155,dwb_plugin:[96,120],dwblocalplann:[93,96,155,170,194],dynam:[0,3,13,15,18,22,24,25,28,80,81,85,86,96,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,17,19,22,24,25,26,27,28,62,85,86,87,88,89,93,94,99,101,107,109,132,149,151,153,154,156,157,158,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,193],earli:[5,11,16],earlier:[87,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,19,28,42,148,149,151,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,19,28,89,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,28,106,157,177],edg:[4,95,99,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,86,92,116,133,148,155,157,173,188],effici:[23,28,106,174,177,178],effort:[8,14,28,95,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,19,20,27,28,86,87,98,99,116,118,148,149,158,159,168,170,173,174,183,190,193],ekf:[173,184,187],ekf_filter_nod:173,ekf_filter_node_map:187,ekf_filter_node_odom:187,ekf_localization_nod:173,ekf_nod:173,elaps:156,elast:[3,154,170,194],electr:187,electromagnet:187,element:[8,154,161,173,176],elev:[18,28,86,93,109,149,151,159,187],elif:[27,157],elimin:176,ellipsoid:187,elong:92,eloqu:28,els:[27,85,94,156,157,163,164,166,173,192],elsewher:183,email:[0,14,28,151],emb:175,embed:[6,28,157,177,178],emerg:[6,9,86,91],emit:174,emphas:187,emploi:86,empti:[43,44,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,23,53,85,86,87,94,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,153,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enabled_:163,enact:[9,81,194],encod:[28,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,23,99,151,176,178,182],end:[6,11,21,28,85,86,99,100,104,133,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[92,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[19,158,171,180,187],enrich:149,ensur:[4,9,11,13,21,22,24,25,28,86,93,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[22,24,25,28,99,161,164,165,166,188],entir:[12,19,20,22,24,25,147,148,151,168,170,177,184],entiti:173,entri:[14,173,179,182,183],entryfil:177,entrypoint:147,enu:187,enumer:[30,31,42,43,44,46,47,54,56,193],env:148,environ:[4,5,9,10,12,28,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[94,119,153],envok:[30,31,46,56],envrion:191,ephemer:148,eppstein:168,eqal:92,equal:[28,85,86,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[28,30,31,42,43,44,46,47,49,50,54,56,60,73,74,75,85,86,87,89,99,112,146,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[60,73,74,75,178,179],error_code_id:[30,31,42,43,44,46,47,49,50,54,56,179],error_code_id_nam:[158,178],error_code_nam:[49,50,89],error_codes_to_check:60,especi:[87,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,86,87,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,18,27,28,85,86,89,93,94,95,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[20,21,22,24,98,99,102,109,113,134,149,155,156,157,168,170,171,172,173,177,182,184,188],evenli:87,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[18,20,22,24,25,58,83,92,94,99,102,115,119,134,151,156,157,159,162,163],everyon:[149,151],everyth:[152,157,163,173,187],everywher:[99,154],exact:[99,104,133,134,135,148,158,170,171,177,185,188],exactli:[133,152,177,190],exampl:[1,7,15,16,17,18,19,20,23,28,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,193,194],example_assisted_teleop:27,example_follow_path:27,example_nav_through_pos:27,example_nav_to_pos:27,example_rout:27,example_waypoint_follow:27,exce:[30,31,46,56,88,89,93,101,107,110,117,156],exceed:[19,94,158],excel:[1,7,9,187,194],except:[27,28,40,85,93,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:23,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,17,19,21,22,24,25,27,28,77,81,86,89,93,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,27,28,110,156,158],exemplari:18,exhaust:169,exhibit:23,exist:[4,8,11,12,17,28,42,85,86,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[22,24,28,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,168],expect:[5,11,27,87,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[28,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,26,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[23,70,168,191],explain:[11,19,20,23,149,151,171,182,183,189,194],explan:[19,91,106],explicitli:[4,27,149,188],explor:[134,174,175],exponenti:[87,99,113,168,174],expos:[20,28,107,156,158,187],exposur:7,express:[28,117,159,164,187,188,190],extend:[163,173,187],extens:[23,28,99,148,149,158,184],extent:102,extern:[4,22,24,25,27,85,93,97,130,147,148,154,155,158,159,178,184,195],extra:[92,134,135,157,188],extract:[157,166,168],extrem:[2,19,85,114,156,174],face:187,facilit:[149,157],factor:[81,92,99,113,133,134,144,174,177],factori:162,fail:[19,20,22,24,25,27,28,93,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[73,158],failed_to_smooth_path:[75,158],failur:[1,18,19,20,21,22,24,25,28,30,31,46,56,60,62,63,64,66,67,68,69,70,72,73,74,75,76,77,83,99,153,154,156,157,162,168,178,182,185],failure_toler:93,fair:8,fairli:182,faith:151,fake:28,fall:86,fallback:[22,24,25],fals:[26,27,30,54,67,85,86,87,89,92,93,94,95,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[19,28,176],fanci:148,far:[85,86,95,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:20,fast:[85,86,87,104,105,134,135,157,181,184],faster:[157,177],fault:[12,27,28],favor:157,favourit:[188,190],feasibl:[28,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,28,87,93,95,102,105,109,134,148,151,152,156,157,168,169,176,187,188],feaur:188,feed:178,feedback:[14,27,28,89,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,20,27,81,92,95,147,148,159,170,174,177,182],field:[4,27,42,63,85,86,87,95,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:42,fields2cov:[42,95,159],figur:[187,193],file:[1,2,17,18,28,42,86,88,89,97,98,108,131,135,146,147,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:42,file_field_id:42,filenam:[173,174,187],filepath:[42,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,30,87,93,104,173,184,187,191,192,195],filter_dur:84,filter_info_top:[98,111,114,117,188,190],filter_mask:98,filter_mask_data:190,filter_mask_serv:[188,190],filter_space_valu:98,final_bt_statu:166,find:[14,28,58,88,89,93,95,99,101,102,107,109,110,134,135,148,149,151,152,153,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[28,99,134,184,193],first:[20,28,42,76,77,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,193],first_map_onli:87,first_map_only_:87,firstli:23,fit:[99,177,187,192],fix:[102,116,151,155,158,159,169,171,173,174,175,176,180,184,187],flag:[9,148,173,176,180,182,183],flagship:14,flat:184,fleet:28,flexibl:[14,89,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:19,flow:[1,19,20,22,24,25,77,78,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:92,focal:180,focallength:174,focu:[12,19,27,176,192,193],focus:[108,181,184],focuscamera:176,folder:[20,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,18,19,22,24,25,27,29,47,54,80,86,88,92,93,94,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[28,159,187],follow_path_error_cod:[47,73,89],follow_path_error_code_id:178,followpath:[18,19,20,21,22,23,24,25,27,28,34,45,48,90,93,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[45,48,55],followpathrecoveryfallback:[19,22,24,90],followwaypoint:[27,158],fonction:157,fondli:14,fool:177,footprint:[2,85,86,88,94,99,107,114,115,119,134,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[94,115,119],footprint_pad:94,footprint_top:[86,104,105,107,161,179],footprintapproach:86,footprintcost:27,footprintcostatpos:27,forc:[87,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[28,96],forklift:23,form:[5,42,86,108,163,174,175],formal:[28,153,181],format:[10,42,85,86,92,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,85,86],formerli:[93,158,168],formul:159,formula:190,fortun:173,forward:[0,9,19,28,58,92,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,194],forward_point_dist:[96,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,20,23,27,28,72,86,91,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[19,28],foxi:[11,28,165],fraction:157,fragment:181,frame:[2,28,42,53,58,61,63,72,79,85,86,87,88,89,92,94,95,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[27,63,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,28,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,28,94,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[22,24,25,177],frequenc:[19,20,85,88,93,94,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,17,19,20,21,22,23,24,25,27,28,42,45,48,51,53,55,58,62,63,85,86,87,88,89,91,92,93,94,95,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[85,86,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:28,full:[5,7,12,20,28,87,94,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,193,194],fulli:[28,87,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,20,23,99,105,134,135,148,151,157,175,182,184],furthest:[99,134],fuse:[28,169,173,187],fusion:[15,28,173,175,184,187],futur:[1,4,8,11,22,28,85,86,87,111,114,117,155,157,159,185],gain:[8,99,102],galact:[87,89,161,163,165,174,191,193],game:[28,184],gamma:99,gap:176,gate:184,gather:[14,28],gaussian:[87,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],gazebo_gps_world:187,gazebo_model_path:152,gazebo_ro:[157,173],gazebo_ros_camera:174,gazebo_ros_pkg:173,gazebo_ros_ray_sensor:174,gazeborosimusensor:173,gdb:[148,182],gdb_test_nod:182,gdb_test_pkg:182,gdbtester:182,gear:156,gen:99,gener:[0,3,5,10,19,23,28,42,81,86,92,95,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189],general_goal_check:156,generate_headland:42,generate_launch_descript:[173,174,176,188,190],generate_path:42,generate_rout:42,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[42,43,44,49,53,58,80,155,164,165,166,173,189],get:[1,4,10,19,20,27,28,70,89,93,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],get_clock:164,get_logg:[161,162,164,165],get_package_share_directori:[166,182,183,188,190],get_paramet:[163,164,165,166],get_shared_package_path:156,getandtrackrout:27,getblackboard:166,getcostidx:27,getcostmap:165,getcostmaptimestamp:27,getcostxi:27,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[27,157],getglobalcostmap:27,getglobalframeid:[27,165],getindex:[27,163],getinput:162,getlocalcostmap:27,getnam:166,getorigini:27,getoriginx:27,getpath:27,getpaththroughpos:27,getresolut:27,getresourceinfo:158,getresult:[27,157],getrout:27,getsizeincellsi:27,getsizeincellsx:27,getsizeinmetersi:27,getsizeinmetersx:27,gettoler:156,ghcr:147,gif:[23,187],gimp:188,gine:[102,153],git:[5,147,149,151,180,188,189,190,191],github:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195],give:[11,86,93,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,23,27,28,31,34,35,46,54,56,86,88,95,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[19,22,23,24,25,27,52,62,63,64,68,81,87,88,90,92,94,99,101,102,110,118,123,134,135,141,142,154,155,157,158,163,164,165,168,171,173,174,175,176,177,181,186,188,190,191],global_costmap:[19,22,23,24,25,88,90,94,104,105,107,111,114,117,161,162,163,171,174,179,181,187,188,190,191],global_costmap_top:[88,161],global_footprint_top:[88,161],global_fram:[61,79,88,89,94,158,161,162,163,166,174],global_frame_:165,global_frame_id:[87,110],global_path:165,global_plan_:164,global_plan_pos:164,global_plann:17,global_planner_plugin:165,globallyupdatedgo:90,globalplann:165,globalupdatedgo:[25,62],gmail:2,gml:42,gmsl2:184,gnss:187,gnu:[182,191],goal:[11,18,19,20,21,22,24,25,27,28,34,35,43,44,47,49,50,53,57,62,63,64,69,80,81,88,89,90,92,93,95,100,101,102,107,110,120,126,127,128,129,133,134,135,137,138,144,145,152,154,155,161,162,164,165,166,173,176,177,178,179,185,187,189,190,192,194],goal_:162,goal_blackboard_id:[89,166],goal_blackboard_id_:166,goal_check:[48,93,96,102,103,156,164,194],goal_checker_id:[27,47,48],goal_checker_nam:120,goal_checker_plugin:[93,96,102,103,155,156,194],goal_checker_plugin_id:[127,129],goal_checker_selector:48,goal_distance_bia:120,goal_pos:[27,156,157,164,166,189],goal_reached_tol:63,goal_sub_:166,goal_upd:[80,185],goal_updater_top:80,goalalign:[96,120],goalaligncrit:96,goalanglecrit:99,goalcheck:[48,155,157,164],goalcheckerselector:[22,24,25,90,156],goalcomplet:166,goalcrit:99,goaldist:[96,120],goaldistcrit:96,goalreach:[20,79,82,84,90,159],goalreceiv:166,goals_blackboard_id:[89,166],goaltool:186,goalupd:[19,20,22,23,24,25,62,90,162],goalupdat:[21,90,185],goalupdatedcondit:155,goe:[9,20,23,117,157,161,164,165,166,179],going:[4,14,27,28,81,99,153,156,157,162,179,182,185,187,188,190,192],golai:[29,168],golden:184,gone:19,gonzalez:187,good:[1,6,28,87,99,108,109,134,151,153,159,161,163,164,165,166,171,172,176,177,180,182,184,187],googl:151,gothroughpos:27,gotopos:[27,157],gpal:92,gps:[169,187],gps_link:187,gps_waypoint:187,gps_waypoint_follow:[110,187],gps_waypoint_logg:187,gpss:187,gpu:[4,148],grab:[92,149,166,173],grade:[28,153,173,187],gradient:[5,28,92,104,157,163],gradient_factor:163,gradient_index:163,gradient_lay:163,gradient_layer_1:163,gradient_layer_2:163,gradient_plugin:163,gradient_s:163,gradient_tol:92,gradual:92,grai:[176,190],grant:148,granular:[92,125],graph:[3,10,108,135,158,169,183],graphic:[8,149,188,190],grasp:174,great:[7,14,19,151,157,182,184,187],greater:[3,99,108,148,164,178],green:[92,169,180,186,187,193],grei:190,grep:146,grid:[6,7,28,94,98,115,119,123,168,170,171,174,176,187,189,191],grid_map:5,gridbas:[19,21,22,23,24,25,43,44,51,90,100,101,108,133,134,135,156,162,165,170,179,185],groot:[89,90,195],ground:[171,173,176],group:[11,13,14,28,82,112,151,158,168,181],group_connectivity_typ:[112,181],gtest:12,guarante:[103,109,134,153,170,175,194],gui:[2,149,152,173,176,180,187,193],guid:[18,19,20,147,149,155,157,158,159,163,165,169,170,171,173,174,175,176,178,184,191,192],guidelin:158,guillaum:168,gzclient:152,habit:177,hackbaselin:174,had:[12,14,157,158,159,174,187],haghighipanah:168,half:[19,102,134,135,174],hall:177,hallmark:6,hallwai:134,halt:[19,20,23,159],haltallact:159,hand:[28,99,103,109,157,159,171,175,176,177,184,194],handi:148,handl:[11,17,19,23,27,28,86,88,89,93,95,97,98,101,107,110,148,156,157,158,161,162,163,164,165,166,174,176,177,178,182],handler:159,hangout:151,hansen:14,happen:[14,19,151,164],happi:[151,187],hard:[10,14,22,54,86,93,109,154,156,159,166,177,187],hardcod:[22,24,25,158,162,166],hardwar:[86,109,148,170,174,176,184,191,193],harsh:[157,184],harshli:108,has:[2,3,4,6,8,11,12,14,17,19,20,22,23,24,25,27,53,61,62,64,70,71,85,88,89,90,91,92,93,99,101,102,107,110,116,126,127,128,129,133,134,135,146,148,149,151,152,153,155,156,157,158,159,161,162,163,164,166,168,171,173,174,175,176,177,182,183,184,186,187,188,190,192,193,194],has_paramet:166,have:[0,3,4,6,10,11,12,14,16,17,19,20,22,23,24,25,27,28,53,86,88,93,94,99,100,101,102,106,107,108,109,110,111,114,117,133,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],head:[36,46,99,102,103,133,135,151,157,168,172,173,175,177,185,187,194],header:[63,154,159,163,164,165,173,189],heading_deg:187,headland:[42,95],headless:[149,152,177,181,192],headlight:[111,158],hear:177,heart:[28,170],heavi:[86,92,134,187],heavili:177,height:[27,85,86,94,102,115,119,163,174,176,187],hello:161,help:[2,3,4,5,8,11,16,22,24,25,28,42,92,99,102,135,150,151,154,156,157,158,161,163,165,168,170,172,173,175,176,177,178,183,184,188,191,193,194],henc:[157,171,174,176,178],here:[0,3,14,20,22,23,24,28,76,77,78,79,80,81,82,83,84,85,86,99,103,148,149,151,152,154,155,156,157,158,159,162,163,164,165,166,168,173,176,178,179,180,182,18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for 2021 Summer Student Program","3. Assisted Teleop","1. Create a Configuration Assistant (Analog to MoveIt)","2. Create New Planner and Controller Plugins","1. Navigation Dynamic Obstacle Integration","3. Port Grid Maps to ROS 2 and Environmental Model","6. 2D/3D Localization Improvements","4. Navigation MultiThreading","5. Navigation Branding and Website","5. Navigation Safety Node","6. Semantic Integration","7. Reduce ROS 2 Nodes and Determinism","2. Advanced Navigation Testing Framework","8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration","About and Contact","Related Projects","Robots Using","ROS to ROS 2 Navigation","Nav2 Behavior Trees","Detailed Behavior Tree Walkthrough","Introduction To Nav2 Specific Nodes","Follow Dynamic Point","Navigate Through Poses","Navigate To Pose and Pause Near Goal-Obstacle","Navigate To Pose","Navigate To Pose With Consistent Replanning And If Path Becomes Invalid","Odometry Calibration","Simple Commander API","Navigation Concepts","Configuration Guide","AssistedTeleop","BackUp","CancelAssistedTeleop","CancelBackUp","CancelControl","CancelCoverage","CancelDriveOnHeading","CancelSpin","CancelWait","ClearCostmapAroundRobot","ClearCostmapExceptRegion","ClearEntireCostmap","ComputeCoveragePath","ComputePathThroughPoses","ComputePathToPose","ControllerSelector","DriveOnHeading","FollowPath","GoalCheckerSelector","NavigateThroughPoses","NavigateToPose","PlannerSelector","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","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":157,"default":[88,93,94,101,110,156,158,159],"export":[161,162,163,164,165,166],"long":158,"new":[3,154,155,156,157,158,159,161,162,163,164,165,166,178],"static":[118,175],"while":189,Added:[156,157,158,159],Adding:[173,174,176,178,179,193],And:25,For:159,GPS:[159,187],Into:184,Near:23,ROS:[5,11,17,28,94,158,182,183,184],The:[159,176],Use:157,Uses:158,Using:[16,148,184,187,191,192,194],With:[19,25],about:14,academ:28,access:[158,159],ackermann:99,action:[20,28,90,155,156,157,159],activ:159,add:[159,162],added:159,advanc:12,algorithm:170,align:99,allow:[158,159],amcl:[87,157],analog:2,angl:[99,159],api:[27,157,158,159],appli:158,approach:157,architectur:154,areerrorcodespres:60,assist:[1,2,157],assistedteleop:[30,88],attribut:156,augment:184,automat:182,avail:159,backtrac:182,backup:[31,88,156],base:159,baseobstaclecrit:136,becom:25,behavior:[18,19,28,88,89,90,155,156,157,158,159,161,162,168,177,185,193],being:157,benchmark:158,binari:[111,147],block:159,bond:28,both:158,brand:8,bringup:[159,182,183],btactionserv:159,btservicenod:157,build:[146,147,148,171,173,174,176],cach:177,calibr:[26,180],camera:[180,184],cancel:157,cancelassistedteleop:32,cancelbackup:33,cancelcontrol:34,cancelcoverag:35,canceldriveonhead:36,cancelspin:37,cancelwait:38,capabl:155,certif:151,chang:[154,156,157,158,159],check:158,checker:[27,156,157,158,168],citat:153,cleararea:157,clearcostmaparoundrobot:[39,156],clearcostmapexceptregion:[40,156],clearentirecostmap:41,click:185,code:[158,159,178],collis:[27,85,86,91,158,159,192],command:[27,157,158,159],common:[146,174],composit:[157,178],computecoveragepath:42,computepaththroughpos:[43,156],computepathtopos:[44,156],concept:28,conclus:[170,171,173,174,175,176,178,187],condit:[20,90],config:162,configur:[2,13,29,156,170,171,173,174,188,190,192,194],consist:25,constant:157,constrain:[92,157],constraint:99,constructor:158,contact:14,contain:[147,148,149],control:[3,20,28,90,93,96,99,103,120,156,157,158,164,168,170,177,194],controllerselector:45,controllerserv:156,convert:13,corner:157,costmap2d:[94,156,163,191],costmap:[27,28,94,98,99,155,156,158,159,168,174,188,190,191],costmap_2d_nod:158,costmaplay:157,costmapupd:159,could:159,coverag:95,crash:182,creat:[2,3,148,161,162,164,165,166,185],critic:[96,99,159],current_:156,curv:158,custom:[162,193],dash:154,dco:151,debug:159,deceler:158,decor:[20,90],demo:[27,173,175,192,194],denois:[112,158,181],depend:146,depreci:159,descript:[106,174],detail:19,detect:157,detector:[85,159],determin:11,dev:[148,149],develop:[147,150,151],direction:159,disabl:159,distanc:[157,158],distancecontrol:79,distancetravel:61,distribut:147,docker:147,doxygen:147,driveonhead:[46,88],drop:157,durat:159,dwb:[96,120,158],dynam:[4,21,157,159,185],each:155,ecosystem:13,edit:193,eloqu:[154,155],enabl:[159,163,181,188,190],enumer:159,enviro:186,environ:176,environment:[5,28],error:[158,159,178],estim:[28,184],euclidean:157,exampl:[27,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,152,153,170],except:157,execut:[192,194],executor:[157,168],expand:158,expos:159,extend:157,extern:191,fail:159,failur:[146,158],failure_toler:156,familiar:179,featur:[85,86,159],feedback:[156,158],field:177,file:[158,159,161,164,165,166,173,174,182,183],filter:[28,94,98,111,114,117,155,156,158,168,181,188,190],first:172,fix:157,follow:[21,28,99,110,159,185,187],followpath:[47,156],followpoint:155,footprint:[27,28,171,177],form:28,forward:[99,158],foxi:[155,156],frame:159,framework:12,from:[158,159,182,183],fuse:184,galact:[156,157],gazebo:[157,173,174,187],gener:[99,147,155,195],get:[149,151,152,182,189],give:158,global:[28,159,184,187],globallyupdatedgo:62,goal:[23,99,156,157,158,159,168,186],goal_checker_id:156,goalaligncrit:137,goalcheckerselector:48,goaldistcrit:138,goalreach:63,goalupd:64,goalupdat:80,golai:[104,158],gradientlay:163,grid:5,groot:[156,157,193],guid:[29,146,148,150,160,172,177],halttre:159,handl:159,handler:99,help:147,heurist:177,horizon:99,how:[149,181],humbl:[157,158,169],hybrid:[134,159],ignor:157,imag:[147,148,174],improv:[6,157],includ:[157,158],induc:181,inflat:[99,113,177],info:[98,188,190],inform:156,initi:186,initialposereceiv:65,input:[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,72,73,74,75,77,79,80,81,82,84],inputatwaypoint:130,instal:[147,152,191],integr:[4,10,99,158],interact:[187,193],interfac:[156,189],interpret:183,introduc:159,introduct:[20,159,171,173,174,175],invalid:[25,157],invert:157,involv:151,iron:[158,159,169],isbatterycharg:66,isbatterychargingcondit:158,isbatterylow:67,ispathvalid:68,isstuck:69,issu:146,iter:121,jazzi:[159,169],keepout:[114,188],kinemat:[122,157],larg:182,laserscan:174,lattic:135,launch:[156,157,158,159,173,174,176,177,182,183,186,189,191],layer:[28,99,112,113,115,118,119,155,158,159,168,181],librari:[159,162],licens:151,lifecycl:[28,97,148,157,178],limit:[157,158,190],limitedaccelgener:124,live:157,load:158,local:[6,28,173,174,184,187],locat:186,log:187,logic:157,lookahead:158,loop:158,love:177,major:157,make:163,manag:[97,157],map:[5,98,155,158,174,189],map_serv:158,mark:156,mask:[188,190],mechan:159,messag:[155,174],migrat:160,model:[5,99,157,158],modifi:[179,191],monitor:[86,91,157,158,159,192],more:158,motion:[99,157],move:159,moveit:2,mppi:[99,159],msg:159,multi:159,multipl:[157,158],multithread:7,name:[158,159,161,162,164,165,166],namespac:159,nativ:159,nav2:[18,20,28,146,153,156,157,158,174,177,178,181,182,183,185,186,188,190,192],nav2_collision_monitor:159,nav2_cor:157,nav2_costmap_2d:174,navfn:[100,156,157],navig:[4,7,8,9,12,17,19,22,23,24,25,28,89,152,155,157,158,166,168,170,186,187,188,189,190],navigatethroughpos:[49,156],navigatetopos:[50,156],navigation2:[154,175,189,191],navsat:187,node:[9,11,20,28,85,86,90,91,156,157,158,159,168,174,178,179,182,183,193],nois:181,note:99,object:185,observ:[85,86],obstacl:[4,23,99,115,156,159,177,181],obstaclefootprintcrit:139,obtain:159,odometri:[26,28,173,184,187],offer:177,offset:99,onli:157,opennav_coverag:159,option:[159,177],orient:157,origin:151,oscillationcrit:140,other:[28,177],ouput:[57,58],our:153,out:184,output:[31,42,43,44,45,46,47,48,49,50,51,53,54,55,56],overview:[19,27,28,153,161,162,163,164,165,166,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],packag:154,page:177,panel:[156,158],param:[157,159,161,164,165,166],paramet:[61,63,80,85,86,87,88,89,92,93,94,95,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,156,157,158,159,191],parameteriz:158,particl:155,pass:[161,164,165,166],path:[25,99,157,158,159],pathaligncrit:141,pathdistcrit:142,pathexpiringtim:70,pathlongeronapproach:[81,157],paus:23,photoatwaypoint:131,physic:[176,186],pipelinesequ:[20,76],place:177,planner:[3,28,100,101,106,108,133,134,135,156,157,158,159,162,165,168,170,177],plannerselector:51,plugin:[3,88,90,93,94,96,101,106,110,154,155,156,157,158,159,161,162,163,164,165,166,167,168,170,173,174,177,179,191],point:[21,185],pointcloud2:[156,174],pointcloud:156,polygon:[85,86,159],port:[5,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,72,73,74,75,77,79,80,81,82,84],pose:[19,22,23,24,25,158,186],poseprogresscheck:[126,158],posit:28,potenti:177,predict:[99,158],prefer:99,preferforwardcrit:143,preliminari:[182,183],prepar:[188,190,192],prerequisit:[19,149,173],primari:194,process:[151,157],profil:183,program:0,progress:168,progress_checker_plugin:158,project:[0,15,159,182],properti:176,provid:[91,93,106,110],prune:158,publish:[123,158,175,176,188,190],pure:[102,164],pursuit:[102,164],python:[157,158],radiu:177,rai:156,rang:[116,174],rate:157,ratecontrol:82,real:159,rebuild:148,recoveri:[19,20,28,156,157],recoverynod:77,recurs:158,reduc:[11,157],refactor:157,refin:158,regul:[102,158],regulatedpurepursuitcontrol:156,reinitializegloballoc:52,relat:15,releas:147,remov:[156,157,158,159],removepassedgo:53,renam:158,replan:[19,25,157],report:146,represent:28,requir:[159,161,162,163,164,165,166,179,180,181,186,187,188,189,190,192],resourc:159,respawn:157,result:[157,159,183],revers:158,rewrittenyaml:159,roadmap:169,robot:[16,28,157,159,171,172,173,176,177,184,189],roll:147,rotat:[103,157,177,194],rotatetogoalcrit:144,roundrobin:[20,78],rpp:[157,158,159],run:[13,152,158,161,162,163,164,165,166,171,173,174,181,185,188,190],rviz:[156,158,171,174,176,185,186,191],safeti:[9,158],save:158,saver:98,savitzki:[104,158],scale:157,secur:149,select:[155,170,177],semant:10,send:186,sensor:[116,174],sensor_msg:[156,174],server:[28,88,92,93,95,98,101,107,155,157,158,159,170,178,188,190],servic:157,set:[170,171,173,174,175,176,184],setup:[172,173,185,186,187,191],share:159,shim:[103,157,194],simpl:[27,105,157,158,159],simplegoalcheck:127,simpleprogresscheck:128,simplif:189,simul:[173,174,185],singletrigg:83,size:99,slam:[28,189],slam_toolbox:174,smac:[106,133,134,135,157,158,159,177],smacplann:156,smacplanner2d:157,smacplannerhybrid:158,small:157,smoother:[28,92,104,105,107,109,157,158,168,179],smootherselector:[55,158],smoothpath:54,soft:159,sourc:[85,86,147,159],source_timeout:159,spawn:157,specif:20,specifi:179,speed:[117,158,190],speedcontrol:84,spin:[56,88],sponsor:153,stabl:158,stack:[181,188,190,192],standard:[28,156],standardtrajectorygener:125,star:108,start:[148,149,152,158,189],state:[28,135,158,176,184],step:[161,162,163,164,165,166,179,180,181,185,186,187,188,189,190,191],stoppedgoalcheck:129,straightlin:165,student:0,stvl:191,substitut:159,subtre:[19,159],summari:170,summer:0,support:[156,157],system:[173,187],task:[157,168,178],teleop:[1,157],termin:148,test:[12,158,184,187],theta:[108,157],thetastarplan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