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_sources/plugins/index.rst.txt

@@ -126,7 +126,7 @@ Controllers
 |                                |                    | to path heading before passing   | model rotate in place |
 |                                |                    | to main controller for  tracking.|                       |
 +--------------------------------+--------------------+----------------------------------+-----------------------+
-| `Graceful Motion Controller`_  | Alberto Tudela     | A controller based on a          | Differential          |
+| `Graceful Controller`_         | Alberto Tudela     | A controller based on a          | Differential          |
 |                                |                    | pose-following control law to    |                       |
 |                                |                    | generate smooth trajectories.    |                       |
 +--------------------------------+--------------------+----------------------------------+-----------------------+
@@ -136,7 +136,7 @@ Controllers
 .. _Regulated Pure Pursuit: https://github.com/ros-planning/navigation2/tree/main/nav2_regulated_pure_pursuit_controller
 .. _Rotation Shim Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_rotation_shim_controller
 .. _MPPI Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_mppi_controller
-.. _Graceful Motion Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller
+.. _Graceful Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller
 
 Planners
 ========

_sources/tutorials/docs/navigation2_with_gps.rst.txt

@@ -88,7 +88,7 @@ Tutorial Steps
 0- Setup Gazebo World
 ---------------------
 
-To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway <https://docs.px4.io/main/en/sim_gazebo_classic/gazebo_worlds.html#sonoma-raceway>`_ because its aligned with the real location. A sample world has been setup `here <https://github.com/ros-planning/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world>`_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
+To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway <https://dev.px4.io/v1.11_noredirect/en/simulation/gazebo_worlds.html#sonoma-raceway>`_ because its aligned with the real location. A sample world has been setup `here <https://github.com/ros-planning/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world>`_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
 
 .. code-block:: xml
 

plugins/index.html

@@ -1217,7 +1217,7 @@ <h2>Controllers<a class="headerlink" href="#controllers" title="Permalink to thi
 <td><p>Differential, Omni,
 model rotate in place</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller">Graceful Motion Controller</a></p></td>
+<tr class="row-odd"><td><p><a class="reference external" href="https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller">Graceful Controller</a></p></td>
 <td><p>Alberto Tudela</p></td>
 <td><p>A controller based on a
 pose-following control law to

tutorials/docs/navigation2_with_gps.html

@@ -1077,7 +1077,7 @@ <h2>GPS Localization Overview<a class="headerlink" href="#gps-localization-overv
 <h2>Tutorial Steps<a class="headerlink" href="#tutorial-steps" title="Permalink to this headline">¶</a></h2>
 <div class="section" id="setup-gazebo-world">
 <h3>0- Setup Gazebo World<a class="headerlink" href="#setup-gazebo-world" title="Permalink to this headline">¶</a></h3>
-<p>To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the <a class="reference external" href="https://docs.px4.io/main/en/sim_gazebo_classic/gazebo_worlds.html#sonoma-raceway">Sonoma Raceway</a> because its aligned with the real location. A sample world has been setup <a class="reference external" href="https://github.com/ros-planning/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world">here</a> using gazebo’s spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:</p>
+<p>To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the <a class="reference external" href="https://dev.px4.io/v1.11_noredirect/en/simulation/gazebo_worlds.html#sonoma-raceway">Sonoma Raceway</a> because its aligned with the real location. A sample world has been setup <a class="reference external" href="https://github.com/ros-planning/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world">here</a> using gazebo’s spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:</p>
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;spherical_coordinates&gt;</span>
 <span class="w">  </span><span class="cm">&lt;!-- currently gazebo has a bug: instead of outputting lat, long, altitude in ENU</span>
 <span class="cm">  (x = East, y = North and z = Up) as the default configurations, it&#39;s outputting (-E)(-N)U,</span>