-
-

Graceful Motion Controller

-

Source code on Github.

-

The graceful motion controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in “A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment” (ICRA 2011). In this implementation, a motion_target is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.

+
+

Graceful Controller

+

Source code on Github.

+

The graceful controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in “A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment” (ICRA 2011). In this implementation, a motion_target is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.

See the package’s README for more complete information.

-
-

Graceful Motion Controller Parameters

+
+

Graceful Controller Parameters

transform_tolerance
@@ -1371,7 +1371,7 @@

Example yaw_goal_tolerance: 0.25 stateful: True FollowPath: - plugin: nav2_graceful_motion_controller::GracefulMotionController + plugin: nav2_graceful_controller::GracefulController transform_tolerance: 0.1 motion_target_dist: 0.6 initial_rotation: true diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html index b06191b38..f733fb1a3 100644 --- a/configuration/packages/configuring-lifecycle.html +++ b/configuration/packages/configuring-lifecycle.html @@ -680,8 +680,8 @@
  • Example
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
      -
    • Graceful Motion Controller Parameters
      • +
    • Graceful Controller
      • diff --git a/objects.inv b/objects.inv index 24a55fdc0..be10e82bd 100644 Binary files a/objects.inv and b/objects.inv differ diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html index 079cf9b5c..51ef808e8 100644 --- a/plugin_tutorials/docs/writing_new_behavior_plugin.html +++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html @@ -680,8 +680,8 @@
    • Example
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller

    • +

    Graceful Motion Controller

    Graceful Controller

    Alberto Tudela

    A controller based on a pose-following control law to diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html index aac08ea19..200fe5510 100644 --- a/roadmap/roadmap.html +++ b/roadmap/roadmap.html @@ -680,8 +680,8 @@

  • Example
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
      -
    • Graceful Motion Controller Parameters
      • +
    • Graceful Controller
      • diff --git a/searchindex.js b/searchindex.js index bb0e0820a..65c8d41e7 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ -Search.setIndex({docnames:["2021summerOfCode/Summer_2021_Student_Program","2021summerOfCode/projects/assisted_teleop","2021summerOfCode/projects/create_configuration_assistant","2021summerOfCode/projects/create_plugins","2021summerOfCode/projects/dynamic","2021summerOfCode/projects/grid_maps","2021summerOfCode/projects/localization","2021summerOfCode/projects/multithreading","2021summerOfCode/projects/navigation_rebranding","2021summerOfCode/projects/safety_node","2021summerOfCode/projects/semantics","2021summerOfCode/projects/spinners","2021summerOfCode/projects/testing","2021summerOfCode/projects/twist_n_config","about/index","about/related_projects","about/robots","behavior_trees/index","behavior_trees/overview/detailed_behavior_tree_walkthrough","behavior_trees/overview/nav2_specific_nodes","behavior_trees/trees/follow_point","behavior_trees/trees/nav_through_poses_recovery","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle","behavior_trees/trees/nav_to_pose_recovery","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid","behavior_trees/trees/odometry_calibration","commander_api/index","concepts/index","configuration/index","configuration/packages/bt-plugins/actions/AssistedTeleop","configuration/packages/bt-plugins/actions/BackUp","configuration/packages/bt-plugins/actions/CancelAssistedTeleop","configuration/packages/bt-plugins/actions/CancelBackUp","configuration/packages/bt-plugins/actions/CancelControl","configuration/packages/bt-plugins/actions/CancelCoverage","configuration/packages/bt-plugins/actions/CancelDriveOnHeading","configuration/packages/bt-plugins/actions/CancelSpin","configuration/packages/bt-plugins/actions/CancelWait","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion","configuration/packages/bt-plugins/actions/ClearEntireCostmap","configuration/packages/bt-plugins/actions/ComputeCoveragePath","configuration/packages/bt-plugins/actions/ComputePathThroughPoses","configuration/packages/bt-plugins/actions/ComputePathToPose","configuration/packages/bt-plugins/actions/ControllerSelector","configuration/packages/bt-plugins/actions/DriveOnHeading","configuration/packages/bt-plugins/actions/FollowPath","configuration/packages/bt-plugins/actions/GoalCheckerSelector","configuration/packages/bt-plugins/actions/NavigateThroughPoses","configuration/packages/bt-plugins/actions/NavigateToPose","configuration/packages/bt-plugins/actions/PlannerSelector","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization","configuration/packages/bt-plugins/actions/RemovePassedGoals","configuration/packages/bt-plugins/actions/Smooth","configuration/packages/bt-plugins/actions/SmootherSelector","configuration/packages/bt-plugins/actions/Spin","configuration/packages/bt-plugins/actions/TruncatePath","configuration/packages/bt-plugins/actions/TruncatePathLocal","configuration/packages/bt-plugins/actions/Wait","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent","configuration/packages/bt-plugins/conditions/DistanceTraveled","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal","configuration/packages/bt-plugins/conditions/GoalReached","configuration/packages/bt-plugins/conditions/GoalUpdated","configuration/packages/bt-plugins/conditions/InitialPoseReceived","configuration/packages/bt-plugins/conditions/IsBatteryCharging","configuration/packages/bt-plugins/conditions/IsBatteryLow","configuration/packages/bt-plugins/conditions/IsPathValid","configuration/packages/bt-plugins/conditions/IsStuck","configuration/packages/bt-plugins/conditions/PathExpiringTimer","configuration/packages/bt-plugins/conditions/TimeExpired","configuration/packages/bt-plugins/conditions/TransformAvailable","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp","configuration/packages/bt-plugins/controls/PipelineSequence","configuration/packages/bt-plugins/controls/RecoveryNode","configuration/packages/bt-plugins/controls/RoundRobin","configuration/packages/bt-plugins/decorators/DistanceController","configuration/packages/bt-plugins/decorators/GoalUpdater","configuration/packages/bt-plugins/decorators/PathLongerOnApproach","configuration/packages/bt-plugins/decorators/RateController","configuration/packages/bt-plugins/decorators/SingleTrigger","configuration/packages/bt-plugins/decorators/SpeedController","configuration/packages/collision_monitor/configuring-collision-detector-node","configuration/packages/collision_monitor/configuring-collision-monitor-node","configuration/packages/configuring-amcl","configuration/packages/configuring-behavior-server","configuration/packages/configuring-bt-navigator","configuration/packages/configuring-bt-xml","configuration/packages/configuring-collision-monitor","configuration/packages/configuring-constrained-smoother","configuration/packages/configuring-controller-server","configuration/packages/configuring-costmaps","configuration/packages/configuring-coverage-server","configuration/packages/configuring-dwb-controller","configuration/packages/configuring-graceful-motion-controller","configuration/packages/configuring-lifecycle","configuration/packages/configuring-map-server","configuration/packages/configuring-mppic","configuration/packages/configuring-navfn","configuration/packages/configuring-planner-server","configuration/packages/configuring-regulated-pp","configuration/packages/configuring-rotation-shim-controller","configuration/packages/configuring-savitzky-golay-smoother","configuration/packages/configuring-simple-smoother","configuration/packages/configuring-smac-planner","configuration/packages/configuring-smoother-server","configuration/packages/configuring-thetastar","configuration/packages/configuring-velocity-smoother","configuration/packages/configuring-waypoint-follower","configuration/packages/costmap-plugins/binary_filter","configuration/packages/costmap-plugins/denoise","configuration/packages/costmap-plugins/inflation","configuration/packages/costmap-plugins/keepout_filter","configuration/packages/costmap-plugins/obstacle","configuration/packages/costmap-plugins/range","configuration/packages/costmap-plugins/speed_filter","configuration/packages/costmap-plugins/static","configuration/packages/costmap-plugins/voxel","configuration/packages/dwb-params/controller","configuration/packages/dwb-params/iterator","configuration/packages/dwb-params/kinematic","configuration/packages/dwb-params/visualization","configuration/packages/dwb-plugins/limited_accel_generator","configuration/packages/dwb-plugins/standard_traj_generator","configuration/packages/nav2_controller-plugins/pose_progress_checker","configuration/packages/nav2_controller-plugins/simple_goal_checker","configuration/packages/nav2_controller-plugins/simple_progress_checker","configuration/packages/nav2_controller-plugins/stopped_goal_checker","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint","configuration/packages/smac/configuring-smac-2d","configuration/packages/smac/configuring-smac-hybrid","configuration/packages/smac/configuring-smac-lattice","configuration/packages/trajectory_critics/base_obstacle","configuration/packages/trajectory_critics/goal_align","configuration/packages/trajectory_critics/goal_dist","configuration/packages/trajectory_critics/obstacle_footprint","configuration/packages/trajectory_critics/oscillation","configuration/packages/trajectory_critics/path_align","configuration/packages/trajectory_critics/path_dist","configuration/packages/trajectory_critics/prefer_forward","configuration/packages/trajectory_critics/rotate_to_goal","configuration/packages/trajectory_critics/twirling","development_guides/build_docs/build_troubleshooting_guide","development_guides/build_docs/index","development_guides/devcontainer_docs/devcontainer_guide","development_guides/devcontainer_docs/index","development_guides/index","development_guides/involvement_docs/index","getting_started/index","index","migration/Dashing","migration/Eloquent","migration/Foxy","migration/Galactic","migration/Humble","migration/Iron","migration/index","plugin_tutorials/docs/writing_new_behavior_plugin","plugin_tutorials/docs/writing_new_bt_plugin","plugin_tutorials/docs/writing_new_costmap2d_plugin","plugin_tutorials/docs/writing_new_nav2controller_plugin","plugin_tutorials/docs/writing_new_nav2planner_plugin","plugin_tutorials/docs/writing_new_navigator_plugin","plugin_tutorials/index","plugins/index","roadmap/roadmap","setup_guides/algorithm/select_algorithm","setup_guides/footprint/setup_footprint","setup_guides/index","setup_guides/odom/setup_odom","setup_guides/sensors/setup_sensors","setup_guides/transformation/setup_transforms","setup_guides/urdf/setup_urdf","tuning/index","tutorials/docs/adding_a_nav2_task_server","tutorials/docs/adding_smoother","tutorials/docs/camera_calibration","tutorials/docs/filtering_of_noise-induced_obstacles","tutorials/docs/get_backtrace","tutorials/docs/get_profile","tutorials/docs/integrating_vio","tutorials/docs/navigation2_dynamic_point_following","tutorials/docs/navigation2_on_real_turtlebot3","tutorials/docs/navigation2_with_gps","tutorials/docs/navigation2_with_keepout_filter","tutorials/docs/navigation2_with_slam","tutorials/docs/navigation2_with_speed_filter","tutorials/docs/navigation2_with_stvl","tutorials/docs/using_collision_monitor","tutorials/docs/using_groot","tutorials/docs/using_shim_controller","tutorials/index"],envversion:{"sphinx.domains.c":2,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":3,"sphinx.domains.index":1,"sphinx.domains.javascript":2,"sphinx.domains.math":2,"sphinx.domains.python":2,"sphinx.domains.rst":2,"sphinx.domains.std":2,sphinx:56},filenames:["2021summerOfCode/Summer_2021_Student_Program.rst","2021summerOfCode/projects/assisted_teleop.rst","2021summerOfCode/projects/create_configuration_assistant.rst","2021summerOfCode/projects/create_plugins.rst","2021summerOfCode/projects/dynamic.rst","2021summerOfCode/projects/grid_maps.rst","2021summerOfCode/projects/localization.rst","2021summerOfCode/projects/multithreading.rst","2021summerOfCode/projects/navigation_rebranding.rst","2021summerOfCode/projects/safety_node.rst","2021summerOfCode/projects/semantics.rst","2021summerOfCode/projects/spinners.rst","2021summerOfCode/projects/testing.rst","2021summerOfCode/projects/twist_n_config.rst","about/index.rst","about/related_projects.rst","about/robots.rst","behavior_trees/index.rst","behavior_trees/overview/detailed_behavior_tree_walkthrough.rst","behavior_trees/overview/nav2_specific_nodes.rst","behavior_trees/trees/follow_point.rst","behavior_trees/trees/nav_through_poses_recovery.rst","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst","behavior_trees/trees/nav_to_pose_recovery.rst","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst","behavior_trees/trees/odometry_calibration.rst","commander_api/index.rst","concepts/index.rst","configuration/index.rst","configuration/packages/bt-plugins/actions/AssistedTeleop.rst","configuration/packages/bt-plugins/actions/BackUp.rst","configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst","configuration/packages/bt-plugins/actions/CancelBackUp.rst","configuration/packages/bt-plugins/actions/CancelControl.rst","configuration/packages/bt-plugins/actions/CancelCoverage.rst","configuration/packages/bt-plugins/actions/CancelDriveOnHeading.rst","configuration/packages/bt-plugins/actions/CancelSpin.rst","configuration/packages/bt-plugins/actions/CancelWait.rst","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.rst","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.rst","configuration/packages/bt-plugins/actions/ClearEntireCostmap.rst","configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst","configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst","configuration/packages/bt-plugins/actions/ComputePathToPose.rst","configuration/packages/bt-plugins/actions/ControllerSelector.rst","configuration/packages/bt-plugins/actions/DriveOnHeading.rst","configuration/packages/bt-plugins/actions/FollowPath.rst","configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst","configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst","configuration/packages/bt-plugins/actions/NavigateToPose.rst","configuration/packages/bt-plugins/actions/PlannerSelector.rst","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.rst","configuration/packages/bt-plugins/actions/RemovePassedGoals.rst","configuration/packages/bt-plugins/actions/Smooth.rst","configuration/packages/bt-plugins/actions/SmootherSelector.rst","configuration/packages/bt-plugins/actions/Spin.rst","configuration/packages/bt-plugins/actions/TruncatePath.rst","configuration/packages/bt-plugins/actions/TruncatePathLocal.rst","configuration/packages/bt-plugins/actions/Wait.rst","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.rst","configuration/packages/bt-plugins/conditions/DistanceTraveled.rst","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst","configuration/packages/bt-plugins/conditions/GoalReached.rst","configuration/packages/bt-plugins/conditions/GoalUpdated.rst","configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst","configuration/packages/bt-plugins/conditions/IsBatteryCharging.rst","configuration/packages/bt-plugins/conditions/IsBatteryLow.rst","configuration/packages/bt-plugins/conditions/IsPathValid.rst","configuration/packages/bt-plugins/conditions/IsStuck.rst","configuration/packages/bt-plugins/conditions/PathExpiringTimer.rst","configuration/packages/bt-plugins/conditions/TimeExpired.rst","configuration/packages/bt-plugins/conditions/TransformAvailable.rst","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.rst","configuration/packages/bt-plugins/controls/PipelineSequence.rst","configuration/packages/bt-plugins/controls/RecoveryNode.rst","configuration/packages/bt-plugins/controls/RoundRobin.rst","configuration/packages/bt-plugins/decorators/DistanceController.rst","configuration/packages/bt-plugins/decorators/GoalUpdater.rst","configuration/packages/bt-plugins/decorators/PathLongerOnApproach.rst","configuration/packages/bt-plugins/decorators/RateController.rst","configuration/packages/bt-plugins/decorators/SingleTrigger.rst","configuration/packages/bt-plugins/decorators/SpeedController.rst","configuration/packages/collision_monitor/configuring-collision-detector-node.rst","configuration/packages/collision_monitor/configuring-collision-monitor-node.rst","configuration/packages/configuring-amcl.rst","configuration/packages/configuring-behavior-server.rst","configuration/packages/configuring-bt-navigator.rst","configuration/packages/configuring-bt-xml.rst","configuration/packages/configuring-collision-monitor.rst","configuration/packages/configuring-constrained-smoother.rst","configuration/packages/configuring-controller-server.rst","configuration/packages/configuring-costmaps.rst","configuration/packages/configuring-coverage-server.rst","configuration/packages/configuring-dwb-controller.rst","configuration/packages/configuring-graceful-motion-controller.rst","configuration/packages/configuring-lifecycle.rst","configuration/packages/configuring-map-server.rst","configuration/packages/configuring-mppic.rst","configuration/packages/configuring-navfn.rst","configuration/packages/configuring-planner-server.rst","configuration/packages/configuring-regulated-pp.rst","configuration/packages/configuring-rotation-shim-controller.rst","configuration/packages/configuring-savitzky-golay-smoother.rst","configuration/packages/configuring-simple-smoother.rst","configuration/packages/configuring-smac-planner.rst","configuration/packages/configuring-smoother-server.rst","configuration/packages/configuring-thetastar.rst","configuration/packages/configuring-velocity-smoother.rst","configuration/packages/configuring-waypoint-follower.rst","configuration/packages/costmap-plugins/binary_filter.rst","configuration/packages/costmap-plugins/denoise.rst","configuration/packages/costmap-plugins/inflation.rst","configuration/packages/costmap-plugins/keepout_filter.rst","configuration/packages/costmap-plugins/obstacle.rst","configuration/packages/costmap-plugins/range.rst","configuration/packages/costmap-plugins/speed_filter.rst","configuration/packages/costmap-plugins/static.rst","configuration/packages/costmap-plugins/voxel.rst","configuration/packages/dwb-params/controller.rst","configuration/packages/dwb-params/iterator.rst","configuration/packages/dwb-params/kinematic.rst","configuration/packages/dwb-params/visualization.rst","configuration/packages/dwb-plugins/limited_accel_generator.rst","configuration/packages/dwb-plugins/standard_traj_generator.rst","configuration/packages/nav2_controller-plugins/pose_progress_checker.rst","configuration/packages/nav2_controller-plugins/simple_goal_checker.rst","configuration/packages/nav2_controller-plugins/simple_progress_checker.rst","configuration/packages/nav2_controller-plugins/stopped_goal_checker.rst","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.rst","configuration/packages/smac/configuring-smac-2d.rst","configuration/packages/smac/configuring-smac-hybrid.rst","configuration/packages/smac/configuring-smac-lattice.rst","configuration/packages/trajectory_critics/base_obstacle.rst","configuration/packages/trajectory_critics/goal_align.rst","configuration/packages/trajectory_critics/goal_dist.rst","configuration/packages/trajectory_critics/obstacle_footprint.rst","configuration/packages/trajectory_critics/oscillation.rst","configuration/packages/trajectory_critics/path_align.rst","configuration/packages/trajectory_critics/path_dist.rst","configuration/packages/trajectory_critics/prefer_forward.rst","configuration/packages/trajectory_critics/rotate_to_goal.rst","configuration/packages/trajectory_critics/twirling.rst","development_guides/build_docs/build_troubleshooting_guide.rst","development_guides/build_docs/index.rst","development_guides/devcontainer_docs/devcontainer_guide.md","development_guides/devcontainer_docs/index.md","development_guides/index.rst","development_guides/involvement_docs/index.rst","getting_started/index.rst","index.rst","migration/Dashing.rst","migration/Eloquent.rst","migration/Foxy.rst","migration/Galactic.rst","migration/Humble.rst","migration/Iron.rst","migration/index.rst","plugin_tutorials/docs/writing_new_behavior_plugin.rst","plugin_tutorials/docs/writing_new_bt_plugin.rst","plugin_tutorials/docs/writing_new_costmap2d_plugin.rst","plugin_tutorials/docs/writing_new_nav2controller_plugin.rst","plugin_tutorials/docs/writing_new_nav2planner_plugin.rst","plugin_tutorials/docs/writing_new_navigator_plugin.rst","plugin_tutorials/index.rst","plugins/index.rst","roadmap/roadmap.rst","setup_guides/algorithm/select_algorithm.rst","setup_guides/footprint/setup_footprint.rst","setup_guides/index.rst","setup_guides/odom/setup_odom.rst","setup_guides/sensors/setup_sensors.rst","setup_guides/transformation/setup_transforms.rst","setup_guides/urdf/setup_urdf.rst","tuning/index.rst","tutorials/docs/adding_a_nav2_task_server.rst","tutorials/docs/adding_smoother.rst","tutorials/docs/camera_calibration.rst","tutorials/docs/filtering_of_noise-induced_obstacles.rst","tutorials/docs/get_backtrace.rst","tutorials/docs/get_profile.rst","tutorials/docs/integrating_vio.rst","tutorials/docs/navigation2_dynamic_point_following.rst","tutorials/docs/navigation2_on_real_turtlebot3.rst","tutorials/docs/navigation2_with_gps.rst","tutorials/docs/navigation2_with_keepout_filter.rst","tutorials/docs/navigation2_with_slam.rst","tutorials/docs/navigation2_with_speed_filter.rst","tutorials/docs/navigation2_with_stvl.rst","tutorials/docs/using_collision_monitor.rst","tutorials/docs/using_groot.rst","tutorials/docs/using_shim_controller.rst","tutorials/index.rst"],objects:{},objnames:{},objtypes:{},terms:{"000":[173,175],"000000":174,"0000008":173,"0000075":173,"0001":92,"000km":187,"001":[86,92,95,96,102,103,173,174,194],"002":173,"003":173,"005":86,"010":187,"015":[91,99,134,135,174],"015000":174,"022":174,"025":[18,21,23,26,30,45,89,95,125,176],"035":174,"047198":174,"048":191,"0508":174,"055":174,"05s":99,"092":173,"0_1602582820":131,"0x000055555555828b":182,"0x0000555555558e1d":182,"0x000055555555936c":182,"0x0000555555559cfc":182,"0x00007ffff79cc859":182,"0x00007ffff7c52951":182,"0x00007ffff7c553eb":182,"0x00007ffff7c5e47c":182,"0x00007ffff7c5e4e7":182,"0x00007ffff7c5e799":182,"0x5555555cfb40":182,"0x5555555cfdb0":182,"0x7fffffffc108":182,"100":[84,85,86,91,93,99,117,153,158,173,175,178,182,185,187,188,190,193],"1000":[88,99,105,133,134,135],"10000":[99,158,178],"100000":99,"1000000":[99,133,134,135],"10001":178,"10002":178,"1001":158,"10099":178,"100hz":18,"100m":[26,106,157],"101":[59,158,178,188],"1012":[87,88,92,101,107,110,159],"103":[156,175,187],"105":[27,153,173,175,187],"107":59,"1070":182,"1091":182,"10cm":[133,134,175],"10x":94,"113m":106,"119":59,"120000":174,"122":187,"124":163,"125":[133,174],"1263":156,"127":173,"128":176,"12th":173,"12thread":157,"130":174,"144m":106,"146m":106,"160":176,"161479":187,"161491":187,"161491054181276":187,"161587576524845":187,"164":176,"1660":155,"171":163,"177":187,"1780":155,"1784":155,"180":[84,85,187],"185":91,"1855":156,"1859":155,"188":[188,190],"1882":156,"195":171,"196":190,"199":[158,178],"1cm":187,"1ms":104,"1st":173,"200":[134,135,159,175,178],"2000":[86,99],"2000000":91,"2005":169,"200m":[106,157],"201":[158,178],"2011":96,"2020":153,"2021":[106,148,153,177,191],"2022":187,"2023":[26,85,102,153,184],"2024":153,"204":177,"20cm":175,"20hz":99,"20m":175,"20mm":180,"215":174,"2181":156,"2204":156,"2247":156,"2263":156,"2264":156,"2295":156,"22km":187,"2338":156,"2411":157,"243m":106,"2473":157,"2481":157,"2488":157,"254":174,"255":[93,163,188],"2567":158,"2569":157,"2591":157,"2592":157,"25hz":157,"2607":157,"2627":157,"2642":157,"2665":157,"2696":157,"2701":157,"2704":157,"2718":157,"2750":157,"2752":157,"2753":157,"2772":157,"2787":157,"280000":174,"2804":157,"2814":159,"2856":157,"2865":157,"2867":157,"2875":157,"2904":157,"292km":187,"2964":157,"2965":157,"2976":157,"2982":158,"299":[158,178],"2992":157,"2nd":173,"300":[99,177,178],"301":[158,178],"30hz":99,"3131":158,"3146":158,"3159":158,"3165":158,"3168":158,"3174":158,"3201":158,"3204":158,"3218":158,"3219":158,"3222":158,"3227":158,"3228":158,"3229":158,"3248":158,"325":[137,141],"3251":158,"3255":158,"3283":158,"32gb":157,"3320":158,"3324":158,"333":21,"3345":158,"3374":158,"3414":158,"3504":158,"3512":158,"3513":158,"3519":158,"3530":158,"3553":158,"3555":158,"3569":158,"3572":159,"3577":158,"360":174,"3612":159,"3693":159,"3704":159,"3708":159,"3785":159,"3787":159,"3825":159,"3866":159,"3871":159,"3880":159,"3911":159,"3914":159,"3950":159,"3962":159,"3965":159,"399":[158,178],"3rd":173,"4020":159,"4021":159,"40hz":9,"40x":[134,135],"413km":187,"4194":187,"454630":187,"4546443":187,"45464431092836":187,"4547994038464":187,"46m":108,"475km":187,"4789":187,"480":174,"488":187,"4th":99,"500":[86,178],"501":[158,178],"50m":157,"511km":187,"553km":187,"557":176,"570796":25,"599":[158,178],"5cm":[99,133,134],"5e3":91,"600":[26,157,178],"601":[158,178],"640":174,"65535":[158,178],"699":[158,178],"6core":157,"6th":85,"701":[158,178],"709":158,"70m":184,"710":158,"719":158,"720":158,"729":158,"730":158,"739":158,"785":[102,103,194],"785398":99,"799":178,"7x7":180,"7x9":180,"800":178,"801":[158,178],"816":157,"842000000":173,"8700":157,"8745":191,"899":178,"8x10":180,"900":[88,110],"901":158,"9900":178,"9901":178,"996":173,"9999":[158,178],"abstract":[5,11,27,157,158,193],"boolean":[27,111,158,168,174],"break":[105,156,158],"case":[1,6,12,18,19,21,27,29,30,45,51,55,65,84,85,94,96,99,102,104,117,120,127,129,133,134,135,148,153,155,156,159,161,162,163,164,166,168,171,173,174,175,176,178,181,182,183,184,185,186,187,188,190,192,193],"catch":[26,157],"char":163,"class":[27,85,86,88,153,155,156,157,158,159,161,162,163,164,165,166,176,177,191],"const":[157,161,162,164,166],"default":[15,17,18,19,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,66,70,71,72,73,74,76,78,79,80,81,83,84,85,86,88,91,94,95,96,97,98,99,100,102,103,104,105,107,108,109,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,152,154,155,157,162,163,166,168,170,171,173,174,177,180,181,184,185,187,188,192,193],"enum":[98,99,115,119,134,158,178],"export":[147,152,186,189,191,193],"final":[21,22,26,27,96,97,99,133,134,135,148,156,162,166,174,177,178,179,184,187,194],"float":[26,159],"function":[1,3,4,9,11,17,22,26,27,91,92,99,106,108,113,134,135,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,177,181,182,183,188,190,193],"gin\u00e9":153,"goto":[163,164,165,166],"i\u00f1igo":168,"import":[11,17,26,27,41,91,99,106,109,148,151,166,169,171,174,175,176,177,178,181,182,183,187,188,190,193,194],"int":[26,41,76,84,85,86,88,91,93,94,98,99,104,105,108,110,112,115,119,121,132,133,134,135,159,162,163,165,166,182],"long":[2,4,9,14,22,27,87,88,92,101,106,107,110,115,119,123,135,157,159,166,170,174,177,181,187],"mart\u00edn":[153,168],"new":[1,4,5,6,8,9,11,14,17,18,20,21,23,24,26,27,84,85,87,88,99,103,115,119,146,148,149,151,167,168,169,170,171,172,173,174,175,176,177,179,182,184,185,186,187,188,189,190,191,193,194,195],"public":[151,159,163,178,184,187],"r\u00f6smann":168,"return":[18,19,21,22,23,24,26,27,41,53,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,78,81,82,83,99,115,119,133,134,135,153,154,156,157,158,161,162,164,165,166,168,173,174,176,178,179,182,188,190],"short":[18,59,72,73,74,135,161,174,175,184,193],"static":[3,27,84,85,86,93,115,119,134,135,151,153,157,159,162,168,171,174,177,178,181,187,191,192],"switch":[26,85,99,111,148,149,155,156,157,158,159],"throw":[26,84,92,157,158,182],"transient":[21,23,24,44,47,50,54],"true":[8,19,26,27,29,41,53,55,66,84,85,86,87,88,91,92,93,94,95,96,97,99,100,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,152,156,157,158,159,161,162,163,164,165,166,171,173,174,176,177,178,179,181,183,184,187,188,189,190,191,192,194],"try":[18,20,21,23,24,26,85,94,97,99,109,110,134,135,146,148,152,154,175,176,182,185,188,193],"void":[41,157,162,164,166],"while":[7,9,13,18,21,23,24,26,88,97,99,102,104,114,134,144,147,148,149,156,157,158,162,166,170,171,173,174,177,178,179,181,182,184,186,187,188,192,193,194,195],ADE:149,Adding:[158,182,195],And:[17,18,153,159,175,176,179,180,181,188],Are:[115,119,168],Axes:176,BTs:[18,19,168,178,193],BUT:18,DDS:[11,148],For:[0,14,18,19,27,84,85,86,87,88,92,93,94,95,96,99,101,102,103,104,106,107,108,110,111,114,117,131,134,135,147,148,149,151,152,156,157,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,181,182,184,185,187,188,189,190,191,192,194],GPS:[15,27,41,94,110,168,173,174,184,195],IDE:[149,182],IDEs:[149,182],IDs:[41,166],Its:[99,166,176,181,184],LTS:152,NOT:[115,119],Near:17,Not:[57,99,153,177],One:[27,170,173,176,187],PMs:151,PRs:[13,151,157,158],QoS:[44,47,50,54,118,156,174,184],ROS:[0,1,2,3,4,6,7,8,9,10,12,13,14,15,19,21,23,24,26,29,30,41,42,43,45,46,48,49,55,58,85,94,95,98,106,146,147,148,149,151,152,153,154,155,156,157,159,161,162,163,164,165,166,168,169,170,172,173,174,175,176,177,178,179,180,181,186,188,189,190,191,192,193,194,195],SMS:[27,161],Such:148,TLS:191,That:[19,27,134,151,156,157,170,171],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,48,49,50,52,53,54,56,57,59,60,62,69,70,72,73,74,76,78,79,81,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,117,131,133,134,135,146,147,148,151,153,154,155,156,157,158,161,162,163,164,165,166,168,170,171,172,173,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],Then:[7,19,156,162,163,164,165,166,173,174,182,183,186],There:[3,14,18,19,27,98,99,146,147,151,154,156,157,163,168,170,174,175,182,187,188,194],These:[17,18,27,99,148,153,154,155,156,157,158,162,163,164,166,170,172,173,174,175,176,177,178,179,182,183,184,187,188,190,193],Use:[27,88,91,173,181,184,185,188,190],Used:[31,32,33,34,35,36,37,51,84,85,88,111,114,117,177,187],Useful:[71,91,177],Uses:168,Using:[14,84,85,99,103,149,157,168,173,174,177,182,183,195],Will:[19,53,85,168],With:[14,17,27,134,175,187,191],Yes:[161,162,163,164,165,166],__cxa_throw:182,__gi_abort:182,__gi_rais:182,__n:182,__node:[182,183],_config:173,_costmap:[156,191],_differenti:184,_from_numb:161,_joint:176,_link:176,_m_range_check:182,_nav:177,_to_numb:161,_twilio:161,abi:[99,148],abil:[6,7,27,85,99,158,159,192],abl:[0,5,9,14,18,19,157,158,161,162,164,165,166,168,171,173,174,175,177,182,183,184,187,193],abort:[93,156,162,182],about:[4,7,9,11,21,22,23,24,27,84,111,114,117,146,147,148,149,151,153,156,158,159,161,162,163,165,166,173,174,175,176,177,181,182,183,184,186,187,190,193],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,83,99,108,116,135,147,154,156,161,164,165,166,170,173,174,175,176,177,178,181,182,183,187,188,189,190,191,193,194],abrupt:27,abs:164,absolut:[48,49,98,117,155,159,164,173,176,182,184,187,188,190],absurdli:99,academ:6,acc_lim_i:[95,122],acc_lim_theta:[95,122],acc_lim_x:[95,122],accel:173,acceler:[87,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,26,62,86,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,27,85,92,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:91,accomplish:[8,161,168,173,176,182],accord:[27,98,173,174,187,188,190],accordingli:[9,85,187,188,190],account:[27,84,85,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,27,84,85,156,173,177,184,187],accuraci:[25,85,154,184,187],achiev:[11,91,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:88,acquir:27,across:[17,27,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,27,133,155,156,172,174,176,188,192,194],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,53,55,58,76,78,79,80,81,84,85,87,88,92,93,94,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,192,193],action_a:19,action_b:19,action_c:19,action_nam:162,action_server_result_timeout:[87,88,92,94,101,107,110,159],action_typ:[84,85,159,192],actionnod:19,actionnodebas:162,actiont:166,activ:[12,26,27,59,72,73,74,85,87,88,92,94,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[18,53,85,91,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,27,86,102,156,168,174,175,176],add:[0,2,8,75,76,77,78,79,80,81,82,83,85,91,92,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,21,23,24,88,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,41,86,134,135,148,157,158,173,174,176,178,181,184,187,188,190,192],addit:[3,11,19,21,22,23,24,27,41,84,85,88,90,134,147,148,156,157,158,162,166,170,173,174,176,177,182,183,184,187,192],addition:[0,11,27,85,148,149,154,155,156,159,166,187,192],address:[31,32,33,34,35,36,37,41,42,43,46,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,27,28,41,78,81,83,85,87,88,92,93,99,101,107,109,110,134,153,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,27,134,169,177],advantag:[12,27,158,194],advic:[170,177],advis:[21,23,24,27,173],affect:[84,90,156,157,159,176],aforement:99,after:[2,10,20,21,23,24,26,27,85,86,88,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[18,19,20,22,76,146,148,152,154,169,173,176],against:[59,72,73,74,135,158,159,177,192],agent:[85,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[85,134],agre:151,agreement:151,ahead:[87,99,102,124,125,137,141],aid:[2,22],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[27,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[84,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,91,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:27,align:[96,120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,75,85,86,87,88,94,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[27,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,80,85,86,87,88,94,96,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190,192],allow_backward:96,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:[14,26,27,57,67,83,96,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[159,166,177],alot:[99,184],alpha1:86,alpha2:86,alpha3:86,alpha4:86,alpha5:86,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,84,85,86,87,89,92,93,94,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,22,27,57,148,149,156,159,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,20,71,84,85,97,109,135,146,156,157,176,177,187,188,192,194],always_on:[173,174,187],always_reset_initial_pos:86,always_send_full_costmap:[93,159,174],alwayson:174,ambigu:102,amcl:[6,7,26,27,28,51,64,152,155,168,174,175,177,184,187],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:[27,108,170,177,181],amongst:176,amount:[93,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[21,23,24],amr:184,analog:[8,85,156,158,159,162,182,194],analysi:[7,27,151,153,183],analyt:[134,135,156,157,159],analytic_expansion_max_cost:[134,135,159],analytic_expansion_max_cost_overrid:[134,135,159],analytic_expansion_max_length:[134,135,157,159],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,26,27,162,183],andrei:168,angl:[26,27,55,84,85,94,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[57,85,94,96,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,192,194],angular_dist_threshold:[103,194],angular_distance_weight:57,angular_granular:[95,125],angular_limit:[85,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,52,54,59,61,75,84,85,92,97,99,102,105,106,108,114,115,119,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[27,94,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,20,21,23,26,27,59,84,87,88,92,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[20,27,84,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[22,194],apex:149,api:[17,27,53,153,154,156,161,163,166,174,179,187],appear:[85,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,27,85,96,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,57,84,85,87,88,91,92,99,101,107,110,146,148,153,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[27,151],approach:[22,27,80,85,95,99,100,102,106,108,133,134,135,153,156,158,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,18,92,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approri:[159,192],approv:[3,151],approxim:[85,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[27,85,106,149,168,170,172,177],arbitrarili:153,arc:[84,85,96,174],architectur:[11,156,184],area:[3,7,27,38,39,85,93,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[89,158],arg:[147,180,182,183,192],argc:182,argument:[26,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,18,22,27,38,57,80,84,85,91,93,96,99,102,113,151,156,168,174,175,176,177,180,187,189,194],arrai:[91,134,135],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,arxiv:153,as_str:166,asid:[173,174],ask:[0,3,27,151,163,182,193],asla:14,aspect:[19,148,149,179,180],assembl:193,assess:177,asset:182,assign:[27,53,57,91],assist:[0,26,29,151,168,177],assisted_teleop:[31,87],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,89,157,158,168],associ:[27,158,173,174,175],assum:[18,19,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:91,async_slam_toolbox_nod:174,asynchron:[18,19,27,155],ata:[131,168],atom:13,attach:[27,93,151,171,173,174,175,178],attempt:[1,18,20,21,23,24,27,80,97,98,99,105,112,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[27,99,177],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:[17,27,94,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,26,27,99,102,153,156,184,187],autonomi:[1,26,27,154,157,158,178,187,193],autostart:[26,97,152,177,178,186,188,190],auxiliari:26,avail:[5,9,26,27,71,84,85,93,94,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[84,85,86,108],avoid:[1,27,85,87,88,90,91,92,93,99,101,107,110,114,116,135,148,153,156,157,159,163,170,171,173,174,175,176,177,192],awai:[20,91,96,99,103,133,158,174,177,180,193,194],awar:[21,23,24,91,99,106,108,133,134,135,153,156,174,177],awkward:[99,177],axes:109,axi:[26,109,163,176,187],back:[1,9,21,23,24,26,27,30,91,94,99,103,111,135,151,153,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:87,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,18,19,21,22,23,24,26,32,89,154,157,158,161,168],backup_dist:[18,21,22,23,24,26,30,89,156],backup_error_cod:30,backup_serv:[30,45],backup_spe:[18,21,22,23,24,26,30,89,156],backward:[57,96,120,140,143,156,158,159,182,192],backward_ro:182,bad:[21,23,24,27,86,161,184],bake:177,balanc:[99,105],ball:27,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,18,20,27,52,57,60,62,78,83,84,85,86,87,88,91,93,96,98,99,104,106,107,111,114,117,126,134,135,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,163,164,165,166],base_footprint:[84,85,86,176,187,192],base_frame_id:[84,85,86,192],base_height:176,base_joint:[176,187],base_las:175,base_laser2:175,base_length:176,base_link:[27,52,57,60,62,71,78,87,88,93,104,105,107,161,162,163,166,171,173,174,175,176,179,184,187],base_link_fram:[173,187],base_shift_correct:[84,85],base_width:176,baselin:[99,134,174],baseobstacl:95,baseobstaclecrit:95,bash:[146,147,148,152,163,171,173,174,176,186,188,189,190],bashrc:[146,148],basi:[5,99,177],basic:[4,5,17,18,26,27,135,154,156,157,163,166,170,171,172,173,174,175,182,184,191],basic_class_typ:163,basicnavig:[26,157,187],basket:26,batch:99,batch_siz:99,batteri:[18,19,27,65,66,157,158,168,185],battery_statu:[65,66],battery_top:[65,66],batteryst:[65,66],beam:86,beam_skip_dist:86,beam_skip_error_threshold:86,beam_skip_threshold:86,beamskip:86,beauti:182,becam:156,becaus:[22,27,97,99,148,149,151,156,159,161,173,175,177,182,183,186,187,193,194],becom:[4,11,17,18,27,93,97,99,108,154,157,159,173,175,176,184],been:[4,6,14,18,19,21,23,24,27,52,60,84,87,88,90,92,99,101,106,107,110,148,151,155,156,157,158,159,163,164,165,168,171,174,175,176,177,183,187,191,192],befor:[5,11,18,21,22,23,24,25,27,44,47,50,54,60,76,78,80,85,86,92,94,96,98,99,105,114,115,119,130,133,134,135,143,148,149,154,155,156,157,159,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,183,186,187,188,189,190,191,193,194],beforehand:[11,187],begin:[134,135,157,159,164,166,173,176,178,194],beginn:[176,182],behalf:151,behav:[96,157],behavior:[1,2,3,11,19,20,21,22,23,24,25,28,29,30,31,32,35,36,37,44,45,47,48,49,50,55,58,60,62,75,76,77,80,84,85,99,102,103,106,110,133,134,148,153,154,164,166,167,170,173,178,179,187,191,194,195],behavior_plugin:[87,157,161],behavior_serv:[87,97,157,161,178],behavior_tre:[18,26,48,49,88,155,159,166,193],behaviortre:[17,18,19,20,21,22,23,24,25,27,61,89,153,162,168,185,193],behaviortreeengin:159,behaviortreenavig:[88,158,166],behaviour:[155,156,190],behavor:156,behind:[157,190],being:[0,6,8,11,18,21,23,24,27,55,85,91,98,99,111,117,134,135,148,155,156,159,164,166,170,171,173,174,177,178,182,187,188,190,192],believ:[19,184],belong:[27,117,156,188,190],below:[0,4,9,11,13,16,17,18,19,22,26,27,66,83,85,88,90,92,95,99,103,104,106,108,110,115,116,119,129,144,151,153,156,157,158,161,162,163,164,165,166,168,171,173,174,175,176,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194],belt:182,benchmark:[4,7,11],benefici:[2,27,99,114,166,182],benefit:[7,148,177],benign:149,benjamin:96,berth:177,bespok:157,best:[6,8,11,27,28,85,99,120,133,134,135,148,151,157,158,170,174,175,177,181,182,184,188,191],beta:96,better:[21,23,24,27,84,85,92,102,108,109,134,148,156,157,159,174,177,178,183,190,194],between:[18,26,27,41,84,85,86,89,94,99,100,104,108,133,134,135,148,149,155,156,157,158,159,160,166,170,171,173,174,175,176,177,184,187,188,193,194],bewar:158,beyond:[152,162,177,190],bezier:91,bias_mean:173,bias_stddev:173,bidirect:159,big:[18,187],bigger:96,bin:[134,135,157],binari:[27,93,98,133,152,158,161,162,164,165,166,168,177,191],binary_filt:111,binary_st:111,binary_state_top:111,binaryfilt:[111,177],bind:[91,166],bing:187,bit:[18,157,177,182,187],black:[174,179,181,188],blackboard:[17,41,42,43,46,48,49,53,61,62,63,80,88,157,158,162,166,178,179,193],blacker:188,blanco:168,blank:165,blasco:168,blib:184,blind:[102,156],blink:84,blob:[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],block:[12,13,26,27,85,146,157,163,165,173,176,177,191,194],blocki:135,blog:8,blue:[187,193],blur:184,bmp:[188,190],board:[27,180],bodi:162,bog:182,bogu:[98,184],boiler:161,boilerpl:[161,166,172],bond:[97,155,174],bond_client_node_:157,bond_respawn_max_dur:97,bond_timeout:[97,156,178],bond_timeout_m:156,book:27,booker:153,bookkeep:[87,88,92,101,107,110],booktitl:153,bool:[41,53,55,84,85,86,87,88,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,136,139,156,161,166],both:[1,7,11,18,21,22,23,24,26,27,41,84,85,102,106,153,156,157,159,162,166,170,171,173,174,176,177,181,182,183,184,188,189,190,191,192,194],bottleneck:183,bottom:[152,171,174,180,182,183,186],bounc:184,bound:[9,57,85,96,102,105,133,134,135,157,163,192],boundari:[157,190],boustrophedon:94,box:[1,9,27,85,110,157,158,171,173,174,176,177,184,191,192,193],box_inertia:[173,176],bpwilcox:14,branch:[5,13,22,134,135,146,147,148,151,157,179],breakdown:177,breakpoint:182,breez:176,breviti:[161,194],brian:[14,168],brief:[106,157,173,174,175,176],briefli:149,bring:[26,85,97,157,159,176,187,189],bringup:[26,27,97,147,152,157,158,163,170,172,174,177,178,192],bringup_launch:186,broad:[2,7,172,177],broadcast:[173,187],broadcast_utm_transform:187,broader:184,broadli:[134,184,187],broken:18,brother:161,brought:153,brows:193,browser:[147,149],brute_forc:94,bsd:151,bt_action_server_:166,bt_loop_dur:88,bt_navig:[26,48,49,60,62,88,97,155,158,159,162,166,178],bt_plugin:[155,156],bt_register_nod:162,bt_xml_filenam:166,btactionnod:162,btstatu:166,budyakov:168,buffer:[27,87,93,107,109,115,119,161,164,165,184,191],bug:[14,151,169,187],buggi:193,build:[1,5,7,10,14,17,18,26,27,149,150,152,153,157,158,161,162,163,164,165,166,175,181,182,183,185,187,188,190,191,192],build_test:176,build_typ:[161,164,165,166],builder:[148,162],buildtool_depend:176,buildx:148,built:[11,148,151,163,171,172,173,174,176,177,180,181,182,187,188,189,190,191,192,194],builtin_interfac:178,bulldoz:27,bunch:146,burden:177,busi:27,button:[152,158,163,164,165,166,171,174,180,185,186,187],bypass:[85,90,188],c_str:[165,166],cach:[94,134,135,147,148,157],cache_obstacle_heurist:[134,135,177],cachefrom:148,calcul:[18,26,84,85,111,157,163,164,165,173,181,187],calendar:151,calib_cb_fast_check:180,calibr:[17,187,195],calibrationdata:180,call:[26,27,38,39,40,85,92,101,134,135,140,151,152,154,155,156,157,158,159,161,162,163,164,165,166,168,175,176,177,178,179,182,183,187,188],callabl:163,callback:[11,13,27,156,166],callback_group:157,caller:[21,23,24],callgrind:183,came:156,camera:[27,111,131,158,174,177,191,195],camera_calibr:180,camera_depth_fram:174,camera_depth_joint:174,camera_image_topic_nam:131,camera_joint:174,camera_link:[174,175],camera_nam:180,camera_odom:184,cameracalibr:180,can:[0,1,3,4,5,6,7,8,11,13,14,17,18,19,21,22,23,24,25,26,27,28,31,32,33,34,35,36,37,41,42,43,46,76,78,79,81,83,84,85,86,88,89,90,91,92,93,94,96,98,99,102,103,104,106,108,109,110,115,119,134,135,146,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],cancel:[20,22,26,31,32,33,34,35,36,37,152,162,166,168,185],cancelassistedteleop:[89,157],cancelbackup:89,cancelcontrol:[22,89,157],cancelcoverag:89,canceldriveonhead:89,cancelingcontrolandwait:22,cancelnav:157,cancelspin:89,canceltask:26,cancelwait:89,candid:[1,7,94,99,151,170],cannot:[27,71,99,102,109,134,135,140,156,158,166,177,178,187,191,193],canon:27,capabl:[4,7,10,15,26,148,149,153,156,159,169,174,184,185,187,194],captur:[27,157,170,183,184],car:[106,153,156,168,171,177],cardin:187,care:[99,134],career:11,carefulli:[170,184],carl:[14,168],carlo:[6,27,86,174],carri:[27,155,156,157,165,185],carrot:20,cart:4,cartesian:[27,41,94,99,159,168,187],cartograph:154,cast:7,caster:176,caster_joint:176,caster_xoff:176,catchi:8,categori:170,cater:157,cati:185,caus:[22,30,45,84,85,86,99,134,135,152,157,177,181,184,188,190],caution:[149,181],ccach:[147,148],ccw:25,ceas:85,cell:[26,27,108,112,113,115,116,119,134,157,163,170,171,174,176,181,188,190],center:[18,27,38,39,94,99,114,133,134,135,157,161,171,175,176,180,186,187],central:[27,187],cere:91,cerescostawaresmooth:[107,179],certain:[19,155,157,163,170,172,174,185],certainli:[159,184],certif:[85,150],certifi:[9,85,151],chain:[187,190,192],challeng:27,chanc:[1,7,9,19,157],chang:[6,11,12,13,14,17,18,21,23,24,26,27,61,63,75,85,87,88,91,92,93,94,96,99,101,105,107,109,110,127,129,133,134,135,137,141,148,151,152,155,163,164,166,169,171,173,174,177,182,184,185,186,187,188,190,191,192,193],change_penalti:[134,135],changemap:26,channel:[134,151],chao:151,chapter:[27,188,190],charact:104,characterist:[4,12,105,173],charg:[27,65,158,168,170],charger:27,charuco:180,chassi:[175,176],chat:151,check:[0,7,9,11,14,18,19,22,26,27,52,53,59,61,62,63,65,66,67,69,71,72,73,74,80,84,85,87,88,89,91,92,93,99,102,103,107,110,113,114,126,127,128,129,140,146,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,173,174,175,177,180,181,182,186,187,188,190,192,194],check_for_collis:[26,53],checker:[17,46,92,120,154,161,194],checkerboard:180,checklist:172,checkout:[102,147,184],chessboard:180,child:[18,19,22,71,75,76,78,81,82,83,157,168,173,174,175,176,187],child_frame_id:173,children:[18,19,22,75,76,77,80,168,183],chip:177,choic:[10,26,27,177,178,184,189],choos:[108,148,149,152,166,171,175,177,181,182,187,190],chosen:[26,27,148,158,190],christoph:168,chronicl:148,chug:182,cilqr:3,circl:[19,27,84,85,177,180,192],circular:[27,93,99,106,113,153,159,170,171,176,177],cite:[102,153],citizen:191,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:151,class_list_macro:[161,163,164,165,166],classic:177,classification2d:174,classification3d:174,clavero:153,clean:[27,94,99,148,155,157,159,161,164,165,166,177],cleaner:176,cleaningup:178,cleanli:[27,97,166,177,183],cleanup:[161,164,165,166,178],clear:[18,19,21,22,23,24,26,27,38,39,40,93,115,116,119,151,156,157,158,165,168,174,177,180,184,191],clear_after_read:191,clear_around_:156,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,89,162],clear_entirely_local_costmap:[18,21,22,23,24,40,89,162],clear_except_:156,clear_except_local_costmap:39,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:26,cleararoundrobot:157,clearcostmaparoundrobot:89,clearcostmapexceptregion:89,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,89,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[18,21,22,23,24,26,89,162],clearing_endpoint:156,clearingact:[18,21,22,23,24,89],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,89,162],clever:182,cli:[27,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[19,27,94,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clockwis:192,clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[22,27,52,80,84,85,93,99,102,109,135,138,144,148,156,157,159,164,171,177,187,192],closed_loop:109,closer:[56,99,134,158,159],closest:[57,96,102,120],closur:184,cloud:[7,27,148,149,152,155],cluster:177,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:[13,84,85,159,164,173,183,192],cmd_vel_in_top:[85,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[85,192],cmd_vel_raw:85,cmd_vel_smooth:[85,192],cmd_vel_teleop:87,code:[5,6,15,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[85,92,109,151,159],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:[26,172,174,177,183,184],collid:[4,9,171],collis:[1,7,9,27,28,29,53,87,91,93,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:84,collision_detector_st:[84,159],collision_margin_dist:99,collision_monitor:[85,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:85,collisionmonitor:158,color:[8,91,131,174,176,177,181,188,190,191],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:[27,93,134,137,138,141,142,156,189],combination_method:[93,115,119,159,191],come:[8,13,14,27,94,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,22,29,44,47,50,54,79,85,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[27,151,187],commit:[148,151,169,180],common:[18,26,27,85,99,148,149,153,156,157,166,173,184,187,192],commonli:[19,44,47,50,54,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[27,59,72,73,74,85,88,91,106,158],comparison:153,compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,22,26,27,34,53,85,94,96,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[27,88,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,41,75,76,77,78,79,80,81,82,83,99,108,109,143,156,157,172,176,178,184,188,190],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:[13,153,176],comput:[7,17,18,19,20,21,27,41,42,43,94,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[27,119,157],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[42,43,88,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:73,computeandpublishveloc:156,computeandsmoothpath:179,computecoverag:41,computecoveragepath:89,computepaththroughpos:[21,89],computepaththroughposesrecoveryfallback:21,computepathtopos:[17,18,19,20,22,23,24,50,52,78,81,83,89,162,166,179,185],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,23,89],computevelocitycommand:[92,164],concaten:156,concept:[7,18,19,153,156,170,174,175,178,188,190,193],conceptu:175,concern:[149,151,157],conclus:22,concret:175,condit:[12,18,21,23,24,27,29,30,45,55,67,68,71,105,148,157,158,162,168,173,176,184,187,193,194],conditionnod:162,conduct:153,conf:[85,92,109,159,162],confer:153,config:[148,149,171,173,174,176,182,187,189],configur:[0,1,14,16,17,18,19,26,27,44,47,50,54,60,84,85,90,91,92,93,97,98,99,106,111,114,117,147,148,149,153,154,155,157,158,159,161,162,164,165,166,168,172,176,177,178,179,181,182,184,185,186,187,189,191,193],configured_param:[178,188,190,192],confin:[99,134,148,159,171],confirm:[171,174,180,187],conflict:155,conform:153,confort:159,confus:19,conjunct:[26,99],connect:[14,19,27,94,97,100,108,112,133,148,149,155,156,157,168,170,173,174,175,176,181,187,193],connector:[41,184],consequ:22,consid:[3,14,18,29,30,45,55,84,85,86,88,89,93,99,129,134,135,144,151,155,156,158,159,161,162,164,165,166,168,170,177,178,184,187,188,192],consider:[4,99,177],consider_footprint:99,consist:[8,17,99,149,151,156,157,168,173,174,175,177,178,187,193],consol:192,constant:[19,94,96,102,164,176,177],constantli:[155,157],constrain:[28,105,156,168,177],constrainedsmooth:[91,157],constraint:[21,103,109,135,156,157,159,166,168,170,177,194],constraintcrit:99,construct:[27,151,157],constructor:[26,27,157,159,162],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:[9,11,17,21,23,24,27,46,49,90,99,106,109,115,119,134,135,150,154,155,156,157,158,159,161,163,164,165,166,168,173,174,176,177,178,179,180,182,184,188,190,192,194],container:148,containeris:148,content:[149,171,172,174,176],context:[11,13,18,19,21,22,23,24,89,147,162,168,193],contextu:[17,18,21,23,24,153,158],continu:[1,12,18,19,20,21,22,23,24,27,94,99,110,132,134,135,149,151,152,153,154,155,156,157,158,166,173,176,177,184,187,189,192],contractor:14,contrast:[157,187],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,94,134,151,159,174,177,178],contributor:[14,151],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,56,57,72,73,74,76,77,78,79,83,85,93,102,106,109,117,119,121,122,123,124,125,126,127,128,129,135,136,137,138,139,140,141,142,143,144,145,153,154,155,161,162,163,166,167,169,171,172,173,176,178,179,182,183,184,185,186,189,190,191,192,193,195],controlcancel:22,controller_frequ:[92,95,96,99,102,103,194],controller_id:[18,20,21,22,23,24,26,44,46,89,156,162,185],controller_pati:156,controller_plugin:[92,95,96,102,103,155,164,170,194],controller_plugin_id:[120,121,122,123,124,125,136,137,138,139,140,143,144,145],controller_selector:44,controller_serv:[22,92,95,96,97,99,102,103,155,156,157,159,164,170,178,183,190,194],controllerselector:[21,23,24,89,156],controllerserv:157,controlnod:162,conveni:[149,159,184,190],convent:[21,23,24,27,174,175,178,187],converg:[86,91,96,99,187],convers:[26,98,151,188,190],convert:[0,27,94,99,110,117,134,135,153,154,156,165,175,187,188,190],convert_typ:[188,190],convex:99,cooper:2,coordin:[5,26,27,41,86,93,94,110,157,173,175,176,184,185,187],coordinates_in_cartesian_fram:94,cope:187,copi:[157,171,173,174,176,179,182,188,190,191],copyright:151,core:[7,17,27,158,178,179],corner:[102,152,156,180,188,193],corpor:14,correct:[27,84,85,146,148,151,157,173,174,176,186,188,190,192],correctli:[19,27,152,156,157,171,173,174,175,187,188,190,192],correl:148,correspond:[27,41,80,84,85,88,99,100,108,111,112,113,114,115,116,117,118,119,133,134,135,156,157,161,162,163,174,175,181,187,190],correspont:188,corridor:[99,170,177],cost:[9,18,26,27,84,85,87,91,93,102,106,108,113,114,123,133,134,135,148,153,156,157,163,168,174,177,181],cost_check_point:91,cost_cloud:156,cost_penalti:[134,135],cost_pow:99,cost_scaling_factor:[93,99,108,113,163,174],cost_travel_multipli:133,cost_weight:99,costamp2d:188,costcrit:[99,159],costli:27,costmap2d:[146,159,167,168,181,188,190],costmap2dro:[157,164],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,85,87,90,91,92,96,101,102,107,108,111,112,113,114,115,116,117,118,119,133,134,135,136,139,153,154,157,163,164,165,170,171,177,181,187,195],costmap_2d:[5,159,163,174],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:[87,104,105,107,161,179],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:[1,2,3,6,7,9,10,20,27,84,85,92,108,148,149,155,156,157,158,162,163,164,168,175,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[29,106,157,162,166,173,192],counterpart:177,coupl:[26,184,194],cours:[5,11,148,176,184],cov_path:41,covari:[86,187],cover:[2,27,85,116,151,156,159,170,177,178,182,187,188,190,192],coverag:[3,4,6,12,17,27,28,34,41,153,159,166,168,169,177,178],coverage_path:41,coverage_serv:94,coveragenavig:[41,88,168],cpp:[18,27,153,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,85,148,157,177,178,184],crash:[27,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,77,80,85,93,94,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[27,127,129,144,151,157,168],criterion:91,critic:[1,7,9,27,120,134,135,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_cost:99,critical_weight:99,cross:[146,148,153,170,171],crowd:[21,23,24,170],crtl:[148,149],crux:18,ctrl:148,cube:[171,174],cubic:91,cuda:7,cull:[21,52,168],current:[3,9,11,12,14,18,19,24,26,27,45,52,57,61,78,81,83,84,85,94,99,101,102,103,109,110,111,114,116,117,135,147,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[94,96,108,163,177],curvatur:[91,94,96,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[91,99,102],cusp_zone_length:91,custom:[10,17,18,19,21,23,24,26,27,56,57,77,79,86,87,88,94,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:[153,158],cut:[134,135],cxprime:174,cyan:[91,176],cycl:[22,84,85,102,134,135,157,161],cycle_frequ:[87,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,85],damag:109,danc:187,danger:[91,153,192],dark:188,darker:190,dash:[152,160],data:[1,4,7,9,10,26,27,84,85,87,88,90,92,99,105,109,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,177,178,180,183,184,187,188,190,191,192],data_typ:[93,115,119,174,191],dataset:184,date:[84,85,86,111,114,117,151,154],datum:187,david:[14,95,168],dcmake_build_typ:183,dco:150,deactiv:[27,97,161,164,165,166,178],dead:27,deadband:[109,157],deadband_veloc:109,deadlin:[85,87,88,92,101,107,109,110,159],deal:[7,27,173,175,177],dealloc:27,dealt:18,debug:[27,91,99,119,120,123,134,135,148,158,182,183],debug_optim:91,debug_trajectory_detail:[95,120,164],debug_visu:[134,135,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[86,99,113,168,174,177],decay_acceler:191,decay_model:191,decel_lim_i:[95,122],decel_lim_theta:[95,122],decel_lim_x:[95,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[22,86,159,175,176,178],decis:[171,187],declar:[60,62,148,151,156,159,161,163,164,165,188,190],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:[18,20,22,157,162,168,185,193],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_:94,default_allow_overlap:94,default_bt_xml_filenam:[88,155,162,166,185],default_control:44,default_critic_namespac:120,default_custom_ord:94,default_goal_check:47,default_headland_typ:94,default_headland_width:94,default_model_path:[173,176],default_nav_through_poses_bt_xml:[88,166],default_nav_to_pose_bt_xml:[88,159,166],default_offset:94,default_path_continuity_typ:94,default_path_typ:94,default_plann:50,default_route_typ:94,default_rviz_config_path:176,default_server_timeout:88,default_smooth:54,default_spiral_n:94,default_st:111,default_step_angl:94,default_swath_angl:94,default_swath_angle_typ:94,default_swath_typ:94,default_turn_point_dist:94,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,18,26,27,41,44,47,50,54,59,60,62,80,84,85,87,88,92,93,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,153,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[27,46,53,88,158,161,163,166,173,174,176,178],deg:[94,99],degrad:[134,135,187],degre:[11,25,84,85,134,156,159,187],delai:[84,85,187],delet:[157,173],deliv:26,deliveri:1,deloc:51,delsei:[14,168],delta:108,demand:[27,164,165,187],demo:[8,10,22,27,157,159,171,178,187,188,190],demo_inspect:26,demo_pick:26,demo_secur:26,demonstr:[4,10,26,85,147,157,159,163,187,191,192],deni:166,denois:[93,168],denoise_lay:[112,181],denoiselay:[112,177,181],denot:[174,182],dens:[26,135],dense_qr:91,densiti:[86,94,99],depend:[18,27,85,96,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[22,91],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,91,156,157],depth:[27,85,93,115,119,168,170,174,175,176,177,184,191],depth_camera:174,depth_camera_control:174,deriv:[85,149,161,163,173,176,187],descent:[104,157],describ:[18,19,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,26,27,90,99,104,106,156,158,163,177,181,188,190,192,193],desir:[84,85,99,102,131,134,135,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[26,27,62,152,173,174,176],destroi:148,destroynod:26,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,88,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,27,53,57,84,85,90,91,102,148,159,171,173,174,177,180,185],detection2d:174,detection3d:174,detector:[27,90,185],detectron2:4,determin:[0,68,96,110,120,131,159,166,170,176,181,182,183,192],determinist:[11,27,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,21,23,24,27,85,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[86,99,109,159,177],devic:[148,177,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[19,20,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[91,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,17,18,19,21,22,23,24,27,61,84,85,89,94,96,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,159,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,192,193,194],differenti:[8,86,96,99,103,106,108,153,156,157,159,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:86,difficult:[27,103,157,177,194],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:[4,57,85,91,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],direction_end_angl:[85,192],direction_start_angl:[85,192],directli:[27,94,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[84,85,86,92,133,134,135,157,158,177,180,184],disable_calib_cb_fast_check:180,disagre:86,disappear:85,discard:[87,88,92,101,107,110,112,157,159,181],discontinu:[94,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[27,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,19,27,88,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:27,displac:[30,45],displai:[2,84,101,134,135,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[26,134,135,180],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,55,56,57,60,62,78,86,87,91,94,96,99,102,103,120,125,134,135,140,154,155,156,159,164,168,170,173,174,175,177,185,194],distance_backward:57,distance_forward:57,distance_remain:[156,166],distancecontrol:[17,18,89,91,155],distancetravel:89,distancetraveledcondit:155,distant:57,distinct:[27,175],distinguish:41,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:86,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[17,18,27,87,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,18,22,27,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,19,21,22,23,24,84,85,90,99,114,116,134,135,147,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[75,133,156,157,161,177,184,188],dog:184,doing:[26,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,18,19,27,85,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:17,dot:[159,187],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,52,53,55,56,57,58,60,62,70,78,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[26,27,96,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[91,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:27,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[27,173],drivabl:[103,170,177,194],drive:[1,25,26,35,45,91,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[35,87],drive_on_heading_error_cod:45,driven:[4,177],driveonhead:[25,26,89,158],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:[9,96,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[94,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,22,27,31,32,35,36,37,86,93,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:27,dummi:163,dump:170,duplic:[27,166],durabl:176,durat:[53,70,83,87,88,92,97,99,140,151,157,162,164,178,185],dure:[6,22,84,85,91,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,168,170],dwb:[1,3,9,21,23,24,27,28,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[92,95,155,156,170,194],dwb_critic:[95,120],dwb_local_plann:155,dwb_plugin:[95,120],dwblocalplann:[92,95,155,170,194],dynam:[0,3,13,15,17,21,23,24,27,79,80,84,85,95,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,18,21,23,24,25,26,27,61,84,85,86,87,88,92,93,99,101,107,109,132,149,151,153,154,156,157,158,159,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,192,193],earli:[5,11,16],earlier:[86,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,18,27,41,148,149,151,153,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,18,27,88,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,27,106,157,177],edg:[4,94,99,159,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,85,91,116,133,148,155,157,173,177,188],effici:[22,27,106,174,177,178],effort:[8,14,27,94,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,18,19,26,27,85,86,98,99,116,118,148,149,158,159,168,170,173,174,177,183,190,193],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:[17,27,85,92,109,149,151,159,187],elif:[26,157],elimin:176,ellipsoid:187,elong:91,eloqu:[27,160],els:[26,84,93,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,27,151],emb:175,embed:[6,27,157,177,178],emerg:[6,9,85,90],emit:174,emphas:187,emploi:85,empti:[42,43,99,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,22,52,84,85,86,93,96,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enable_stamped_cmd_vel:[85,87,92,109,159,192],enabled_:163,enact:[9,80,153,194],encod:[27,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,22,99,151,176,178,182],end:[6,11,20,27,84,85,99,100,104,133,135,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[91,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[18,158,171,177,180,187],enrich:149,ensur:[4,9,11,13,20,21,23,24,27,85,92,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[21,23,24,27,99,161,164,165,166,188],entir:[12,18,19,21,23,24,85,147,148,151,168,170,177,184,192],entiti:173,entri:[14,173,179,182,183,192],entryfil:177,entrypoint:147,enu:187,enumer:[29,30,41,42,43,45,46,53,55,193],env:148,environ:[4,5,9,10,12,27,96,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[93,119,153],envok:[29,30,45,55],envrion:191,ephemer:148,eppstein:168,eqal:91,equal:[27,84,85,96,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[27,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,84,85,86,88,96,99,112,146,147,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[59,72,73,74,178,179],error_code_id:[29,30,41,42,43,45,46,48,49,53,55,179],error_code_id_nam:[158,178],error_code_nam:[48,49,88],error_codes_to_check:59,especi:[86,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,85,86,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,17,26,27,84,85,88,92,93,94,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[19,20,21,23,98,99,102,109,113,134,149,153,155,156,157,168,170,171,172,173,177,182,184,188],evenli:86,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[17,19,21,23,24,57,82,91,93,96,99,102,115,119,134,151,156,157,159,162,163],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:[1,7,15,16,17,18,19,22,27,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,192,193,194],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,55,87,88,92,101,107,110,117,156],exceed:[18,93,158],excel:[1,7,9,187,194],except:[26,27,39,84,92,134,135,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:22,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,18,20,21,23,24,26,27,76,80,85,88,92,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,26,27,110,156,158],exemplari:17,exhaust:169,exhibit:22,exist:[4,8,11,12,27,41,84,85,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[21,23,27,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,159,168],expect:[5,11,26,86,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[27,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,25,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[22,69,168,191],explain:[11,18,19,22,149,151,171,182,183,189,194],explan:[18,90,106],explicitli:[4,26,149,188],explor:[134,174,175],exponenti:[86,96,99,113,168,174,177],expos:[19,27,107,156,158,187],exposur:7,express:[27,117,159,164,187,188,190],extend:[163,173,187],extens:[22,27,99,148,149,158,159,184],extent:[96,102],extern:[4,21,23,24,26,84,92,97,130,147,148,154,155,158,159,178,184,195],extra:[91,134,135,157,188],extract:[157,166,168],extrem:[2,18,84,96,114,156,174],face:187,facilit:[149,157],factor:[80,91,96,99,113,133,134,144,174,177],factori:162,fail:[18,19,21,23,24,26,27,92,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[72,158],failed_to_smooth_path:[74,158],failur:[1,17,18,19,20,21,23,24,27,29,30,45,55,59,61,62,63,65,66,67,68,69,71,72,73,74,75,76,82,99,153,154,156,157,162,168,178,182,185],failure_toler:92,fair:8,fairli:182,faith:151,fake:27,fall:85,fallback:[21,23,24,85,192],fals:[25,26,29,53,66,84,85,86,87,88,91,92,93,94,96,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[18,27,176],fanci:148,far:[84,85,94,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:19,fast:[84,85,86,96,104,105,134,135,157,181,184],faster:[96,157,177],fault:[12,26,27],favor:157,favourit:[188,190],feasibl:[27,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,27,86,92,94,102,105,109,134,148,151,152,156,157,168,169,176,177,187,188],feaur:188,feed:178,feedback:[14,26,27,88,96,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,19,26,80,91,94,147,148,159,170,174,177,182],field:[4,26,41,62,84,85,86,94,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:41,fields2cov:[41,94,159],figur:[187,193],file:[1,2,17,27,41,85,87,88,97,98,108,131,135,146,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:41,file_field_id:41,filenam:[173,174,187],filepath:[41,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,29,86,92,104,173,177,184,187,191,192,195],filter_dur:83,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,final_rot:96,find:[14,27,57,87,88,92,94,96,99,101,102,107,109,110,134,135,148,149,151,152,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[27,99,134,184,193],first:[19,27,41,75,76,84,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,192,193],first_map_onli:86,first_map_only_:86,firstli:22,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:27,flexibl:[14,88,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:18,flow:[1,18,19,21,23,24,76,77,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:91,focal:180,focallength:174,focu:[12,18,26,176,192,193],focus:[108,181,184],focuscamera:176,folder:[19,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,53,79,85,87,91,92,93,96,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[27,159,187],follow_path_error_cod:[46,72,88],follow_path_error_code_id:178,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,89,92,95,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[44,47,54],followpathrecoveryfallback:[18,21,23,89],followwaypoint:[26,158],fonction:157,fondli:14,fool:177,footprint:[2,84,85,87,93,99,107,114,115,119,134,135,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[93,115,119],footprint_pad:93,footprint_top:[85,104,105,107,161,179],footprintapproach:85,footprintcost:26,footprintcostatpos:26,forc:[86,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[27,95],forklift:22,form:[5,41,85,108,163,174,175],formal:[27,153,181],format:[10,41,84,85,91,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,84,85],formerli:[92,158,168],formul:159,formula:190,fortun:173,forward:[0,9,18,27,57,91,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,192,194],forward_point_dist:[95,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,19,22,26,27,71,85,90,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[18,27],foxi:[11,27,160,165],fraction:157,fragment:181,frame:[2,27,41,52,57,60,62,71,78,84,85,86,87,88,91,93,94,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[26,62,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,27,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,27,93,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[21,23,24,177],frequenc:[18,19,84,87,92,93,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,52,54,57,61,62,84,85,86,87,88,90,91,92,93,94,96,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[84,85,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:27,full:[5,7,12,19,27,86,93,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,192,193,194],fulli:[27,86,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,19,22,99,105,134,135,148,151,157,159,175,182,184],furthest:[99,134],fuse:[27,153,169,173,187],fusion:[15,27,173,175,184,187],futur:[1,4,8,11,21,27,84,85,86,111,114,117,155,157,159,185],gain:[8,99,102],galact:[86,88,160,161,163,165,174,191,193],game:[27,184],gamma:99,gap:176,gate:184,gather:[14,27],gaussian:[86,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,159,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],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:[0,3,5,10,18,22,27,41,80,85,91,94,96,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189,192],general_goal_check:156,generate_headland:41,generate_launch_descript:[173,174,176,188,190],generate_path:41,generate_rout:41,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[41,42,43,48,52,57,79,85,87,92,109,155,164,165,166,173,189],get:[1,4,10,18,19,26,27,69,88,92,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],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:26,getblackboard:166,getcostidx:26,getcostmap:165,getcostmaptimestamp:26,getcostxi:26,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[26,157],getglobalcostmap:26,getglobalframeid:[26,165],getindex:[26,163],getinput:162,getlocalcostmap:26,getnam:166,getorigini:26,getoriginx:26,getpath:26,getpaththroughpos:26,getresolut:26,getresourceinfo:158,getresult:[26,157],getrout:26,getsizeincellsi:26,getsizeincellsx:26,getsizeinmetersi:26,getsizeinmetersx:26,gettoler:156,ghcr:147,gif:[22,187],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:[11,85,92,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,22,26,27,30,33,34,45,53,55,85,87,94,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[18,21,22,23,24,26,51,61,62,63,67,80,86,87,89,91,93,96,99,101,102,110,118,123,134,135,141,142,154,155,157,158,163,164,165,168,171,173,174,175,176,177,181,186,188,190,191],global_costmap:[18,21,22,23,24,87,89,93,104,105,107,111,114,117,161,162,163,171,174,179,181,187,188,190,191],global_costmap_top:[87,161],global_footprint_top:[87,161],global_fram:[60,78,87,88,93,158,161,162,163,166,174],global_frame_:165,global_frame_id:[86,110],global_path:165,global_plan_:164,global_plan_pos:164,global_planner_plugin:165,globallyupdatedgo:89,globalplann:165,globalupdatedgo:[24,61],gmail:2,gml:41,gmsl2:184,gnss:187,gnu:[182,191],goal:[11,17,18,19,20,21,23,24,26,27,33,34,42,43,46,48,49,52,56,61,62,63,68,79,80,87,88,89,91,92,94,96,100,101,102,107,110,120,126,127,128,129,133,134,135,137,138,144,145,152,154,155,161,162,164,165,166,173,176,177,178,179,185,187,189,190,192,194],goal_:162,goal_blackboard_id:[88,166],goal_blackboard_id_:166,goal_check:[47,92,95,96,102,103,156,164,194],goal_checker_id:[26,46,47],goal_checker_nam:120,goal_checker_plugin:[92,95,96,102,103,155,156,194],goal_checker_plugin_id:[127,129],goal_checker_selector:47,goal_distance_bia:120,goal_pos:[26,156,157,164,166,189],goal_reached_tol:62,goal_sub_:166,goal_upd:[79,185],goal_updater_top:79,goalalign:[95,120],goalaligncrit:95,goalanglecrit:99,goalcheck:[47,155,157,164],goalcheckerselector:[21,23,24,89,156],goalcomplet:166,goalcrit:99,goaldist:[95,120],goaldistcrit:95,goalreach:[19,78,81,83,89,159],goalreceiv:166,goals_blackboard_id:[88,166],goaltool:186,goalupd:[18,19,21,22,23,24,61,89,162],goalupdat:[20,89,185],goalupdatedcondit:155,goe:[9,19,22,117,157,161,164,165,166,179],going:[4,14,26,27,80,99,153,156,157,162,179,182,185,187,188,190,192],golai:[28,168],golden:184,gone:18,gonzalez:187,good:[1,6,27,86,99,108,109,134,151,153,159,161,163,164,165,166,171,172,176,177,180,182,184,187],googl:151,gothroughpos:26,gotopos:[26,157],gpal:91,gps:[169,187],gps_link:187,gps_waypoint:187,gps_waypoint_follow:[110,187],gps_waypoint_logg:187,gpss:187,gpu:[4,148],grab:[91,149,166,173],grace:[28,168],gracefulmotioncontrol:96,grade:[27,153,173,187],gradient:[5,27,91,104,157,163],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:91,gradual:91,grai:[176,190],grant:148,granular:[91,125],graph:[3,10,108,135,158,169,183],graphic:[8,149,188,190],grasp:174,great:[7,14,18,151,157,182,184,187],greater:[3,96,99,108,148,164,178],green:[91,169,180,186,187,193],grei:190,grep:146,grid:[6,7,27,93,98,115,119,123,168,170,171,174,176,187,189,191],grid_map:5,gridbas:[18,20,21,22,23,24,42,43,50,89,100,101,108,133,134,135,156,162,165,170,179,185],groot:[88,89,195],ground:[171,173,176],group:[11,13,14,27,81,112,151,158,168,181],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:[17,18,19,147,149,155,157,158,159,163,165,169,170,171,173,174,175,176,178,184,191,192],guidelin:158,guillaum:168,gzclient:152,habit:177,hackbaselin:174,had:[12,14,157,158,159,174,187],haghighipanah:168,half:[18,102,134,135,174],hall:177,hallmark:6,hallwai:134,halt:[18,19,22,159],haltallact:159,hand:[27,99,103,109,157,159,171,175,176,177,184,194],handi:148,handl:[11,18,22,26,27,85,87,88,92,94,97,98,101,107,110,148,156,157,158,161,162,163,164,165,166,174,176,177,178,182],handler:159,hangout:151,hansen:14,happen:[14,18,151,164],happi:[151,187],hard:[10,14,21,53,85,92,109,154,156,159,166,177,187],hardcod:[21,23,24,158,162,166],hardwar:[85,109,148,170,174,176,184,191,193],harsh:[157,184],harshli:108,has:[2,3,4,6,8,11,12,14,18,19,21,22,23,24,26,52,60,61,63,69,70,84,85,87,88,89,90,91,92,99,101,102,107,110,116,126,127,128,129,133,134,135,146,148,149,151,152,153,155,156,157,158,159,161,162,163,164,166,168,171,173,174,175,176,177,182,183,184,186,187,188,190,192,193,194],has_paramet:166,have:[0,3,4,6,10,11,12,14,16,18,19,21,22,23,24,26,27,52,85,87,92,93,99,100,101,102,106,107,108,109,110,111,114,117,133,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],head:[26,35,45,96,99,102,103,133,135,151,157,168,172,173,175,177,185,187,194],header:[62,154,159,163,164,165,173,189],heading_deg:187,headland:[41,94],headless:[149,152,177,181,192],headlight:[111,158],hear:177,heart:[27,170],heavi:[85,91,134,135,187],heavili:177,height:[26,84,85,93,96,102,115,119,163,174,176,187],hello:161,help:[2,3,4,5,8,11,16,21,23,24,27,41,91,99,102,135,150,151,154,156,157,158,161,163,165,168,170,172,173,175,176,177,178,183,184,188,191,193,194],henc:[157,171,174,176,178],here:[0,3,14,19,21,22,23,27,75,76,77,78,79,80,81,82,83,84,85,99,103,148,149,151,152,154,155,156,157,158,159,162,163,164,165,166,168,173,176,178,179,180,182,184,186,187,189,192,193],heurist:[27,102,106,133,134,135,156,157,159,170],hfsm:27,hide:176,hierarch:[27,193],high:[2,3,4,5,6,8,27,85,96,99,102,105,108,109,119,133,134,135,151,153,154,156,170,173,177,181,184],higher:[4,6,9,12,18,27,85,91,92,93,94,96,99,109,111,134,135,153,156,157,158,159,166,177,178,185,188,190,193],highest:[27,158],highli:[27,91,99,106,143,152,153,159,168,170,175,177,179,186,187,189,191,194],highlight:[8,17,26,91,148,170,180,184,193],hint:177,his:184,histori:176,hit:[182,190],hold:[27,174,193],holder:[151,156],holom:[85,192],holonom:[85,91,92,99,100,102,133,145,153,168,177,192],home:[131,157,177,182,185,187],hood:[11,157],hooper:168,hope:157,hopefulli:[18,99],horizon:159,horizont:[112,174,187],horizontal_fov:174,horizontal_fov_angl:191,hospit:1,host:[27,87,92,98,101,107,110,148,149,154,161,170,183,187],hot:166,hotel:[188,190],hour:186,hous:111,how:[2,7,17,26,27,76,85,86,89,91,96,99,108,115,119,123,137,138,141,142,148,150,151,154,158,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,192,193,194],how_many_corn:108,howev:[4,6,9,14,20,21,23,24,27,84,85,99,104,134,148,152,155,156,157,161,166,171,173,176,177,179,182,184,187,188,190,191,192,194],hpp:[161,163,164,165,166],html:147,http:[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],huerist:156,huge:[99,187],human:[1,4,27,153,168],humbl:[84,85,86,87,92,95,96,99,102,103,152,159,160,161,192,193,194],hundr:[1,27],hurt:174,hybrid:[3,103,106,133,135,148,153,156,157,158,168,170,171,177,194],hypot:[164,165],hypothet:18,icon:193,icra:96,idea:[152,153,157,159,176,177],ideal:[7,12,157,158,161,164,165],identifi:[4,7,11,13,148,156,163,170,183],idl:19,ieee:153,ifcondit:[173,176],ifunspecifi:173,ignit:169,ignor:[86,96,146,147,162,173,181],illustr:[85,181],ilqr:3,imag:[16,22,27,91,104,131,135,154,156,176,179,180,181,187,188,190],image_format:131,image_pipelin:180,image_raw:[131,174,180],imagin:[18,27,161,168,187],immedi:[21,23,85,97,156,161,166,173,176,182],immin:[85,153],impact:[21,23,94,99,159,177,182],impass:188,impl:131,implement:[3,5,6,7,10,20,21,23,24,27,29,30,41,42,43,45,46,48,49,55,58,76,86,87,88,92,93,94,96,97,98,99,100,101,102,106,107,108,109,110,115,116,118,119,133,134,135,149,151,154,156,157,158,161,164,165,166,168,170,171,173,174,177,178,179,189,191,193],implementaion:168,impli:[96,131],implicit:26,implicitli:157,imposs:159,impract:187,improv:[1,7,9,11,12,25,27,91,104,106,134,135,148,152,154,155,156,158,159,169,183,184],imu0:[173,184,187],imu0_config:[173,187],imu:[27,173,174,175,184,187],imu_joint:173,imu_link:173,imu_plugin:173,imu_sensor:173,inact:[27,99,161,164,165,166,176,178],incentiv:[99,159],includ:[4,6,7,10,13,14,18,26,27,76,88,89,106,111,125,147,148,149,150,151,153,154,155,156,159,161,162,163,164,165,166,168,170,173,174,175,176,177,182,183,185,188,189,190,191,192,194],include_last_point:125,inclus:[148,159,174,177,182],incom:[85,90,111,114,117,155,188,190],incompat:148,incomplet:169,inconsist:156,incorpor:[86,148,156],incorrect:[156,168],incorrectli:156,increas:[12,27,91,96,99,108,113,134,157,158,175,177,178,180],increasingli:[27,184],incred:17,increment:[29,84,85,87,134,157],increment_recovery_count:162,inde:187,indefinit:[18,19,26,151,185],independ:[14,27,87,117,153,156,158,162,174,184,192],index:[26,131,147,161,163,164,165,166,168,193],indic:[53,84,85,86,111,114,117,130,151,153,155,156,162,163,174,190],individu:[11,27,84,85,90,106,151,154,157,158,177,189],indoor:[111,184],induc:[158,168,195],industri:[14,27,85,102,156,168,170,188],ineri:184,inerti:[174,176,184],inertia:[173,174,176],inf_is_valid:[93,115,119,191],infeas:[105,168],infer:176,infin:57,infinit:[20,92,115,119,134,135,184],inflat:[27,86,93,114,116,134,136,159,168,174,181,188,191],inflate_around_unknown:[93,113],inflate_con:116,inflate_unknown:[93,113],inflation_lay:[93,111,112,114,117,163,171,174,181,187,188,190],inflation_layer_nam:99,inflation_radiu:[93,99,113,174],inflationlay:[93,174,177],influenc:99,info:[10,14,91,95,111,114,117,149,153,156,163,173,180],inform:[1,2,4,10,19,20,27,84,85,90,93,96,98,99,102,103,106,109,111,114,115,117,119,120,133,134,135,147,151,154,155,157,158,159,161,162,163,164,165,166,168,173,174,175,176,177,178,179,181,182,183,184,186,187,188,189,190,191,192,193],infrar:174,infux:157,ing:19,ingest:187,inher:[148,149],inherit:[156,162,163,164,165,166],init:[26,157],init_pos:26,initalorientationasrefer:173,initi:[8,26,64,71,86,88,96,99,105,146,148,149,152,153,155,157,158,161,163,164,165,166,168,176,177,185,187,188,192],initial_cov_:86,initial_orientation_as_refer:173,initial_pos:[26,64,86,157],initial_pose_:86,initial_rot:96,initial_rotation_min_angl:96,initial_transform_timeout:[93,159],initializegoalpos:166,initialposereceiv:[19,89],inject:182,injuri:9,inlin:[163,165,191],inner:[11,192],inout_port:193,inproceed:153,input:[6,19,26,27,85,88,91,99,104,105,115,116,119,130,153,156,158,159,161,162,163,164,165,168,173,176,179,182,185,187,192,193],input_at_waypoint:130,input_go:[20,21,52,79,185],input_path:[20,56,57,185],input_port:193,input_sensor_typ:[116,174],input_top:130,inputatwaypoint:[110,156,168],inputport:162,inquiri:14,inscrib:[113,157,177],inscribed_inflated_obstacl:181,insert:[162,174,182],insid:[27,85,90,91,92,95,106,109,110,148,149,157,158,159,163,173,174,178,182,183,188,191,192],insight:[11,157,169,177],inspect:[26,148],instabl:157,instal:[146,148,149,150,161,163,164,165,166,171,173,174,175,176,179,180,181,182,183,184,186,187,188,189,190,192,194],instanc:[27,85,131,152,159,162,170,173,178,187,188,190],instantan:[92,158],instanti:[170,176,178],instead:[13,18,21,23,24,79,84,86,99,105,120,147,148,154,155,156,157,158,159,161,166,173,174,175,177,178,179,182,184,185,186,187,188,192],instruct:[27,110,152,161,163,164,165,166,173,174,182,183,189],instrument:99,int16:178,integ:188,integr:[0,1,7,12,17,28,57,85,94,96,102,149,156,157,159,172,173,174,175,178,182,184,193],intel:[4,14,99,157],intel_realsense_r200_depth:[84,85,93,191],intellig:[153,177],intellisens:148,intend:[88,152,155],intent:[22,99,177],intention:[14,91,188],interact:[27,88,89,99,153,156,157,176,178,179,182,195],interactive_waypoint_follow:187,intercorrel:181,interest:[7,10,11,14,17,26,27,148,151,166,175,177,179,182,183,185,186,189,193],interfac:[3,5,13,19,27,85,88,107,148,149,153,154,155,158,161,162,163,166,168,174,179,186,187,191],interfer:[93,188],interins:184,interior:180,intermediari:[21,135,153,156],intern:[18,21,23,24,103,153,158,163,166,173,178,184,187,194],interoper:174,interpol:[109,134,188],interpolation_resolut:165,interpolation_resolution_:165,interpret:[93,98,175,181],interprocess:148,intersect:[96,102],interti:176,interv:[84,85],interven:1,intervent:153,intial_pos:19,intoroduc:159,intrest:182,intrins:184,introduc:[27,84,102,149,151,154,156,157,172,174,176,178,181],introduct:[17,89,176],intuit:[177,194],inturn:22,invalid:[17,26,148,158,166],invers:[99,159,188],inversion_xy_toler:99,inversion_yaw_toler:99,invert:[24,99,156],investig:182,invilad_start:178,invok:[29,30,41,42,43,45,46,48,49,53,55,58,147,148,178,183],involv:[4,5,6,11,18,20,99,102,150,156,158,159,171,178,184],ipc:148,iro:153,iron:[88,98,160,166],irregular:[154,184],is_recoveri:[25,29,55],is_voltag:66,isbatterycharg:[89,158],isbatterylow:[18,19,89],isbatterylowcondit:155,ish:14,isn:[99,151,182,184],isol:[149,183],ispathvalid:[24,89,93],isstuck:89,issu:[0,2,3,5,6,8,14,21,23,24,26,27,87,88,92,99,101,107,110,151,155,156,157,169,170,175,177,181,182,184,187,188,190,191],istaskcomplet:[26,157],item:[2,11,18,26,27,169],iter:[21,23,24,26,27,41,52,85,88,91,95,99,105,109,133,134,135,158,163,184],iteration_count:99,its:[1,6,8,9,11,12,18,19,21,22,23,24,26,27,41,78,81,82,83,85,91,93,99,100,103,105,106,108,118,133,134,135,147,151,153,154,155,156,157,158,159,161,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,190,191,192,193,194],itself:[27,117,134,135,148,157,162,166,174,179,188,190,193],ixi:[174,176],ixx:[174,176],ixz:[174,176],iyi:[174,176],iyz:[174,176],izz:[174,176],jag:105,jaggedli:99,jazzi:[85,160],jerk:190,jerki:[99,109],jeronimo:168,jetbrain:149,jetson:[4,184],jin:96,jitter:99,job:[27,99],join:[151,171,173,174,176,188,190],joint:[173,174,176,187],joint_state_publish:[173,176],joint_state_publisher_gui:[173,176],joint_state_publisher_gui_nod:[173,176],joint_state_publisher_nod:[173,176],jonatan:153,jong:96,josh:153,joshua:[14,168],joshuawallac:14,journal:153,joystick:184,jpeg:156,jpg:156,json:[2,148,149],jump:[134,173,184,187],june:106,junior:151,just:[8,20,21,23,24,27,80,93,99,140,149,151,157,162,163,171,173,174,175,176,182,183,187,188],juzhenatpku:2,k_delta:96,k_phi:96,kalman:[173,187],kcachegrind:183,keep:[14,18,27,85,94,99,148,155,156,159,162,164,165,168,173,175,176,187,188,193],keep_goal_orient:91,keep_start_orient:91,keepout:[93,98,156,168,177,190,195],keepout_filt:[93,114,181,188],keepout_filter_mask:188,keepout_mask:188,keepout_param:188,keepoutfilt:[93,114,156,177,188],keeprunninguntilfailur:[20,185],kei:[19,86,94,147,148,151,152,166,177,178,181,184,187],kept:[14,112],kernel:181,key_nam:193,key_name2:193,keyboard:187,kick:[27,161],kidnap:51,kill:182,kind:[22,153,173,182],kinemat:[2,95,99,103,105,106,153,156,159,168,170,173,176,177,187,194],kinodynam:3,kiwibot:187,know:[11,14,27,94,102,106,146,151,155,156,162,163,168,175,176,184,187,190,193],knowledg:[4,7,11,151,182,191],known:[18,22,26,27,86,102,157,166,168,177,180,187,191],konolig:168,kuiper:96,kurt:168,label:148,lack:[177,184],laid:[188,190],lambda:[96,162],lambda_short:86,land:8,landmark:173,landscap:184,lane:[27,98,114,156,168,188],languag:179,larg:[19,27,85,91,96,99,102,134,135,153,155,169,173,176,177,180],larger:[27,80,85,97,99,102,104,133,151,156,168,182,192],largest:[170,171],laser:[6,9,84,85,86,115,119,168,174,175,192],laser_likelihood_max_dist:86,laser_link:176,laser_max_rang:86,laser_min_rang:86,laser_model_typ:86,laserscan:[85,93,115,119,158,189],last:[6,14,19,21,23,56,57,85,86,91,94,99,100,106,108,109,125,133,134,135,137,138,141,142,148,157,166,170,171,173,175,176,178,184,188,190,192],lastli:[151,158,170,171,173,174,175,176],lat:187,latenc:[109,154,155,184],later:[5,99,134,135,148,149,151,157,161,162,163,164,165,166,174,183,191,193],latest:[84,85,147,148,194],latitud:187,latitude_deg:187,latter:179,lattic:[3,103,106,133,134,153,157,158,168,169,170,177,194],lattice_filepath:135,launch:[26,27,87,97,98,149,152,161,163,164,165,166,170,171,175,178,180,181,184,185,187,188,190,192,193],launch_ro:[173,176,182,188,190],launchconfigur:[173,176,188,190],launchdescript:[173,176,188,190],law:[96,159,168],layer:[2,4,7,10,11,93,111,114,116,117,133,134,136,148,153,154,156,157,163,174,177,187,188,191],layeredcostmap:163,lazi:156,ld_preload:191,lead:[14,99,131,151,156,157,190],leader:14,leadership:14,lean:147,learn:[4,7,11,18,27,89,149,153,161,162,165,174,175,176],least:[20,85,148,151,156,173,192],leav:[96,99,102,134,155,159,182,184,192],led:[84,158,159],left:[6,27,42,43,96,102,108,118,134,135,148,152,157,164,165,171,173,174,176,180,181,183,186,187,190,193],left_joint:173,left_wheel_est_vel:173,leg:[106,149,153,168,170,177,184],legaci:120,length:[80,91,93,94,99,108,134,135,157,174,176,177,178,180],length_factor:[22,80],less:[9,62,85,87,88,92,99,101,102,107,109,110,112,134,154,157,173,181,184,187,188,194],let:[11,18,19,27,94,130,132,146,149,156,157,161,162,165,173,174,175,176,177,184,185,187,190,192],lethal:[93,99,113,168,174,177],lethal_cost_threshold:93,lethal_obstacl:[163,181],level:[5,9,18,21,23,24,27,85,90,105,151,153,156,157,158,178,183,184,188,190,192,193],leverag:[7,11,26,147,149,157,177,179,185,187],lib:[182,191],libgazebo_ros_camera:174,libgazebo_ros_diff_dr:173,libgazebo_ros_factori:[157,173,174],libgazebo_ros_gps_sensor:187,libgazebo_ros_imu_sensor:173,libgazebo_ros_init:[157,173,174],libgazebo_ros_ray_sensor:174,libjemalloc:191,libjmalloc:191,librari:[5,6,7,10,15,26,27,41,88,94,154,155,157,161,163,164,165,166,174,175,179,182,191,193],libstdc:182,licens:[1,2,3,4,5,6,7,8,9,10,11,12,13,150],lidar:[6,9,27,115,171,173,174,177,181,187,191],lidar_joint:174,lidar_link:[174,175],life:193,lifecycl:[26,28,109,146,153,155,156,166,170,172,177,183,188,190],lifecycle_manag:[97,178,188,190],lifecycle_manager_costmap_filt:[188,190],lifecycle_manager_navig:178,lifecycle_nod:[178,188,190],lifecyclemanag:157,lifecyclemanagercli:157,lifecyclenod:[27,157,164,166,182],lifecycleshutdown:26,lifecyclestartup:26,lifecyl:178,light:[111,157,159,180,188,190],lightli:99,like:[2,4,8,13,14,17,18,19,20,21,23,24,26,27,88,98,99,106,110,133,134,148,149,151,152,153,156,157,159,161,162,163,166,168,171,172,174,175,176,177,178,179,182,183,184,185,187,188,189,190,191,193,194],likelihood:86,likelihood_field:86,likelihood_field_prob:86,limit:[8,27,85,92,98,99,109,117,133,134,135,148,156,159,164,168,170,173,177,185,192,195],limitedaccelgener:95,line:[12,26,104,108,133,155,158,161,163,164,165,166,170,171,173,174,175,176,177,179,182,183,187,192],linear:[30,45,85,91,94,96,98,102,125,134,156,158,164,173,188,192],linear_acceler:173,linear_curv_chang:94,linear_granular:[95,125],linear_limit:[85,158],linear_max:[85,192],linear_min:[85,192],linear_solver_typ:91,linear_vel:164,linearli:[27,117,156,188,190],linecost:26,link:[1,2,3,4,5,6,7,8,9,10,11,12,13,16,19,108,151,157,173,174,175,176,187,192],links1:176,lint:151,linter:148,linux:[148,149,182,191],list:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,19,21,26,48,49,52,84,85,87,88,90,92,93,95,97,101,106,107,110,120,148,149,151,153,154,155,156,158,162,163,164,166,168,169,170,173,174,177,178,180,181,182,188,190,192,193,194],listen:[19,84,85,87,146,155],lit:180,littl:[177,182],live:[4,27,149,156,161,175,177,186,189,193],lld:147,load:[27,46,87,92,93,98,99,101,107,110,120,148,153,154,155,156,157,161,162,163,164,165,166,168,170,174,176,179,183,184,188,190,191,193],loadabl:[93,155,156,191],loadbehaviortre:166,loadlibrari:191,loadmap:86,local:[1,3,9,10,11,18,21,23,24,26,44,47,50,54,86,87,92,96,97,99,102,109,120,123,127,129,148,149,151,152,153,155,156,157,158,163,164,165,166,168,170,171,175,177,181,188,190,191,192,195],local_costmap:[18,21,22,23,24,38,39,40,85,87,89,93,112,114,161,162,163,171,174,181,188,190],local_costmap_top:[87,161],local_footprint_top:[87,161],local_fram:[87,158],local_or_glob:156,localization_lifecycle_manag:155,locat:[9,22,26,27,134,135,144,152,161,163,164,165,166,170,173,174,176,187],lock:[13,164,166],lockfil:148,locu:14,log:[149,151,157,161,162,173,174,182,192],log_level:192,logged_waypoint_follow:187,logger:157,logger_:[164,166],logic:[9,17,18,21,23,24,27,158,159,162,166,178,193],logininteractiveshel:148,logo:8,lon:187,longer:[8,22,80,94,133,157,158,159,161,182],longitud:187,longitude_deg:187,look:[0,2,11,18,52,87,102,137,141,144,151,152,153,155,159,162,170,173,174,175,176,177,178,183,187,188,190,191,192,193,194],lookahead:[96,102,156,164,194],lookahead_dist:[102,164],lookahead_dist_:164,lookahead_tim:[95,102,144],looker:[177,194],lookup:[57,157],lookup_table_s:[134,135],loop:[19,27,84,85,92,96,99,102,109,157,165,166,184],loop_rat:[110,156],loss:85,lot:[173,176,182],low:[5,18,19,66,99,104,109,134,154,168,177],lower:[14,18,66,85,87,99,111,134,157,158,174,177,178],lowest:[48,49,99,156,158,178],luckili:[175,182,193],luggag:185,macenski2020marathon2:153,macenski2023regul:153,macenski2023survei:153,macenski2024smac:153,macenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,102,153,168],machin:[4,27,148,149,173,174,175,178,193],macro:[134,135,161,162,163,164,165,166,176],made:[6,8,27,85,92,93,97,126,128,148,149,151,157,158,163,166,170,171,176,177,181,185,188,190,192],magnet:187,magnetic_declination_radian:187,magnetomet:187,mai:[0,3,4,5,6,10,14,21,23,24,26,27,41,80,84,85,87,88,92,96,99,101,102,104,106,107,110,112,114,134,135,140,147,148,151,153,155,156,157,158,159,162,163,166,169,170,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,190,193,194],main:[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],main_tree_to_execut:[17,18,19,20,21,22,23,24,25,89,162,185],mainli:[18,174,175,176],mainstai:[27,106],maintain:[0,8,14,15,94,148,151,153,157,158,166,168,169,174,177,178],maintre:[17,18,19,20,21,22,23,24,25,89,162,185],major:[10,13,27,106,153,156,159,161,166,169,171,176,182],make:[1,2,7,9,10,11,12,13,14,19,21,23,24,25,27,41,56,57,88,92,96,99,102,103,108,115,117,119,134,145,146,148,149,151,155,156,157,158,159,161,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,194],make_shar:166,make_uniqu:162,malfunct:84,malici:149,manag:[26,27,28,115,119,148,152,153,155,156,170,172,173,175,176,177,178,180,183,184],mandatori:[156,161,162,164,165,187,190],maneuv:[99,134,135,155,171],mani:[11,17,18,21,23,24,27,76,85,86,153,154,155,159,163,168,174,175,177,179,182,183,184,185,188,190,193,194],manipul:[10,26,27,93,171,176,184],manner:[27,153],manual:[0,57,97,147,148,152,173,178,183],manufactur:174,map:[26,27,28,41,42,43,46,60,78,86,87,88,92,93,101,110,111,114,115,117,118,119,133,134,135,146,152,153,154,156,159,162,163,164,165,166,168,170,171,173,175,177,181,184,186,187,188,190,192,193,195],map_filepath:26,map_fram:173,map_io:155,map_load:155,map_sav:[98,155],map_save_dur:191,map_saver_cli:[155,189],map_serv:[86,93,98,118,155,187,188,190],map_subscribe_transient_loc:[93,118,174],map_top:[86,93,118,174],mapped_name_of_plugin:[164,165],mapper_params_online_sync:182,mapping_mod:191,mapsav:157,mapserv:155,maptoworld:26,mapviz:187,marathon:153,march:27,marder:168,margin:[99,135],mark:[4,27,91,93,115,116,119,139,158,166,174,177,181,188,190,191,193],mark_threshold:[93,116,119,174,191],marker:[99,123,151,174,176],marker_lifetim:123,market:11,martin:[102,153],mask:[27,98,111,114,117,156,158,168,181],mask_top:[98,188,190],mask_valu:[98,111,117],mask_yaml_fil:[188,190],mass:[174,176,187,190],massiv:[134,161,174,181],master:[115,119,163,169,174],master_arrai:163,master_grid:[115,119,163],match:[6,41,59,72,73,74,86,87,88,99,107,134,135,158,162,164,171,177,178,187,192],matchsiz:163,matej:168,materi:176,matrix:[27,173],matt:14,matter:187,matthew:153,matur:[23,24],max:[91,96,99,102,115,116,119,133,134,135,159,164,174],max_accel:109,max_allowed_time_to_collis:102,max_allowed_time_to_collision_up_to_carrot:102,max_angl:174,max_angle_to_furthest:99,max_angular_accel:[102,103,194],max_angular_vel:164,max_angular_vel_:164,max_beam:86,max_decel:109,max_dur:26,max_height:[84,85],max_i:163,max_it:105,max_iter:[91,133,134,135],max_j:163,max_linear_accel:157,max_linear_decel:157,max_lookahead_dist:102,max_obstacle_height:[93,115,119,174,191],max_on_approach_iter:[133,134,135],max_particl:86,max_path_occupancy_ratio:99,max_planning_tim:[133,134,135,156],max_planning_time_m:156,max_point:[84,85,158,192],max_rat:83,max_robot_pose_search_dist:[57,96,99,102],max_rotational_vel:[87,161],max_scaling_factor:120,max_smoothing_dur:53,max_spe:[83,99],max_speed_xi:[95,122],max_vel_i:[95,122],max_vel_theta:[95,122],max_vel_x:[95,122,155],max_veloc:109,max_wheel_acceler:173,max_wheel_torqu:173,max_z:191,maxim:[91,99,177],maximum:[2,27,53,57,83,84,85,86,87,91,92,93,94,96,98,99,102,103,105,109,115,117,119,122,126,128,133,134,135,156,157,158,159,164,168,174,181,184,188,190],maxwithoutunknownoverwrit:[115,119,159],mayb:2,mcl:6,mean:[0,1,18,19,27,85,99,109,117,134,148,149,155,158,173,174,175,177,181,187,188,190],meaning:[157,166,178],meant:[84,85,108,157,158,172,177,184],meantim:13,measur:[9,25,92,99,115,119,134,135,156,158,168,173,174,175,176,181,184,187],mecanum:184,mechan:[5,11,85,163,182,184],medium:[1,7,8,9,11,12,13,169],meet:[85,92,99,109,127,129,144,151,159],member:[4,151,161,164,165,166],memori:[27,148,157,177,178,182,191],mention:[154,155,156,170,190,194],mentor:[0,1,2,3,4,5,6,7,8,9,10,11,12,13],menu:193,mere:148,merg:[5,13,148,151,155,163],meridian:187,merit:149,merzlyakov:[14,153,168],mesh:[27,176],messag:[11,26,27,29,30,41,42,43,44,45,47,50,54,55,84,85,86,87,90,92,93,101,115,117,119,148,151,156,158,159,161,162,164,166,173,178,184,187,188,190,192],message_success:161,messsag:151,met:[129,144,151,156,194],meta:[188,190],metadata:[27,148,166,188,190,193],metapackag:[5,159],meter:[17,25,26,27,86,93,94,100,103,133,134,135,180,181,187,194],method:[3,4,6,17,21,23,24,26,27,94,97,99,115,119,137,138,141,142,151,156,157,158,159,161,162,163,164,165,166,182,183,193],metric:[90,106,158,162],michael:168,micro:177,mid:27,middl:[104,170,177,190,193],middlewar:27,might:[27,86,99,109,134,135,156,159,166,171,173,174,182,183,188,190,193],migrat:[8,169],miguel:168,mike:14,millisecond:[88,132,156],mimic:[159,176],min:[116,164,169,174],min_angl:174,min_approach_linear_veloc:102,min_batteri:66,min_dist_to_obstacl:99,min_height:[84,85],min_i:163,min_j:163,min_lookahead_dist:102,min_obstacle_height:[93,115,119,174,191],min_particl:86,min_point:[84,85,158,159,192],min_r:[134,135],min_rat:83,min_rotational_vel:[87,161],min_spe:83,min_speed_theta:[95,122],min_speed_xi:[95,122],min_theta_velocity_threshold:[92,95,96,102,103,194],min_turning_r:99,min_turning_radiu:94,min_vel_i:[95,122],min_vel_x:[95,122],min_veloc:109,min_x_velocity_threshold:[92,95,96,102,103,194],min_y_velocity_threshold:[92,95,96,102,103,194],min_z:191,mind:[99,148,173,175,187],mini:184,minim:[2,11,99,152,157,158,166,170,173,177,184],minima:99,minimal_group_s:[112,181],minimum:[2,9,27,66,83,84,85,86,87,91,93,94,96,98,99,102,109,112,115,119,122,126,128,134,135,140,143,156,157,158,159,168,170,174,175],minimum_turning_radiu:[91,134],minor:[127,129,174],minut:[27,87,88,92,101,107,110,159,180],mirror:[99,135],misalign:181,misloc:181,miss:[13,85,92,109,147,156,159,176,177,183,193],mission:[153,161],mitig:187,mittal:168,mixin:[147,148],mixtur:86,mkdir:[147,188,190],mkhansen:14,mmethod:162,mnimum:126,mobil:[1,4,5,7,9,10,12,14,26,27,96,153,173,174,175,184],mock:184,modal:173,mode:[20,85,94,99,109,148,158,159,184,187,188,190,193],model:[4,27,28,84,85,86,91,106,115,119,134,148,152,153,155,156,168,170,173,174,176,177,186,187,191,192],model_dt:99,model_typ:191,modelplugin:173,moder:177,modern:[106,153,177,184],modest:99,modif:[27,148,151,156,157],modifi:[6,17,56,57,88,89,95,104,148,151,156,157,159,161,162,164,165,166,168,170,171,173,176,182,183,185,193],modu:194,modul:[29,30,41,42,43,45,46,48,49,55,58,88,97,110,159,163,184,187,192],modular:[6,149,153,168],mohammad:168,moment:158,monitor:[22,28,84,153,156,193,195],monitorandfollowpath:22,monocular:180,mont:[6,27,86,174],month:[151,184],moor:[15,153],more:[2,3,4,6,7,9,10,11,12,14,17,18,23,24,27,41,57,84,85,86,91,95,96,99,102,103,109,111,114,117,133,134,135,143,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],moreov:181,most:[9,18,21,23,24,85,86,87,88,92,99,101,103,106,107,110,152,157,162,168,173,174,175,177,179,182,183,184,187,194],mostli:174,mothership:161,motion:[3,4,27,28,86,91,134,135,143,144,156,168,170,173,175,184,187,192,193],motion_model:99,motion_model_for_search:134,motion_target:96,motion_target_dist:96,motiv:[10,157],motor:[109,153,187],mount:[148,149,175,187],move:[14,18,22,27,80,84,85,96,99,111,126,128,130,134,135,140,143,153,154,155,156,157,158,165,168,169,175,176,177,180,184,185,186,187,188,189,192],movecamera:176,moveit:[8,14],movement:[27,84,85,86,91,93,109,135,158,171,187,192],movement_time_allow:[92,95,96,102,103,126,128,158,194],mpc:[3,99,158,168,170],mppi:[158,168,169,177],mppicontrol:99,msg:[26,41,42,43,48,52,80,85,87,92,109,111,157,164,165,166,168,173],much:[27,91,96,102,109,134,151,153,155,156,158,175,176,177,187,188],multi:[7,10,11,26,27,156,157,168,170],multi_tb3_simulation_launch:159,multipl:[6,11,21,23,24,27,41,44,47,50,54,80,85,87,99,106,107,149,153,155,156,159,164,165,170,173,174,175,176,177,178,179,182,184,187,190,192],multipli:[98,111,117,133,134,188,190],multithread:0,multitud:[27,174],must:[4,14,19,26,27,60,86,93,94,96,98,102,105,109,112,115,119,126,128,134,135,136,147,151,155,157,158,161,162,164,165,166,168,170,173,174,175,178,179,180,183,186,189,191,192,193],my_camera:180,my_contain:178,my_gps_plugin:187,my_mark:174,my_nav_through_poses_bt:[88,166],my_nav_to_pose_bt:[88,159,166],my_packag:[88,159,166],my_world:174,myawesomenewnod:193,myplugin:[163,165,191],naiv:[106,133],name:[8,14,15,17,18,19,20,21,22,23,24,25,27,29,30,31,32,33,34,35,36,37,38,39,40,42,43,44,45,46,47,48,49,50,51,54,55,58,84,85,86,87,88,89,90,92,93,97,99,100,101,107,108,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,151,155,156,157,163,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,187,188,190,191,192,193,194],name_:[163,165],name_of_paramet:[164,165],namespac:[26,27,87,88,92,93,95,99,101,107,110,115,119,120,155,158,163,164,165,170,173,174,177,178,184,188,190,191,194],narrow:[99,134,148],narrowest:99,nasti:[106,157],nativ:[148,158],natur:[27,99,159,166,177,184],nav2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,18,20,21,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,150,151,152,154,155,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,179,180,184,187,189,191,193,194,195],nav2_amcl:[86,174,189],nav2_back_up_action_bt_nod:[88,162],nav2_behavior:[29,30,45,55,58,87,157,161],nav2_behavior_tre:[19,27,89,155,156,159,162,166,193],nav2_bringup:[152,155,156,157,158,161,163,164,165,166,171,174,177,181,182,183,185,186,188,189,190,192],nav2_bt_navig:[17,18,88,155,156,166,185,193],nav2_bt_waypoint_follow:27,nav2_ceres_costaware_smooth:[107,179],nav2_clear_costmap_service_bt_nod:88,nav2_collision_monitor:[90,192],nav2_common:[188,190],nav2_compute_path_to_pose_action_bt_nod:88,nav2_constrained_smooth:[91,157],nav2_control:[92,95,96,102,103,126,127,128,129,154,156,158,183,194],nav2_cor:[88,154,156,158,161,164,165,166],nav2_costmap_2d:[93,111,112,114,117,155,156,157,158,163,164,171,181,188,190],nav2_costmap_2d_mark:174,nav2_costmap_filters_demo:[188,190],nav2_default_view:186,nav2_depend_w:146,nav2_distance_controller_bt_nod:88,nav2_distance_traveled_condition_bt_nod:88,nav2_follow_path_action_bt_nod:88,nav2_gazebo_spawn:157,nav2_goal_reached_condition_bt_nod:88,nav2_goal_updated_condition_bt_nod:88,nav2_gps_waypoint_follower_demo:187,nav2_graceful_motion_control:96,nav2_gradient_costmap_plugin:163,nav2_gradient_costmap_plugin_cor:163,nav2_hfsm_navig:27,nav2_initial_pose_received_condition_bt_nod:88,nav2_is_stuck_condition_bt_nod:88,nav2_lifecycle_manag:[178,188,190],nav2_map_serv:[188,189,190],nav2_mppi_control:99,nav2_msg:[26,27,92,155,156,162,188,190],nav2_multirobot_param_al:159,nav2_multirobot_params_:159,nav2_navfn_plann:[100,101,165,170],nav2_param:[156,157,158,161,163,164,165,166,171,177,178,179,181,183,188,190,191],nav2_pipeline_sequence_bt_nod:88,nav2_plann:[42,43,154],nav2_pure_pursuit_control:164,nav2_rate_controller_bt_nod:88,nav2_recoveri:[154,157],nav2_recovery_node_bt_nod:88,nav2_regulated_pure_pursuit_control:[102,103,156],nav2_reinitialize_global_localization_service_bt_nod:88,nav2_rotation_shim_control:[103,157,194],nav2_round_robin_node_bt_nod:88,nav2_route_serv:178,nav2_sensor_driv:178,nav2_simple_command:[26,157,187],nav2_simulation_launch:152,nav2_single_trigger_bt_nod:88,nav2_smac_plann:[91,106,133,134,135,156],nav2_smooth:[91,104,105,107,179],nav2_sms_bahavior:161,nav2_sms_behavior:161,nav2_sms_behavior_plugin:161,nav2_speed_controller_bt_nod:88,nav2_spin_action_bt_nod:88,nav2_straightline_plann:165,nav2_straightline_planner_plugin:165,nav2_test_util:185,nav2_theta_star_plann:[108,156],nav2_time_expired_condition_bt_nod:88,nav2_transform_available_condition_bt_nod:88,nav2_tree_nod:193,nav2_util:[27,155,157,165,166],nav2_velocity_smooth:[109,157,192],nav2_w:[147,148,182],nav2_wait_action_bt_nod:[88,162],nav2_waypoint_follow:[27,110,130,131,132,154,156,158,159],nav2_world_model:154,nav:[14,26,94,156,157],nav_msg:[26,41,42,43,56,57,80,164,165,166,173,178,184],nav_path:41,navfn:[3,28,99,103,104,106,154,168,170,171,177,179,194],navfnplann:[100,101,165,170],navig:[0,1,2,3,5,6,10,13,14,15,16,17,20,26,28,41,60,61,62,63,78,81,83,89,99,106,110,148,151,153,154,156,159,161,162,164,167,169,171,172,173,174,175,176,177,178,179,183,184,185,191,193,194,195],navigate_through_pos:[88,166],navigate_through_poses_error_cod:[48,88],navigate_through_poses_w_replanning_and_recoveri:[48,49],navigate_to_pos:[88,166],navigate_to_pose_error_cod:[49,88],navigate_to_pose_w_replanning_and_recoveri:[18,166],navigate_to_pose_w_replanning_goal_patience_and_recoveri:157,navigate_w_replanning_and_recoveri:[156,162,193],navigate_w_replanning_and_round_robin_recoveri:156,navigaterecoveri:[18,21,22,23,24,89,162],navigatethroughpos:[88,89,166],navigatethroughposesnavig:[88,166,168],navigatetopos:[27,88,89,110,155,162,166,185],navigatetoposeact:27,navigatetoposenavig:[88,166,168],navigatewithreplan:[17,18,20,21,22,23,24,89,162,185],navigation2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,150,151,152,153,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194,195],navigation2_dynam:15,navigation2_tutori:[15,159,163,171,173,176,188,190],navigation_dur:26,navigation_launch:[157,171,174,183,189,192],navigation_lifecycle_manag:155,navigation_tim:[157,166],navigation_tutori:[161,164,165],navigatior:158,navigaton2:152,navigator_plugin:166,navigatorbas:166,navsat_transform:[27,187],navsat_transform_nod:[173,187],navsatfix:187,navthroughpos:[157,168],navtopos:157,ncancel:166,ndt:6,near_goal_dist:99,nearbi:[84,85,102,156,181],nearest:[96,99,102,188],nearli:[153,157,177],neccessari:[161,164,165,166,175],necess:[163,164,166],necessari:[11,22,26,96,99,102,134,135,148,156,158,159,161,163,166,171,173,174,175,176,177,178,181,183,190,194],necessarili:19,need:[2,4,11,13,21,22,23,24,26,27,41,44,47,50,54,80,85,87,88,91,92,93,94,99,101,102,107,110,134,147,148,149,151,153,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,190,192,193],need_recalculation_:163,neg:[109,134,135,156,162,173],negat:188,neglig:157,negoti:93,neigh:108,neighbor:[112,181],neighborhood:[99,168,170],neither:27,nest:[148,149,182],network:[11,27,148,154,157,162],neutral:191,never:[18,27,99,134,135,157,188,190],nevertheless:173,newer:[148,161,174],newest:[20,177],newli:[80,103,156,157,171,174,177,178,188,192,193,194],next:[4,5,18,19,21,22,23,24,27,41,99,109,110,130,132,148,152,154,155,161,163,164,165,166,168,170,171,173,174,175,176,181,190,193],next_target:193,nice:[27,161],no_inform:[115,119,181],no_readings_timeout:116,no_valid_control:[72,73,158],no_valid_rout:178,node:[0,17,18,20,21,22,23,24,26,28,44,47,50,52,54,56,57,59,60,61,64,70,72,73,74,76,77,78,79,80,81,82,83,88,91,97,106,108,109,131,134,135,146,148,154,155,161,162,164,165,166,169,170,172,173,175,176,177,180,184,185,186,187,188,189,190,192],node_:[157,161,162,163,164,165],node_nam:[97,178,182,188,190],nodebuild:162,nodeconfigur:162,nodeid:26,nodestatu:157,nois:[86,99,104,112,155,158,168,173,174,177,187,195],noisi:[156,173,181,187],nolint:166,nomenclatur:27,nomin:[21,23,24],non:[7,10,26,27,85,88,92,97,99,103,106,111,113,114,117,133,134,135,148,153,157,159,162,166,168,170,171,175,176,177,182,183,184,188,192,194],non_straight_penalti:[134,135],none:[26,44,47,48,49,50,54,84,158,159,166,177,178],nor:[99,183],normal:[99,134,148,157,182],north:187,notabl:149,note:[2,17,19,20,21,22,23,26,27,41,85,86,87,91,92,93,94,97,98,101,102,107,109,110,114,117,135,151,153,157,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,186,187,188,190,191,193,194],noteworthi:99,noth:[156,184],notic:[99,134,163,173,174,176,182,193],notif:149,notifi:[97,162,166],notion:178,notori:184,novel:[156,157],novelti:6,now:[11,18,19,21,22,85,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,179,182,183,184,185,186,187,191,193],nowher:159,nudg:168,num_attempt:22,num_coeff:180,num_cycl:25,number:[3,11,26,27,41,76,84,85,86,91,93,94,99,104,105,112,119,121,133,134,135,154,155,156,157,158,159,161,162,165,168,173,174,175,176,177,180,181,182,190,193],number_of_recoveri:166,number_of_retri:[18,19,21,22,23,24,76,89,162],number_recoveri:166,numer:158,numeric_limit:156,nutshel:27,nvidia:[4,184],nxm:180,object:[5,10,11,26,27,41,79,94,99,153,156,157,158,159,161,163,166,172,174,176,177,187,191,195],observ:[115,119,149,161,164,165,166,173,174,175,194],observation_persist:[115,119,191],observation_sourc:[84,85,93,115,119,174,191,192],obsolet:156,obstacl:[0,1,3,9,15,17,20,27,67,80,84,85,86,91,93,102,112,113,118,119,133,134,135,136,139,153,154,157,158,168,170,171,174,175,176,185,186,187,191,192,195],obstacle_clearance_tim:157,obstacle_lay:[93,111,114,117,156,163,174,181,187,188,190,191],obstacle_max_rang:[93,115,119,156,174],obstacle_min_rang:[93,115,119,156,174],obstacle_rang:191,obstaclecrit:159,obstaclefootprint:120,obstaclefootprintcrit:95,obstaclelay:[93,174,177],obstacles_angl:[84,85],obstaclescrit:[99,159],obstruct:180,obtain:[7,27,28,85,94,155,158,173,174,180,184],obvious:[154,177],occasion:[27,106],occdist_scal:120,occgridload:155,occup:[6,93,98,114,115,119,168,174,189],occupancygrid:[98,117,155,158,159,188,190],occupancygridupd:159,occupi:[20,27,93,98,99,115,116,119,158,174,188],occupied_thresh:[188,190],occupied_thresh_default:98,occur:[27,104,163,184,192],odd:104,odom0:[173,184,187],odom0_config:[173,187],odom1:[184,187],odom1_config:[184,187],odom1_differenti:184,odom1_pose_rejection_threshold:184,odom1_queue_s:184,odom1_rel:184,odom:[27,71,84,85,86,87,88,92,93,109,146,161,162,171,173,174,175,184,187,189,192],odom_dur:109,odom_fram:173,odom_frame_id:[84,85,86,192],odom_r:[84,85],odom_smooth:166,odom_smoother_:166,odom_top:[88,92,109,162],odometr:[25,27,184],odometri:[15,17,84,85,86,88,92,109,123,166,172,174,175,195],odometry_fram:173,odomsmooth:166,off:[20,99,103,109,111,151,157,158,159,161,176,182,194],offer:[27,96,170,187,191,193],offic:1,offici:[15,147,152,171,173,174,175,176],offlin:[135,157],offset:[94,175,176,178,187],offset_from_furthest:99,ofodom_fram:173,often:[19,27,91,157,173,187],old:[80,120,158,166,168],older:[92,95,96,102,103,152,194],omit:148,omni:[86,99,106,156,168,177,192],omnidirect:[86,99,103,106,135,157,168,170,173,177,184,194],omnimotionmodel:86,ompl:3,on_abort:162,on_activ:[27,161,164,165,166],on_cancel:162,on_cleanup:[161,164,165,166],on_complet:157,on_configur:[27,161,164,165,166],on_deactiv:[161,164,165,166],on_parameter_event_callback:157,on_success:162,on_tick:162,on_wait_for_result:[157,162],on_xyz:166,onactioncomplet:161,onc:[13,18,19,22,71,82,85,86,94,97,99,103,133,134,135,147,148,149,151,152,155,156,157,159,166,174,175,176,182,183,186,187,192,194],oncleanup:161,onconfigur:161,oncreatecommand:148,oncycleupd:161,one:[3,5,7,8,11,14,18,26,27,41,75,79,85,91,97,99,104,135,148,149,155,156,157,159,162,163,166,170,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,190,192,193,194],ones:[17,134,135,157,170,174,187],onfootprintchang:163,ongo:26,ongoalposereceiv:166,oniniti:163,onli:[0,3,9,11,18,19,20,27,42,43,52,76,82,84,85,86,90,91,93,94,99,105,110,114,134,135,144,148,153,154,155,156,158,159,161,162,163,165,168,169,171,172,173,174,175,176,177,179,181,182,183,184,187,188,189,193,194],onlin:[26,157],online_async_launch:[174,189],onloop:166,onpreempt:166,onrun:161,onto:[18,21,23,99,103,157,166,168,173,175,194],open:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,134,135,146,148,149,151,153,159,163,171,173,174,175,176,177,180,182,183,184,185,186,188,189,190,191,193],open_loop:109,opencl:7,openmp:7,opennav:[14,153],opennav_coverag:[41,94],opennav_row_coverag:94,openvdb:191,oper:[4,5,21,23,24,27,85,91,94,99,102,109,111,149,152,153,156,157,158,159,161,163,164,165,166,170,173,174,175,177,178,180,184,187,192,193],operandi:194,operation_width:94,opinion:177,opportun:[21,23,24,159,162,166],oppos:[27,135],opposit:[97,135,159,175,188],opt:[147,152,173,176,186,189],optim:[3,17,22,27,91,94,99,106,113,114,133,134,148,153,156,157,158,168,170,171,177,178,180,184,194],optimi:177,option:[2,3,6,9,42,43,84,85,86,91,94,99,134,149,156,157,158,163,174,176,179,180,181,182,183,184,185,191,193],options1:176,orang:193,orbit:[176,187],orchestr:[153,182,193],order:[1,11,27,41,93,94,97,99,110,113,117,153,154,156,157,159,162,163,164,166,171,173,174,176,177,178,179,180,184,188,190,193],order_id:94,ordinari:93,org:[14,15,151,153,155,176,177],organ:[14,147,148,164,165,193],organiz:22,orient:[56,57,91,96,99,100,102,104,108,127,129,133,134,135,144,152,159,163,165,170,173,174,184,186,187,188,189,190],orientaton:157,origin:[2,5,6,8,14,26,56,57,79,85,91,93,133,134,135,150,155,156,159,171,173,174,176,179,187,188,190],origin_i:[93,187],origin_x:[93,187],origin_z:[93,119,174,191],oscil:[95,104,105,140],oscillation_reset_angl:140,oscillation_reset_dist:140,oscillation_reset_tim:140,oscillationcrit:95,osrf:[87,88,92,101,107,110,187],ost:180,other:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,19,22,60,62,85,88,93,94,99,102,104,109,114,115,116,118,119,135,148,149,151,152,153,156,157,158,159,161,162,164,165,166,168,170,171,172,173,174,175,176,178,179,180,181,182,183,184,185,187,188,190,191,192,193,194],otherwis:[4,19,59,62,65,66,67,68,69,72,73,74,86,99,104,116,134,135,156,157,159,168,173,177,178,190],our:[0,11,14,16,27,98,135,148,149,151,157,161,162,163,164,165,166,170,173,174,175,176,178,181,182,183,184,185,187,188,190,191,192,193],ourselv:175,out:[0,1,9,13,14,19,20,21,26,27,80,85,88,89,99,104,109,133,134,135,148,151,153,155,156,157,158,159,161,164,165,166,168,173,174,175,177,182,183,187,188,192,193,194],outcom:99,outdat:91,outdoor:[111,184,187],outermost:[41,84,85],outlandish:184,outlin:[18,20,156,171,175],output:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,85,93,94,99,133,134,135,153,156,157,162,163,170,173,174,175,176,178,179,182,183,184,187,188,190,192,193],output_go:[20,21,52,79,185],output_path:[20,56,57,185],output_port:193,output_typ:174,outsid:[85,99,103,157,158,185,194],over:[5,6,8,11,14,18,20,26,27,52,83,85,93,99,136,151,153,156,157,158,159,166,170,171,173,174,177,178,180,184,187,188,191,192,194],overal:[7,18,75,94,134,159,170,174,184,187],overcam:157,overcom:99,overhead:[11,177],overlai:[148,149,187],overlaid:27,overlap:94,overlay_mixin:147,overli:99,overrid:[84,85,93,98,120,134,135,148,157,159,161,162,163,164,165,166],overridden:[87,92,93,98,101,155,156,159,162,163],overriden:[84,85,158],overrod:85,overshoot:[99,102,156],overview:[106,149,173,175],overwhelm:18,overwrit:[98,115,119],overwritten:[88,94,115,119,157],owen:168,own:[11,17,27,85,86,106,148,151,154,155,156,161,162,163,164,165,166,168,170,173,174,175,176,177,178,183,184,187,188,189,190,192],ownership:151,pablo:168,packag:[5,8,17,26,27,84,85,89,90,93,96,99,102,103,106,109,135,146,147,148,151,152,156,157,158,161,162,163,164,165,166,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,188,190,192,194],pad:93,padmanabhan:168,page:[0,2,3,8,27,88,90,92,106,111,114,117,156,158,179,181,184,188,190],pai:177,pain:[175,182],pair:[18,19,99,105,117,156,159,177,180,184,187,188,190,194],palett:[148,149,193],pallet:[27,93,171],pan:157,pancak:193,pane:[176,190],panel:[2,106,176,193],paper:[102,153,164],par:177,parabol:108,parallel:[7,13,187,192],param:[27,103,156,163,173,176,177,182,183,187,188,190,192],param_rewrit:[159,188,190],param_substitut:[188,190],param_tol:91,paramet:[2,13,18,19,25,27,28,41,48,49,66,78,81,83,95,148,154,155,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,186,187,188,190,192,193,194],parameter:[157,191,193],parameter_ev:173,parameterev:[157,173],parameteriz:193,parametervalu:[163,164,165],paramlog:157,params_fil:[161,164,165,166,171,177,188,190],paremet:158,parent:[18,19,71,148,156,161,163,164,165,173,174,175,176,182,187],parent_nod:166,park:[96,184],parma:165,pars:[2,27,94,148],parser:180,part:[27,31,32,35,36,37,56,57,85,86,106,114,134,135,151,155,157,163,170,171,174,176,179,184,192],partial:157,particip:[11,151],particl:[6,7,27,86,152,168,177,181],particlecloud:155,particular:[6,19,22,27,84,99,155,157,166,177,179,182,183,184,187],particularli:[27,104,148,174,188],pass:[20,21,23,24,44,47,50,52,70,93,97,99,103,120,136,147,157,168,183,185,188,194],passabl:156,passag:[134,135],passibl:188,passthrough:149,past:[14,171,173,174,176,187,191],patch:[149,151],path:[3,4,17,18,19,20,21,22,23,26,27,28,41,42,43,46,48,49,53,56,57,67,69,78,80,88,89,91,92,94,96,98,100,101,102,103,104,105,106,107,108,120,131,133,134,135,136,141,142,146,147,148,153,155,156,161,162,163,164,165,166,168,170,171,173,174,176,177,179,181,182,183,184,185,186,187,188,190,193,194],path_blackboard_id:[88,166],path_blackboard_id_:166,path_distance_bia:120,path_downsampling_factor:91,path_loc:57,path_max_count:184,path_resolut:99,path_upsampling_factor:91,pathalign:[95,120],pathaligncrit:[95,99],pathanglecrit:99,pathcompon:41,pathcomponentsiter:41,pathdist:[95,120],pathdistcrit:95,pathexpiringtim:[24,89,157],pathfind:171,pathfollowcrit:99,pathlongeronapproach:[22,89,168],patienc:158,patience_exceed:[72,158],patrol:[26,27],pattern:[18,19,94,180],paus:[17,132,152,154,156,157,158],payload:190,pdf:174,pedro:187,penal:[99,159],penalis:108,penalti:[99,134,135,143,157,159,177],pencil:188,pend:[27,166],peopl:[4,9,21,23,24,85,172],pepper:[158,177,181],per:[84,85,99,151,159,163,164,165,168,169,170,171,183,187],perceiv:[27,174],percent:[117,188,190],percentag:[66,86,116,117,164,168,183,188],percept:[10,27,153,168,172,174,180,191],perf:148,perfectli:[99,194],perform:[1,3,4,7,9,11,17,22,26,28,30,45,55,84,85,86,90,91,99,106,110,134,135,148,153,156,157,158,161,162,163,164,165,171,174,177,178,181,182,184,185,187,193],perhap:193,period:[18,89,91,148,154,157,163,166,168],perman:187,permiss:[27,85,92,109,159],permit:[4,151,188],perpetu:177,persist:[148,168],person:[20,22,26,148,151,185],perspect:85,perturb:[99,177],pf_err:86,pf_z:86,pgm:[188,190],phase:[3,6,135],phi:[96,116],phone:161,photo:[131,156,168],photoatwaypoint:[110,156,168],physic:[103,172,173,174,177,182,183,189,191,194,195],pick:[5,26,27,93,110,171,186,187],pictur:[26,27,110,163,187,188,190,192],pid:[148,183],piec:175,pipe:[19,158],pipelin:[168,180],pipelinesequ:[17,18,20,21,22,23,24,89,162,185],pitch:[173,177,184],pivot:177,pixel:[27,93,181,188],pkg:[88,157,159,166,173,176,182,183,186],pkg_share:[173,174,176],pkg_share_dir:166,place:[13,26,27,55,93,96,102,103,113,115,118,119,133,135,151,156,157,158,159,161,163,164,165,166,168,170,176,179,180,181,188,190,192,194],placehold:166,plai:[27,171,184],plan:[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],planar:[173,174,177,187],plane:[157,173,176,187],planned_footprint:[134,135],planner:[1,2,4,9,10,17,18,19,21,22,23,24,28,42,43,50,73,85,90,91,93,94,99,102,103,104,105,109,114,123,141,142,153,154,155,161,163,167,169,171,172,178,179,185,188,191,194],planner_id:[18,20,21,22,23,24,26,42,43,50,89,162,179,185],planner_plugin:[100,101,108,133,134,135,155,170],planner_selector:50,planner_serv:[97,100,101,108,133,134,135,156,165,170,178],plannerselector:[21,23,24,89,156],plannerserv:157,plant:94,plate:161,platform:[7,99,106,153,156,172,175,177,184,193,194],playlist:184,pleas:[0,2,3,14,19,26,27,85,92,94,102,111,114,117,151,153,155,159,161,163,168,170,171,174,175,177,179,181,182,186,188,189,190,191,192,193],plot:186,plu:[173,174],plugin:[1,5,11,12,13,17,19,26,27,41,42,43,46,53,86,88,91,96,99,100,102,103,104,105,107,108,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,152,153,169,171,172,176,178,181,183,185,187,188,190,192,193,194,195],plugin_id:[164,165,166],plugin_lib_nam:[88,162],plugin_nam:[163,165,191],plugin_name_:164,plugin_specific_paramet:[164,165,166],plugin_typ:[163,165,191],pluginlib:[3,27,154,161,163,164,165,166,179,191],pluginlib_export_class:[161,163,164,165,166],pluginlib_export_plugin_description_fil:[161,163,164,165,166],pluse:156,png:[131,156,188,190],pocket:99,point:[4,9,10,14,17,18,19,21,22,23,24,26,27,52,84,85,91,93,94,96,99,100,102,103,104,105,108,110,111,114,120,133,134,135,137,139,141,151,153,155,156,157,158,163,164,165,166,168,171,173,174,175,176,177,178,180,182,184,186,187,191,192,193,194],pointcloud2:[85,93,115,119,191,192],pointcloud:[84,85,93,158,174,187,191],pointcloudcutoff:174,pointcloudcutoffmax:174,pointcost:26,pointer:[156,157,161,162,163,164,165],pointstamp:187,polici:[99,174,176],poll:26,polygon:[26,27,41,90,93,158,171,192],polygon_front:[84,159],polygon_limit:85,polygon_nam:[84,85],polygon_pub_top:[84,85,159,192],polygon_slowdown:[85,192],polygon_stop:[85,192],polygon_sub_top:[84,85],polygonfront:[84,159],polygonlimit:85,polygons_frame_id:41,polygonslow:[85,192],polygonstop:[85,192],pool:99,poor:[27,184],pop:182,popul:[7,86,88,156,157,161,166,174,178,179,187],popular:[27,177,182],port:[19,88,151,155,156,157,162,174,179,185,193],portion:[18,85,92,109,159,179],portslist:162,pos_track:184,pos_tracking_en:184,pose2d:86,pose:[17,19,20,26,27,42,43,48,56,57,62,64,79,86,91,96,99,100,102,108,125,127,129,133,134,135,137,138,146,152,153,154,155,156,157,159,163,164,165,166,168,173,174,176,177,184,185,187,189,192],posearrai:155,poseprogresscheck:[92,168],posestamp:[26,42,43,48,49,52,57,79,156,157,164,165,166,178,189],posewhen:99,posewithcovari:173,posewithcovariancestamp:173,posit:[1,4,57,84,85,92,96,127,128,129,152,154,156,157,159,162,163,164,165,166,173,174,175,176,177,181,184,185,186,187,189],position_sens:187,possibl:[2,14,27,87,96,99,102,148,153,156,157,158,164,166,170,171,177,181,182,184,187,188,190,192],post:[0,14,84,85,86,111,114,117,134,135,151,179,192],postcreatecommand:148,potenti:[0,1,6,7,9,10,27,85,90,102,133,134,135,153,156,157,158,159,168,174,181,182,183,184,187,192],power:[4,18,91,99,149,153,157,177],power_supply_statu:65,power_supply_status_charg:65,pr2441:157,pr2454:157,pr2456:157,pr2459:157,pr2469:157,pr2479:157,pr2480:157,pr2483:157,pr2489:157,pr2993:157,practic:[85,99,148,151,156,161,163,164,165,166,175,177,184,187,188,192],pradheep:168,pre:[10,62,85,87,88,89,98,99,102,135,148,153,168,177,186,187,188,194],prebuild:148,precis:[27,156,171],precise_goal_check:[46,47,156],precompil:148,precomput:[94,135,157],predefin:[27,187],predict:[28,85,156,159,168,184],prediction_horizon_:99,predomin:151,preeemption:166,preempt:[18,20,26,155,162,166,168],preemption:[21,23,159,162,166],preemptiv:[148,159],prefer:[0,27,98,103,109,114,134,135,148,149,152,156,157,159,168,176,177,183,188,194],preferenti:99,preferforwardcrit:[95,99],preferr:176,prefix:[94,161,163,164,165,166,176,182,183,186],prepar:[173,176,178],prerequisit:[22,150,174],presenc:[4,99,177,188],present:[22,85,109,115,119,148,155,157,158,159,163,164,166,168,174,177,192],preset:192,press:180,presum:97,pretti:[174,175,177],prevent:[9,18,27,29,85,86,90,91,96,99,102,109,115,119,134,135,140,145,148,156,157,158,159,168,177,178,181,188],preview:2,previou:[19,24,85,99,134,151,156,158,159,163,166,168,171,173,174,176,177,187,190,191],previous:[13,156,157,158,159,164,166,174,182,183,187,192],primari:[1,6,18,103,104,157,174,176,178],primarili:[18,157,171,177],primary_control:[103,194],prime:177,primit:[25,27,134,135,157,159,176],princip:[163,180,190],principl:188,print:[26,91,157,182],printenv:146,prior:[19,80,86,154,157],priorit:[85,92,109,157,159],prioriti:[84,85,92,109,151,158,159,166,178],prioriz:[85,92,109,159],privat:14,privileg:[148,149],probabalist:168,probabilist:155,probabl:[20,98,116,134,135,158,174,179],probe:[19,148],problem:[22,51,97,157,165,166,168,177,182],problemat:[91,102,182],proccess:182,proce:[166,176,184],proceed:98,process:[5,7,8,11,22,26,27,28,53,86,88,92,93,99,101,102,104,116,134,135,147,148,150,152,155,156,158,159,161,162,166,168,172,176,177,178,181,182,183,184,187,191,192,193,194],processor:[7,99,177],produc:[4,27,84,85,87,88,92,96,99,101,107,110,157,158,159,161,165,170,174,177,184,187,192],product:[9,27,137,138,141,142,148,149,153,184],profession:[21,23,24,153],profil:[1,2,3,4,5,6,7,8,9,10,11,12,13,99,182,195],program:[2,26,27,91,106,134,135,148,153,157,182,183,185],progress:[4,68,92,99,102,126,128,148,151,158,169,177,194],progress_check:[92,95,96,102,103,194],progress_checker_id:158,progress_checker_plugin:[92,95,96,102,103,155,194],progress_checker_plugin_id:[126,128],progresscheck:155,project:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,27,84,85,87,94,99,102,125,147,148,149,151,157,163,169,171,173,174,175,176,178,181,187,188,190,192,193,194],project_nam:[173,174,176],projection_tim:87,promis:157,promot:19,prompt:[2,149,182],prone:27,proof:27,proper:[91,175,176],properli:[9,26,136,153,157,171,172,173,174,175,176,181,187,188,190],properti:[19,85,148,173,174,192],propig:178,proport:[19,99,134,135,188,191],proportion:[109,134,164],propos:[0,6,155,156,157,187],proprtion:99,protect:151,provenli:27,provid:[2,4,7,11,17,18,19,21,23,24,26,27,28,41,44,47,50,54,59,85,86,88,89,93,98,99,104,109,115,119,141,142,147,148,149,151,152,153,157,158,159,161,162,163,164,165,166,169,170,172,173,174,175,176,177,178,179,181,182,184,185,186,187,189,193],providedbasicport:162,providedport:162,prox_len:[22,80],proxim:[22,52,80,99,102,156,157,159,192],prudent:149,prune:[99,120,134,148,159],prune_dist:[99,120,158,159],prune_plan:120,psutil:157,pub:189,publish:[20,44,47,50,54,84,85,86,88,92,93,95,98,99,109,110,111,114,117,119,120,130,134,135,152,154,155,156,157,159,161,164,166,168,171,173,174,177,179,180,184,185,186,187,189,192],publish_acceler:173,publish_cost_grid_pc:123,publish_evalu:123,publish_filtered_gp:187,publish_frequ:[93,174],publish_global_plan:123,publish_local_plan:123,publish_map_tf:184,publish_odom:173,publish_odom_tf:173,publish_tf:[173,184,187],publish_trajectori:123,publish_transformed_plan:123,publish_voxel_map:[93,119,174,191],publish_wheel_tf:173,published_footprint:[85,87,104,105,107,161,171,179],publishfeedback:166,pull:[14,147,148,149,151,155,156,157,168,177,182,193],pure:[28,96,99,153,156,157,158,161,163,165,166,168,170,177,184,194],pure_pursuit_controller_plugin:164,purepursuitcontrol:164,purpl:91,purpos:[10,27,84,151,153,158,162,166,170,176,184,185,187,189,190],pursuit:[28,153,156,157,168,170,177,194],push:[91,148,151,169],push_back:165,put:[11,91,157,163,168,176,178,187,192],pycostmap2d:26,python3:[2,12,13,26,153,156,157,158],python:[4,10,135,153,156,173,187,188,190],qos_depth:184,quadrat:134,quadrup:184,qualifi:86,qualiti:[3,8,25,27,91,99,105,106,134,135,151,153,157,159,173,184,187],quantiz:134,quaternion:[156,173,175],queri:[156,157,168,170],question:[0,151],queue:151,quick:[18,134,135,175,188],quickli:[7,148,151,157,175,177,193],quirk:[157,177,194],quit:[19,149,157,182,184,187],r8g8b8:174,race:148,racewai:187,rad:[87,92,94,96,99,102,103,122,126,127,129,134,140,144,192,194],radar:[27,173,174,191],radar_msg:174,radial:180,radian:[55,84,85,86,99,102,103,194],radii:[99,102],radio:187,radiu:[21,27,52,84,85,91,93,94,96,99,102,113,126,128,134,135,136,157,168,170,171,174,176],ragged:27,rai:[7,174],rais:[87,88,92,101,107,110,182],random:[86,158],randomli:[99,177],rang:[4,7,66,84,85,86,93,102,115,117,119,148,155,156,159,168,169,176,177,178,181,182,184,188,190,192],rangelay:177,ranger:174,rangesensorlay:155,rare:[155,157],raster:[177,188,190],rate:[9,12,18,19,78,81,83,84,85,86,92,96,109,110,115,119,154,156,159,161,168,176,184,185],ratecontrol:[18,20,21,22,23,24,89,162,185],rather:[19,21,23,24,27,86,91,93,99,134,148,154,155,156,157,159,166,168,175,177,182,189],ratio:[96,134,135,176,180],raw:[87,107,153,179,182,187,188,190],raycast:[112,115,119,168,177],raytrac:[115,119,156,174],raytrace_max_rang:[93,115,119,156,174],raytrace_min_rang:[93,115,119,156,174],raytrace_rang:156,rcl:[87,88,92,101,107,110,159],rcl_interfac:[157,173],rclcpp:[11,94,163,164,165,166],rclcpp_action:166,rclcpp_compon:178,rclcpp_error:[165,166],rclcpp_info:[161,165,166],rclcpp_lifecycl:[164,166],rclcpp_node:157,rclcpp_node_:157,rclcpp_warn:[162,166],rclpy:[26,157],reach:[0,14,18,19,22,92,99,127,129,132,133,163,164,168],react:[157,176],reaction:18,reactiv:[21,23,185],reactivefallback:[18,19,21,22,23,24,89,162],reactivesequ:[21,22,24],read:[6,8,18,27,84,85,116,149,156,157,168,174,182,187,188,190],readabl:176,reader:[172,194],readi:[22,147,148,151,152,157,163,176,177,182,184,188,190,192],readili:147,readm:[84,85,90,96,99,102,103,106,108,109,135,155,156,157,158,177],real:[4,9,12,27,85,92,109,151,173,174,175,176,180,185,187],realist:12,realiti:27,realli:[27,91,177,188],realtim:159,reason:[6,27,84,85,99,133,134,135,151,157,163,166,171,175,177,182,187,192],reattempt:[21,23,24],rebuild:182,rebuilt:148,recal:[19,174],recalcul:163,receiv:[18,19,26,27,44,47,50,54,79,84,85,92,103,106,109,116,118,155,157,158,159,161,164,166,168,173,174,175,177,185,187,194],recent:[9,52,152,177,184],recharg:[18,27],reckon:27,recogn:181,recomend:157,recommend:[1,2,3,4,5,6,7,9,10,12,27,84,85,97,99,102,104,105,148,151,152,159,164,170,171,173,174,175,176,177,179,184,186,187,189,191,192,193,194],recompil:[163,182],recomput:18,reconfigur:[13,17,156,157,170,178,187],reconnect:97,record:[151,187],recov:[18,86,97],recoveri:[2,17,21,22,23,24,29,30,55,58,76,87,88,89,153,154,155,158,161,162,166,168,179],recoveries_serv:[157,161],recovery_alpha_fast:86,recovery_alpha_slow:86,recovery_count:166,recovery_plugin:[155,157,161],recovery_serv:157,recoveryact:[18,21,22,23,24,89,162],recoveryfallback:[18,21,22,23,24,89,162],recoverynod:[18,19,21,22,23,24,89,162],recreat:148,rectangular:[91,171],rectifi:27,recurs:[104,105,134,135],red:179,redd:134,redesign:14,redistribut:151,reduc:[0,27,96,99,102,104,105,109,134,135,148,151,154,155,156,158,177,178,187],reduct:155,redund:155,reed:[91,134,135,156,157,168,170],reeds_shepp:[94,134],reedshepp:157,ref:[1,2,3,4,5,6,7,8,9,10,11,12,13],refactor:[151,154],refer:[3,18,27,60,62,78,85,87,88,92,93,96,102,104,106,111,114,117,147,148,149,154,155,157,158,161,162,163,164,165,166,170,171,172,173,174,175,176,181,185,187,188,190,192,193],referenc:[163,173,174,192],refin:[27,91,105,134,135,152,157],refinement_num:[104,105,134,135,158],reflect:[148,156,159,174,176],refus:99,regard:[0,19,157,166,176,177],regardless:[84,85,109,149,163,173,183],regener:99,regenerate_nois:99,regim:[99,177],region:[39,41,84,99,168],regist:[27,89,161,162,163,164,165,166,174,191],registerbuild:162,registr:191,registri:[147,148],regul:[28,153,156,157,164,168,170,177,194],regular:[27,29],regularli:170,regulated_linear_scaling_min_radiu:102,regulated_linear_scaling_min_spe:102,regulatedpurepursuitcontrol:[102,103],rehash:158,reimplement:[5,6],reinit:168,reiniti:168,reinitialize_global_loc:51,reinitializegloballoc:89,reject:[134,135,157,166,184,187],rel:[8,27,57,84,85,93,99,109,155,159,170,171,173,175,177,183,184,187],relat:[4,11,13,14,25,27,85,90,111,112,114,117,147,148,156,157,159,172,175,176,187],relationship:[99,175],relav:161,relax:148,releas:[26,154,155,169,191],relev:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,94,99,153,154,162,166,184,187],reli:[182,187],reliabl:[6,12,44,47,50,54,149,153,174,176],reloc:51,relwithdebinfo:183,remain:[13,18,19,20,27,91,99,123,148,149,154,155,156,157,159,161,162,163,164,165,181,194],remaind:27,remap:[31,32,33,34,35,36,37,41,42,43,46,156,157,173,174,178,179,182,183,184,185,187,192],remark:27,rememb:[14,102,146,148,175,176,187],remot:[148,149,161,162,182],remote_containers_ipc:148,remote_containers_socket:148,remov:[11,20,21,52,56,57,94,98,104,112,115,119,134,135,148,154,155,168,173,174,177,179,181,182,183,184,187,191,192,193,194],removepassedgo:[21,89,156,159],renam:[87,148,155,156,157],renavig:18,render:149,reopen:149,reorder:94,rep145:173,rep:[27,153,156,169,173,175,187],repeat:[25,99,147,163,175,176],repeatedli:[188,190],repetit:[158,176],replac:[4,5,10,11,88,91,154,157,158,159,161,163,165,166,177,179,181,184,187,189,191,192],replan:[17,19,20,21,23,52,78,83,89,120,134,135,155,156,177,185],replic:148,repo:[12,27,108,147,149,185,187,191],report:[12,86,99,151,156,158,162,174],repositori:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,102,147,148,149,153,161,163,164,165,169,171,173,174,176,177,188,190,191],repres:[10,12,18,27,99,102,134,153,156,164,169,173,174,176,182,184,187],represent:[10,93,134,170,174,175,187],reproduc:[147,148],repuls:99,repulsion_weight:99,reput:8,request:[11,14,18,20,26,27,87,88,92,94,98,99,100,101,103,107,133,134,135,148,149,151,155,156,157,158,159,161,162,166,168,177,178,179,182,189,190,193,194],requir:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,27,86,91,97,99,103,108,109,117,134,135,148,151,156,157,158,170,173,174,175,176,177,178,182,184,185,191,194],required_movement_angl:[126,158],required_movement_radiu:[92,95,96,102,103,126,128,194],rerun:148,resampl:[86,99],resample_interv:86,research:[9,14,27],resembl:19,reserv:[21,23,24,158,178,184],reset:[69,86,99,140,152,155,156,157,162,163,166,168],reset_dist:[38,39,156],reset_period:99,resiz:118,resolut:[26,93,99,119,133,134,135,156,163,168,170,171,174,186,188,190],resolv:[21,23,24,97,155,157,179,191],resour:165,resourc:[26,27,85,87,92,99,107,109,148,157,158,161,164,166,171,172,173,175,177,178,183,188,191],respawn:[97,177,192],respawn_delai:192,respect:[4,27,103,114,156,157,162,169,170,173,174,176,177,187,191,194],respond:[0,178],respons:[19,21,23,24,27,38,39,40,85,97,157,161,166,170,178],rest:[18,38,39,85,92,99,109,131,149,159,173,174,175,178,183,187],restart:148,restrict:[27,85,117,156,158,159,168,177,187,190],result:[9,19,26,27,56,57,79,85,87,88,91,92,94,99,101,102,104,105,107,108,110,151,153,155,156,161,162,163,166,168,177,178,180,181,184,192,193,194],resultstatu:161,resum:158,retain:[19,61,104,105,133,134,135],retick:19,retrain:4,retransit:157,retreiv:10,retri:[17,21,23,24,76,168],retriev:[164,165,166],retrofit:184,retrospect:157,retrospective_penalti:[134,135],retry_attempt_limit:99,retryuntilsuccesful:22,retryuntilsuccess:22,retryuntilsucessful:22,retun:[99,157,177],reus:[27,148,161,176,178],revers:[91,99,102,106,109,134,135,157,159,178,190],reverse_penalti:[134,135],reversing_en:91,revert:182,review:[0,13,88,148,149,151,166,177],revisit:[149,158],rework:153,rewrit:159,rewrittenyaml:[156,188,190],rfid:26,rgb:174,rgba:176,rgbd:9,rich:27,right:[27,99,108,109,134,135,151,152,157,173,175,180,181,183,187],right_joint:173,right_wheel_est_vel:173,righthand:131,rigid:[176,177],rise:91,roam:171,robbin:77,robin:[19,168],robocup:185,robot:[1,2,4,5,6,7,8,9,10,12,13,14,18,19,20,21,22,23,24,25,26,30,38,39,45,51,52,56,57,60,62,68,78,80,83,84,85,86,87,88,90,91,92,93,94,96,99,102,103,106,107,109,110,111,113,114,115,117,119,126,127,128,129,130,132,133,134,135,136,137,138,139,140,141,143,144,145,149,152,153,154,155,156,158,163,164,165,166,168,170,174,175,178,179,181,182,183,185,186,187,188,190,191,192,193,194,195],robot_base_fram:[52,60,62,78,87,88,93,104,105,107,161,162,163,166,173,174,179],robot_descript:[173,176],robot_fram:57,robot_loc:[15,27,110,173,175,184,187],robot_localization_nod:173,robot_model_typ:[86,157],robot_nam:177,robot_navig:26,robot_radiu:[27,93,163,171,174,177],robot_sdf:177,robot_state_publish:[174,175,176],robot_state_publisher_nod:[173,176],robot_width:94,robotech:91,roboticist:27,robotmodel1:176,robotmodel:176,robust:[4,6,27,193],rocker:149,role:[14,27,162,166,170,171,182],roll:[87,93,98,99,146,148,169,173,177,184,187,193],rolling_window:[93,174,187],room:[10,99,177,186,188,190],root:[17,18,19,20,21,22,23,24,25,89,147,148,149,157,161,162,164,165,166,173,174,176,185,193],root_kei:[188,190],ros1:[153,155,156,174],ros2:[146,152,157,161,163,164,165,166,171,173,174,175,176,180,181,182,183,184,185,186,187,188,189,190,191,192],ros2_control:173,ros:[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],ros__paramet:[60,62,84,85,86,87,88,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,155,156,159,161,162,164,165,166,170,173,174,179,181,187,188,190,191,192,194],ros_distro:147,ros_w:147,roscon:[1,189,191],rosdep:[146,147,148],rosdistro:146,rosout:173,rot_stopped_veloc:129,rotat:[26,27,28,55,85,86,87,91,96,99,102,109,122,126,127,129,133,135,144,158,159,164,168,169,170,173,175,176,187,192,195],rotate_to_heading_angular_vel:[102,103,194],rotate_to_heading_min_angl:102,rotatetogo:95,rotatetogoalcrit:95,rotation_penalti:135,rotation_scaling_factor:96,rotational_acc_lim:[87,161],rotationshimcontrol:[103,194],rough:[102,103,157,176,177,194],roughli:[99,106,152],round:[19,77,85,168,172],roundrobin:[18,21,22,23,24,89],rout:[3,10,26,27,41,94,99,134,166,169,177,178],route_error_code_id:178,route_id:178,route_msg:178,route_serv:178,route_tim:178,routeserv:178,row:94,rowsareswath:94,rpp:[170,177,194],rpy:[174,176,187],rsj:153,rst:168,rtk:187,rtprio:[85,92,109,159],ruffin:[14,148,153],ruffsl:14,rule:[10,27,164,165,175],run:[0,3,4,7,9,14,19,26,27,75,78,81,83,86,87,88,92,94,97,98,99,101,106,107,110,131,134,135,146,147,148,149,151,155,156,157,159,168,170,172,175,177,178,180,182,183,184,186,187,189,192,193],runarg:148,runtim:[27,156,157,161,162,163,164,165,166,187,191],rviz2:[166,176,186],rviz:[152,163,164,165,166,172,173,177,181,184,187,189,190,193],rviz_common:176,rviz_config_fil:177,rviz_default_plugin:176,rviz_nod:[173,176],rvizconfig:176,ryzhikov:168,safe:[9,13,27,102,147,156,161,162,170,174,175,177],safer:9,safeti:[0,1,27,85,90,97,154,155,156,168,169,177,188,189,192],sai:[11,18,19,27,151,182],said:[170,187],sake:18,salt:[158,177,181],sam_bot:[171,173,174,176],sam_bot_descript:[171,173,174,176],sambot:171,same:[11,18,26,27,41,61,63,84,85,86,88,91,99,102,109,133,134,135,148,149,151,152,153,154,155,157,158,159,161,163,166,174,176,177,178,182,183,184,187,188,190,191,192,194],sampl:[6,27,99,103,121,131,158,159,170,171,173,174,177,185,187],samsung:14,san:[14,184],sandbox:189,saniti:187,sarthak:168,satellit:187,satisfact:99,satisfi:173,sausag:149,save:[86,98,131,134,135,155,156,157,168,171,176,177,180,185,187,188,189,190,193],save_images_dir:131,save_map:155,save_map_timeout:[98,156],save_pose_r:86,saver:[28,111,114,117,156,188,190],savitzki:[28,168],savitzky_golay_smooth:104,savitzkygolaysmooth:104,scalabl:27,scale:[9,27,95,96,99,102,104,120,134,136,137,138,139,140,141,142,143,144,145,156,168,175,176,177,188,190,192],scale_veloc:109,scaling_spe:120,scan:[6,9,26,84,85,86,93,168,174,175,192],scan_top:[86,174],scanner:[6,84,85,115,119,174,192],scenario:[18,22,96,170,192],scene:[27,99,154],schedul:[85,92,109,159],schema:[147,148],scheme:[8,174],school:27,scope:[4,148,159,173,174,184,185,192],score:[94,99,120,136,137,138,139,141,142,143,159,170,177],scratch:148,screen:[157,161,173,174,176,178,182,183,188,190,192,193],script:[98,148,158,159,168,188,190,192],sdf:[157,173,174],sdk:184,sdl:154,se2:[99,114,134,135,153,157,168,177],search:[27,57,96,99,102,103,106,120,133,134,135,146,156,157,159,170,177,194],sec:[83,162,189],secant:187,seccomp:148,second:[9,18,19,21,23,24,27,29,30,45,53,55,69,70,75,76,80,85,87,88,92,97,98,99,101,103,107,110,130,131,133,134,135,156,157,159,162,168,173,174,175,178,180,181,187,188,190],section:[17,18,27,85,91,99,150,151,153,157,159,163,168,170,171,172,173,174,175,176,177,178,181,182,184,190],secur:[26,27,85,92,109,148,150,159],see:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,18,19,22,27,29,30,41,42,43,45,46,53,55,67,84,85,88,90,91,95,96,99,102,103,106,108,109,115,119,135,146,147,151,152,153,155,156,157,158,159,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,193,194],seek:7,seem:99,seen:[17,22,106,135,157,162,163,173,178,193],segment:[91,99,104,108,148,170,171,174,179,181],select:[2,3,5,7,17,27,44,47,50,54,84,85,86,99,100,103,108,111,112,113,114,115,116,117,118,119,133,134,135,148,149,156,158,162,163,168,171,172,174,176,179,181,182,183,185,188,190,193,194],selected_control:44,selected_goal_check:47,selected_plann:50,selected_smooth:54,selector:[21,23,24,168],self:[147,149],self_client_:166,semant:[0,26,93,153,156,175,178,187],semi:[87,88,92,101,107,110],send:[0,9,26,92,93,94,102,109,157,159,161,162,166,185,187],send_goal:161,send_messag:161,send_sm:161,sendsm:161,senior:151,sens:[175,184,187,191,193],sensibl:114,sensit:[6,85,92,109,111,134,158,159],sensor:[1,5,7,9,21,23,24,27,84,85,90,93,112,115,119,148,153,155,156,158,168,170,171,172,173,175,176,177,178,181,184,187,191,192],sensor_driv:178,sensor_fram:[115,119,176],sensor_msg:[65,66,85,173],sensorplugin:173,sent:[64,109,157,158,159,161,166,185],sentin:166,separ:[27,84,85,93,99,114,148,153,156,157,159,163,173,175,178,182,183,188,189,193],separet:159,seper:[179,182],septemb:[26,184],sequenc:[18,19,20,21,22,23,24,25,89,99,148,158,168,173,178,179,185],sequencestar:[22,162],sequenti:153,seri:[171,173,182],serial:184,seriou:[177,182],serious:151,serv:[18,22,153,157,174],server:[10,11,13,17,18,19,22,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,53,54,55,58,72,73,74,80,85,86,88,93,95,97,99,104,105,109,110,111,114,117,120,121,122,123,124,125,126,127,128,129,136,137,138,139,140,143,144,145,146,152,153,154,156,161,162,163,164,165,166,168,169,173,177,179,182,183,187,191,192,193,194,195],server_nam:[29,30,31,32,33,34,35,36,37,41,42,43,45,46,48,49,55,58,156],server_timeout:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,51,55,58,67,88,156],servic:[19,27,31,32,33,34,35,36,37,38,39,40,51,86,88,98,102,148,149,155,156,158,161,168,170,173,180,187],service_nam:[18,21,22,23,24,31,32,33,34,35,36,37,38,39,40,51,89,162],servicet:157,session:[133,134,135,148,182],set:[1,2,3,9,10,13,17,21,23,24,26,27,29,30,41,42,43,45,46,53,55,57,59,66,84,85,86,91,92,93,94,96,97,98,99,100,102,106,108,109,110,111,115,117,118,119,120,133,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,162,163,164,165,166,168,172,177,178,179,180,182,183,185,186,187,188,189,190,191,192,194],set_angl:94,set_camera_info:180,set_initial_pos:86,set_pos:173,setcost:26,setcostmap:26,setinitialpos:[26,157],setplan:164,setspeedlimit:164,setup:[2,27,146,147,148,149,152,159,163,171,174,175,176,177,178,182,184,188,189,190,192],sever:[51,85,89,90,99,106,148,151,156,187],shadow:186,shape:[27,84,85,93,106,153,158,170,171,172,176,177,188,190,192],share:[11,27,85,87,88,107,133,148,152,157,161,163,164,165,166,173,174,176,177,186,194],shared_ptr:[157,161,164,166],sharedptr:[157,166],sharp:[96,99,159,177],sharper:[96,102],sheep:[134,135,157],shelf:26,shell:148,shelv:26,shepp:[91,134,156,168,170],shift:[148,149],shim:[28,168,169,177,195],ship:[16,26],shoot:27,shop:184,short_circuit_trajectory_evalu:[95,120],shortcut:[96,102,134,135,157,161,163,164,165,166],shorten:158,shorten_transformed_plan:[120,158],shorter:[22,56,57,134,135,168,176,185],shortest:[27,170],should:[1,2,3,6,9,11,17,18,22,27,41,72,73,74,76,83,84,85,87,88,91,92,93,96,98,99,101,102,107,109,110,112,115,117,119,134,135,149,151,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,189,190,192,193,194],shouldn:99,shovel:27,show:[2,26,117,135,149,152,157,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],showcas:187,shown:[13,18,26,99,151,152,156,162,166,170,171,173,174,178,179,185,187,190,192,193],shrijit:153,shut:[26,27,178],shutdown:[27,157,178],shutter:184,shuttingdown:178,sid:161,side:[25,38,39,93,99,131,148,174,176,178,181,183,193],sidebar:[151,180,183],siemen:193,sig:182,sight:[104,170,187],sigma_hit:86,sign:[0,109,151],signal:[9,104,168,183,187],signatur:[162,166],signific:[8,9,99,177,187],significantli:[7,9,17,22,23,24,80,99,103,134,157,159,168,177,187,194],silent:156,sim_tim:[95,124,125],simiar:175,similar:[7,9,10,19,21,23,26,27,84,96,98,99,106,147,149,156,157,162,170,173,174,176,177,179,182,184,187,191,193,194],similarli:[21,23,84,90,159,173],simpl:[3,27,28,104,112,134,135,149,151,154,161,162,163,165,168,170,171,175,176,177,179,182,185,187,189,193,194],simple_smooth:[53,105,107,179],simplegoalcheck:[46,92,95,96,102,103,120,156,168,194],simpleprogresscheck:[92,95,96,102,103,158,168,194],simpler:[134,175,176],simplesmooth:[54,105,107,179],simplest:162,simpli:[17,99,134,148,151,156,157,161,162,173,176,177,182,188,190,191,193],simplic:188,simplifi:[6,152,155,162,164,166,182],simul:[1,2,3,4,5,6,7,9,10,11,12,13,85,88,99,103,124,125,146,152,159,161,163,164,165,166,171,172,176,177,182,183,186,187,188,189,190,191],simulate_ahead_tim:[87,103,161,194],simulation_time_step:[85,87],simultan:[148,163,174,188,190],sinc:[6,27,41,91,94,99,102,103,105,114,134,135,156,157,159,163,166,170,171,172,173,174,175,176,177,178,179,182,184,187,188,190,192,193,194],singh:[102,153,168],singl:[11,19,21,23,24,26,27,92,98,99,110,134,135,151,154,155,156,157,162,163,165,168,173,174,175,176,177,178,179,182,183,184,187,191],singletrigg:[89,156],singular:177,sister:156,sit:9,situat:[1,10,18,21,23,24,27,85,102,152,153,156,157,168,171,174,177,179,182,183,184],size:[26,27,38,39,94,118,134,135,157,163,169,170,171,173,174,176,177,180,181,184,187,188,190,191],skew:180,skid:[156,170,184],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,182],skillset:7,skinni:177,skip:[86,94,99,161,173],skirt:157,slack:[0,14,27,151],slam:[6,15,93,118,153,154,155,174,175,177,182,184,186,195],slam_toolbox:[15,147,182,189],sleep:[85,132,162],slide:176,slider:[176,188],slight:104,slightli:[99,104,109,133,134],slop:180,slow:[85,86,96,99,102,117,144,156,158,159,177,182,190,192],slowdown:[85,192],slowdown_radiu:96,slowdown_ratio:[85,192],slower:[84,85,181],slowing_factor:[95,144],slowli:99,smac:[28,91,99,102,103,114,153,156,169,170,171,194],smac_plann:102,smacplann:168,smacplanner2d:[106,133,156,168],smacplannerhybrid:[106,134,157,168],smacplannerlattic:[106,135,168],small:[99,109,134,155,158,166,168,169,171,173,176,177,181,184,186,187,194],smaller:[13,18,27,96,102,112,134,135,157,184,188,190],smart:[27,111],smooth:[20,26,27,53,83,91,96,99,103,104,105,107,109,133,134,135,153,156,157,158,159,168,173,177,179,187,192,194],smooth_path:[134,135],smoothed_path:[26,53,179],smoothed_path_in_collis:[74,158],smoother:[28,53,54,74,133,134,135,153,159,166,169,170,178,192,195],smoother_error_cod:[74,88,179],smoother_id:[26,53,179],smoother_plugin:[91,104,105,107,179],smoother_selector:54,smoother_serv:[91,104,105,107,178,179],smootherselector:89,smoothing_complet:53,smoothing_dur:53,smoothing_duration_us:53,smoothing_frequ:109,smoothing_path_error_cod:53,smoothli:[99,177],smoothpath:[26,89,91,157,179],sms:161,snake:94,snippet:[18,161,164,165,166,171,173,174,176,178,182],snuff:159,soc:4,soccer:[27,187],socket:149,soft:[22,85,92,99,109],soften:104,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,102,151,158,174,177,178,182],sole:[159,193],solut:[27,87,88,92,99,101,107,110,134,135,177,181,184],solv:[22,146,165,182],solver:[91,168],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,54,84,87,88,92,99,101,104,106,107,109,110,114,134,148,151,154,156,157,159,162,164,165,166,170,171,173,174,175,176,177,181,182,184,185,187,188,192,193],someon:[11,14],someth:[0,18,19,26,151,157,173,175,182,187,188],sometim:[18,151,177,193],somewhat:[134,177,194],somewher:190,sonar:[27,85,116,158,174,177,191,192],sonoma:187,soon:27,sooner:188,sound:[84,159],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,115,119,146,148,150,151,152,153,157,161,162,163,164,165,166,171,172,173,174,175,176,180,182,184,186,187,188,189,190,191,192],source_fil:[188,190],source_timeout:[84,85,192],south:187,space:[1,4,10,20,27,84,85,86,93,98,99,100,102,108,111,115,118,119,133,134,135,148,149,156,157,168,170,173,177,181,186,188],span:[14,153,187,192],sparingli:99,spars:[26,27,168,177,191],sparse_normal_choleski:91,spatial:[27,99,156],spatio:[168,191],spatio_temporal_voxel_lay:191,spatiotemporalvoxellay:[177,191],spawn:[148,171,173,174],spawn_ent:[157,173],speak:[134,183],special:[27,80,84,85,92,94,151,158,162,163,193],specif:[2,3,6,11,17,18,21,22,23,24,26,27,30,45,89,93,99,102,135,148,149,154,155,156,157,158,159,162,164,165,166,170,173,174,175,177,179,180,182,188,189,193,194],specifi:[18,21,22,23,24,26,41,48,49,57,66,76,84,85,88,93,98,99,115,119,131,132,134,135,147,148,149,155,156,157,158,159,162,163,164,165,168,170,173,174,175,177,180,183,187,192],speed:[2,7,9,19,25,26,27,30,45,83,85,87,91,92,93,98,99,102,109,114,122,133,134,135,147,148,156,157,159,164,166,168,170,177,184,187,192,195],speed_filt:[93,117,190],speed_filter_mask:190,speed_limit:[92,117,190],speed_limit_top:[92,117,190],speed_mask:190,speed_param:190,speedcontrol:[18,89,155],speedfilt:[93,117,156,177,190],spend:18,spent:183,sphere:[171,174,176],sphere_inertia:176,spheric:[176,187],spherical_coordin:187,sphinx_doc:168,spike:[134,135,157],spin:[11,18,19,21,22,23,24,25,26,27,36,89,145,155,156,157,158,161,162,168],spin_dist:[18,21,22,23,24,25,26,55,89,162],spin_error_cod:55,spinner:11,spiral:[94,157,177],spite:173,spline:3,split:[155,187],splitter:176,sponsor:14,spot:[21,23,24,135,152,161],squar:[25,38,39,84,85,93,159,180],squash:119,src:[146,147,148,163,173,174,176,182,188,190],ssh:[148,149,182],stabil:[154,155,156,157,158,159],stabl:[96,102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,26,27,78,81,83,92,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[27,93,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[85,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,86,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[95,120],star:[28,170,177],start:[4,5,12,19,20,21,23,24,26,27,42,43,57,84,85,91,96,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,27,97,146,148,152,155,178,180,188,190],state:[3,15,19,21,23,24,26,61,85,91,92,93,95,96,97,99,102,103,106,109,111,127,129,133,152,153,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[85,158],statement:151,static_lay:[93,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[93,174,177],station:[27,170],statist:[4,9,183],statu:[17,27,151,153,157,161,162,188],status1:176,status:[26,166],std:[59,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[91,133,157,174,177,184],step:[19,27,85,87,94,99,135,174,176,182,183,184,192],step_siz:26,stereo:[85,180,184],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:[18,19,26,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,20,27,75,85,90,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[85,192],stoppedgoalcheck:[92,168],storag:[148,166],store:[86,93,115,119,148,153,158,163,164,166,174,175,183,187],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:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,57,58,60,62,71,78,79,84,85,86,87,88,91,92,93,94,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:27,structur:[6,8,18,27,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,18,21,23,24,27,29,30,45,55,68,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[93,191],style:[21,23,24,177,191],sub:[0,21,23,24,85,157,159,192],subcommand:148,subfield:184,subject:[27,99,173],submit:[13,151,168],suboptim:[99,177,184],subpoli:85,subproject:13,subscrib:[27,44,47,50,54,65,66,79,85,86,92,116,118,156,159,173,174,185,187],subscribe_to_upd:[93,118],subscript:[79,84,85,156,159,166,168,173,178],subsect:[148,174],subsequ:[19,27,86,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[88,176,185,188,190],subsystem:96,subtleti:166,subtli:157,subtre:[17,19,21,22,23,24,27,38,39,40,89,162,168],succe:[18,19,75,76,168],succeed:[26,82,157,161,165],success:[14,18,19,22,27,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,76,99,156,157,158,159,161,162,168,176,181,187,194],successfulli:[1,18,27,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,18,27,99,135,144,166,181,183,184],suffix:183,suggest:[19,91,99,170,175,176],suit:[0,148],suitabl:[91,103,157,168,170,175,177,194],sum:[86,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summer:[5,11],superior:158,suppli:[11,27,78,81,83,88],support:[2,6,13,14,26,27,44,47,50,54,84,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,26,88,99,115,119,146,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[27,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:27,swap:[157,158],swath:[41,94],sweep:[96,176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[27,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,85,86,92,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],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:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,80,84,85,86,87,88,92,94,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,190,194],taken:[4,62,76,84,85,91,99,117,131,156,163,166,188,190],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:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,52,79,85,88,90,94,99,103,110,151,153,154,156,158,161,162,166,170,171,172,174,177,179,184,185,187,193,194,195],taskexecutor:26,taskresult:[26,157],tb3:159,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:[27,170],teb:[3,99,154,158,168,170,177,194],teb_local_plann:155,teblocalplann:155,technic:[8,21,23,24,151,161,163,164,165,166,188],techniqu:[3,4,6,27,85,104,105,106,156,174,177,184,187],technolog:[8,14,153,184,187],tediou:176,teleop:[0,26,29,87,168,187],teleop_twist_keyboard:187,teleoper:187,telepres:1,tell:[27,151,159,161,162,163,173,182,187],temperatur:99,templat:[106,147,151,156,162,166,172,176,182],tempor:[168,177,191],temporari:[21,22,23,24,87,88,92,101,107,110,184,188,190],tend:194,term:[94,99,151,159,166,174,175,184,188],termin:[91,105,133,134,135,146,152,155,161,171,173,174,180,182,183,185,186,187,189],terminatependinggo:166,test:[0,3,4,6,87,99,135,148,151,159,169,173,180,185,189,191,193],text:[161,163,191],tf1:176,tf2:[27,155,172,173,175,176,177],tf2_echo:[173,175],tf2_msg:173,tf2_ro:[164,171,173,175],tf2_tool:174,tf_:[164,165],tf_broadcast:86,tf_static:157,tfmessag:173,than:[19,21,23,24,27,56,57,62,66,80,85,86,87,88,92,93,94,96,97,99,101,102,103,107,109,110,111,112,134,135,148,155,156,157,158,159,164,166,168,175,177,181,182,183,184,185,187,188,189,192,194],thank:14,thei:[0,7,18,19,21,23,24,27,84,85,88,94,97,99,106,145,148,149,151,153,155,156,157,158,159,161,162,164,165,166,170,172,173,174,175,176,177,178,182,183,187,188,192,193],theinput:173,them:[4,7,21,26,27,84,92,94,99,110,114,115,119,135,148,149,151,153,154,156,157,158,159,161,162,163,164,165,171,174,175,176,177,178,179,182,183,184,186,187,188,189,190,192,193,194],themselv:[166,193],theoret:99,theori:99,therebi:151,therefor:[19,22,84,99,176,177,178,182,187,188,190,192,193],theta:[26,28,96,103,104,109,156,168,170,177,194],theta_max:[85,192],theta_min:[85,192],theta_scal:143,thetastarplann:[108,168],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,47,50,52,54,55,58,61,72,73,74,80,82,84,85,86,87,88,89,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,133,134,135,136,148,149,150,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],thing:[13,27,149,157,158,163,164,165,173,176,177,182,183,190],think:[0,8,27,177],third:[75,164,188,190],those:[9,14,27,104,148,157,170,174,176,177,178,179,182],though:[19,21,99,135,177,178,184,187,188,190,192],thought:[27,157,162],thrash:184,thread:[7,11,13,26,27,85,92,99,109,159,182],three:[25,27,106,158,175,177,178,187],threshhold:98,threshold:[62,85,92,98,99,102,103,111,140,157,168,184,186,188,190,194],threshold_to_consid:[99,159],throttl:[81,155,168],through:[1,9,17,18,19,22,23,24,26,27,28,41,42,97,99,108,115,119,134,135,148,151,152,153,155,156,157,158,159,163,168,170,172,173,174,175,176,177,178,182,183,184,187,188,189,190,191,194],throughout:[2,61,148,154,157,176,178,184],thrown:157,thu:[84,85,91,99,108,109,170,173,174,183,184,187],thusli:[171,177,194],tick:[18,19,21,22,23,24,27,61,75,78,81,82,83,157,162,168],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,27,146,151,155,156,157,177,182,193],tie:4,tied:[27,135],tight:[103,135,170,177,194],tighter:177,tightli:184,tile:187,till:75,tilt:180,time:[0,1,3,4,6,7,8,9,11,14,18,19,20,21,22,23,24,25,26,27,29,30,41,45,53,55,57,58,70,75,76,84,85,86,87,88,92,93,99,102,103,104,105,106,109,111,114,116,117,124,125,126,128,130,131,132,133,134,135,144,147,148,149,151,154,155,157,162,163,166,168,169,170,171,173,175,177,178,179,181,182,183,184,185,186,187,188,190,191,192,193,194],time_allow:[25,26,29,30,45,55,87,157],time_before_collis:85,time_granular:125,time_step:99,timedbehavior:161,timeexpir:89,timeexpiredcondit:155,timelin:151,timeout:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,55,58,73,74,85,87,88,92,94,97,98,101,107,109,110,130,155,161,162,192],timer:[69,159,168,174],timestamp:[26,131,159,173],timestep:99,timezon:151,tini:104,tip:[172,177,188],tireless:14,titl:153,tmp:[131,148,180],to_entri:148,to_numb:161,togeth:[19,27,94,173,175,184,187],toggle_filt:158,token:161,tol:168,toler:[18,27,57,62,87,88,91,93,96,99,100,102,103,105,107,118,120,127,129,133,134,135,144,156,157,159,165,168,179,186,194],tom:15,ton:182,too:[18,99,108,134,135,156,157,159,177,179],took:108,tool:[2,4,15,27,146,147,148,149,151,153,155,156,166,172,174,175,176,182,183,187,188],toolbar:185,toolbox:[27,153,154,174,177,182,189],top:[5,7,11,18,93,161,163,164,165,166,175,179,180,181,183,188,190,193],topic:[0,19,20,21,23,24,27,44,47,50,54,65,66,79,84,85,86,87,88,90,92,93,98,107,109,111,114,115,116,117,118,119,120,130,131,134,135,151,154,155,156,157,158,159,166,168,171,172,173,174,175,176,177,178,179,180,183,184,185,186,187,188,189,190,191,192],topic_nam:[44,47,50,54,98,188,190],torqu:109,total:[27,30,99,133,134,135,181],total_number_of_loop:165,touch:139,toward:[20,68,84,85,91,99,103,134,135,157,159,165,168,177,180,186,187,194],trace:182,track:[6,26,27,93,99,102,103,151,153,157,158,159,164,166,168,177,179,182,184,194],track_unknown_spac:[93,174,191],tracker:[0,99],trackingrout:26,tractabl:155,tractor:187,trade:[99,194],tradeoff:133,traffic:[154,168],trait:[159,177],trajectori:[3,4,10,85,90,96,109,120,123,125,136,137,138,139,141,142,143,156,158,159,165,168,170,171,177],trajectory_generator_nam:120,trajectory_point_step:99,trajectory_step:99,trajectoryvisu:99,tranform:174,trans_stopped_veloc:[95,129,144],transfer:5,transform:[5,15,27,71,84,85,86,87,88,93,96,99,102,107,111,114,117,120,146,152,153,155,156,157,164,168,171,172,173,174,176,177,184,188,189],transform_timeout:[87,104,105,107,161,179],transform_toler:[57,60,62,84,85,86,87,88,93,95,96,99,102,107,111,114,117,118,120,164,166,191,192],transform_tolerance_:164,transformavail:89,transformglobalplan:164,transit:[27,97,104,155,157,166,177,178,179,183,194],translat:[30,45,86,102,122,126,156,158,168,173,175,177],translation_backward:[85,192],translation_forward:[85,192],transpar:151,transport:148,transvers:175,travel:[19,27,45,60,78,99,133,134,135,157,168,173,174],travers:[25,27,99,113,133,134,135,157,159,175],treat:[93,191],tree:[1,2,11,20,21,22,23,24,25,28,29,30,48,49,55,58,60,62,75,76,77,78,79,80,81,82,83,146,152,153,154,157,159,163,166,167,170,174,175,176,178,179,184,187,195],treenod:193,treenodesmodel:193,trend:[134,135],tri:[27,155,164],triangl:[84,85],triangular:116,trick:[172,182],trig:157,trigger:[11,18,19,21,23,24,27,51,78,80,82,84,85,96,99,102,103,111,148,155,156,157,158,168,178,179,192,194],trilater:187,trim:57,trinari:[188,190],trinary_costmap:93,trivial:[7,27,151,158,161,192,193],troubleshoot:147,truli:[11,177],truncat:[20,56,57,91,168],truncated_path:[20,56,185],truncatepath:[20,89,155,185],truncatepathloc:[89,91],trust:[11,149,153,184,187],trustworthi:187,trytoresolvesmoothererrorcod:179,tsc:151,tudela:168,tunabl:28,tune:[1,9,25,98,99,103,108,134,157,172,184,187,188,190,192,194],tunnel:149,turn:[25,41,91,94,99,102,109,111,134,135,148,156,157,158,159,168,170,176,177,179,181,182,187,194],turtl:98,turtlebot3:[147,152,161,162,163,164,165,166,179,181,186,188,189,190],turtlebot3_bringup:[186,189],turtlebot3_gazebo:152,turtlebot3_model:[152,186,189],turtlebot3_world:[98,152,188,190],turtlebot:[152,187,195],tutori:[3,8,15,18,84,85,88,89,156,158,159,168,169,170,171,172,173,174,175,176,177,178,182,183,184,192,193,194],tutorials_w:[188,190],tweak:148,twilio:161,twirling_cost_pow:99,twirling_cost_weight:99,twirlingcrit:[95,99],twist:[0,29,85,87,92,99,109,159,164,173,187],twistamp:169,twiststamp:[0,85,87,92,109,164],twistwithcovari:173,twistwithcovariancestamp:173,two:[3,18,19,27,76,84,85,91,100,106,108,133,148,156,157,158,161,164,165,166,170,173,174,175,176,178,181,183,184,187,190,191,192],two_d_mod:[173,184,187],txt:[161,163,164,165,166,173,174,176,180,182,183],type:[8,17,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,148,149,152,153,155,156,157,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,184,185,187,188,190,191,192,193,194],typenam:[157,166],typic:[9,18,19,27,84,85,134,135,151,157,164,171,173,175,177,181,184,188,189,190,194],uav:184,ubuntu:191,udrf:2,uint16:[29,30,41,42,43,45,46,48,49,53,55,178],uint8:26,ukf:184,ukf_localization_nod:173,ukf_nod:173,ultim:22,unabl:[0,133,157],unaccept:[84,85,181],unaffect:148,unchang:148,unclear:27,uncom:[91,148],unconfigur:[27,178],undeclar:187,under:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,88,115,119,148,149,151,155,156,157,158,161,162,168,170,171,173,174,176,179,182,184,187,191],underlai:148,underli:[27,191],understand:[11,21,23,24,27,108,151,166,181,182,183,187,188,191],understood:188,undesir:188,unfair:8,unfamiliar:[11,27,184],unfilt:177,unfold:190,unid:184,unifi:176,uniform:159,unintend:148,uniqu:[21,23,24,27,85,148,153,155,156,159,161,162,166],unique_tb3_simulation_launch:159,unit:[27,87,88,92,94,97,101,107,110,151,169,175],univers:[5,175],unix:182,unknown:[27,72,73,74,93,100,108,113,119,133,134,135,158,178,188],unknown_cost_valu:93,unknown_threshold:[93,119,191],unless:[18,19,96,97,102,135,151],unlesscondit:[173,176],unlik:[18,84,161,181],unmodifi:148,unnecessari:[99,181],unord:158,unpredict:190,unreach:[133,134,135],unrespons:178,unsaf:[134,135,157],unscent:173,unsign:[59,72,73,74,163],unsmooth:179,unsmoothed_path:[53,179],unspecifi:[85,173],unsuit:151,unsynchron:180,untick:19,until:[18,19,20,26,27,75,85,103,120,134,135,146,148,156,164,166,168,173,182,185,187,191],untouch:[155,164,192],unus:99,unwant:[157,190],unzip:180,updat:[6,7,11,12,18,19,20,27,61,69,79,86,93,106,114,118,148,151,154,157,158,159,161,162,163,164,166,168,171,173,175,177,181,184,185,187,189,190,193],update_footprint_en:191,update_frequ:[93,174],update_min_a:86,update_min_d:86,update_r:[173,174,187],updatebound:163,updatecontentcommand:148,updatecost:163,updated_go:[20,79,185],updatego:155,updater:174,updatewithaddit:163,updatewithmax:163,updatewithoverwrit:163,updatewithtrueoverwrit:163,upgrad:[148,155],upon:[0,3,18,19,76,151,157,165,176],upper:[96,102],ups:99,upsampl:91,urdf:[2,27,152,171,172,175,177,184,189],urdf_config:176,usag:[11,26,111,148,175,176,178,187,192],usb:[148,184],use:[0,1,3,4,8,9,10,11,13,17,19,20,21,22,23,24,26,27,41,42,43,46,53,66,79,84,85,86,87,88,91,92,93,94,96,99,100,101,102,103,104,105,107,109,114,115,119,120,134,135,136,146,148,150,151,152,153,154,155,156,157,158,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],use_approach_linear_velocity_sc:157,use_astar:[100,156,165],use_collision_detect:102,use_composit:[157,177,182,183],use_cost_regulated_linear_velocity_sc:102,use_final_approach_orient:[100,108,133],use_fixed_curvature_lookahead:[102,158],use_maximum:93,use_namespac:177,use_odometry_yaw:187,use_path_orient:[99,159],use_quadratic_cost_penalti:[134,159],use_rclcpp_nod:157,use_realtime_prior:[85,92,109,159],use_regulated_linear_velocity_sc:102,use_respawn:[157,177,192],use_robot_state_pub:177,use_rotate_to_head:102,use_rviz:[177,187],use_sim:186,use_sim_tim:[88,91,92,93,95,96,102,103,108,133,134,135,159,161,162,163,165,166,171,173,174,177,182,183,186,188,190,191,192,194],use_simul:177,use_start:[26,156],use_velocity_scaled_lookahead_dist:102,used:[0,1,5,13,14,15,17,18,19,21,22,23,24,25,26,27,29,30,42,43,44,47,50,52,53,54,55,57,58,66,77,78,81,83,85,86,87,88,91,92,93,98,99,101,106,107,110,115,117,119,134,135,147,148,149,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,188,190,192,193],useful:[0,17,19,20,21,23,24,27,79,85,86,99,104,148,149,156,157,159,162,171,173,174,175,176,177,178,183,184,185,188,190,191,193],useless:18,user:[1,2,3,7,9,14,17,21,22,23,24,26,27,28,41,76,80,84,85,86,105,110,116,130,134,148,149,151,153,155,156,157,158,159,166,168,172,174,177,178,182,183,184,187,189,191,192,194],userenvprob:148,usernam:[85,92,109,159],userspac:[85,92,109,159],uses:[5,6,19,27,48,49,84,85,86,87,91,92,93,99,100,104,106,109,115,119,146,153,154,155,158,159,161,162,168,170,173,174,175,176,177,180,186,187,191],usign:94,using:[4,5,6,7,8,9,10,13,14,16,17,18,20,21,23,24,25,26,27,31,32,33,34,35,36,37,41,42,43,46,51,85,86,88,89,90,91,93,94,95,98,99,102,104,105,106,108,110,114,131,134,135,146,147,148,149,152,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,175,177,178,179,180,182,183,184,185,186,187,189,190,191,192,193,194],usr:[182,191],usual:[19,27,44,47,50,106,148,156,163,173,175,178,182,183,187,188],util:[21,22,23,24,27,41,94,99,135,148,153,156,157,158,159,162,170,171,173,176,183,188,190,191],utm:[94,187],v_angular_max:96,v_linear_max:96,v_linear_min:96,valgrind:[182,183],valid:[27,67,84,85,86,91,94,111,114,115,117,119,134,135,153,158,166,168,174,177,187],valu:[44,47,50,54,66,84,85,86,87,88,91,92,93,96,98,99,101,102,105,107,108,110,111,115,116,117,119,133,134,135,148,151,156,157,158,159,161,162,163,164,165,166,168,171,173,174,175,176,177,179,181,182,186,187,188,190,192,193,194],valuabl:[7,11,151],vargovcik:168,vari:[99,102],variabl:[13,17,41,42,43,46,48,49,53,62,80,86,88,116,146,147,148,152,159,161,162,164,165,174,179,188,190,191,193],variant:[3,6,27,99,102,156,168,170],variat:[102,156,166,168,170,173],varient:156,varieti:[27,161],variou:[5,27,87,99,107,147,148,157,158,168,169,173,175,176],vast:[157,161],vcstool:147,vector:[21,27,41,42,48,52,84,85,87,88,92,93,94,97,99,100,101,104,107,108,109,114,115,116,119,120,133,157,158,159,163,165,166,171,177,182,188,190,191],vectorcrash:182,vectorobject:177,vehicl:[1,4,99,106,134,135,153,156,168,170],vel_poli:85,veloc:[1,4,9,13,28,83,84,85,87,90,92,96,99,102,103,117,121,122,129,140,143,144,153,156,159,161,164,168,169,170,173,177,192,194],velocity_polygon:[85,192],velocity_polygon_stop:[85,192],velocity_smooth:[109,192],velocity_timeout:109,velocitypolgon:159,velocitypolygonstop:[85,192],velocitysmooth:[158,192],vendor:174,verb:148,verbos:[173,174,177],veri:[6,7,11,14,16,17,21,23,27,99,104,134,151,157,159,169,171,175,176,177,184,194],verifi:[4,27,139,149,173,174,176,187],version:[23,24,27,91,120,146,147,149,152,156,164,174,176],vertex:[84,85,180],vertic:[112,187,192],vertical_fov_angl:191,via:[13,19,20,21,23,24,27,41,44,47,50,64,84,85,86,90,106,147,148,149,151,153,157,158,159,161,166,168,175,177,178,179,183,189,191,193],viabl:166,viapoint:[52,168],vicin:173,video:[22,148,163,184,185,186,191,193],view:[84,85,152,157,176,180,184,191,192,193],view_fram:174,vigil:149,vio:[27,169,173,175,195],violat:19,virtual:[20,85,99,157,161,162,163,164,165,166,173,176],visibl:[161,162,164,165,166,176],vision:[27,91,174,184],vision_msg:174,visit:[1,27,134,135,151,187],visual:[2,84,85,88,89,148,149,153,157,159,173,177,179,183,184,187,189,190,191,192],visualis:158,visualization_mark:174,viz_expans:159,vocabulari:19,volatil:176,voltag:66,volum:148,volumet:191,volumetr:168,vornoi:3,voxel:[7,93,158,168,174,181,191],voxel_decai:191,voxel_grid:[174,191],voxel_lay:[93,112,114,156,163,171,174,181,188],voxel_marked_cloud:156,voxel_min_point:191,voxel_s:191,voxel_unknown_cloud:156,voxellay:[93,174,177],vpitch:[173,184],vroll:[173,184],vscode:148,vslam:153,vslamcomparison2021:153,vtheta_sampl:[95,121],vx_max:99,vx_min:99,vx_sampl:[95,121],vx_std:99,vy_max:99,vy_sampl:[95,121],vy_std:99,vyaw:[173,184],w_cost:91,w_cost_cusp_multipli:91,w_curv:91,w_data:[105,133,134,135],w_dist:91,w_euc_cost:108,w_heuristic_cost:108,w_smooth:[91,105,133,134,135],w_traversal_cost:108,waffl:[152,186,187,189],wai:[2,9,18,21,23,24,27,80,88,97,99,110,112,134,135,145,147,156,157,158,159,171,175,177,178,179,182,187,189,191,194],wait:[13,18,19,21,22,23,24,26,27,37,86,87,88,89,93,110,130,132,149,152,154,157,161,162,168,174,178],wait_act:162,wait_at_waypoint:[110,156],wait_dur:[18,21,22,23,24,58,89,162],wait_for_action_serv:88,wait_for_datum:187,wait_for_service_timeout:88,wait_serv:58,waitact:162,waitatwaypoint:[110,156,168],waituntilnav2act:[26,157],wake:99,walk:[18,19,27,148,184,187],walkthrough:17,wall:[159,177],wallac:[14,153,168],want:[21,23,24,26,27,84,99,148,156,159,161,162,163,164,165,166,173,175,176,177,178,179,182,183,184,186,187,189,193],warehous:[26,27,171,177,188],warn:[84,101,116,134,135,155,192],was_complet:53,watch:152,watchdog:[9,97,140,153,155],water:19,wavefront:[100,157],waypoint:[26,28,96,130,131,132,153,154,156,157,178],waypoint_follow:[97,110,156,159,178],waypoint_imag:131,waypoint_pause_dur:[110,132,156],waypoint_task_executor:[130,131,132],waypoint_task_executor_plugin:[110,156],waypoint_task_executor_plugin_id:[130,131,132],waypointfollow:157,waypointtaskexecutor:156,weak:164,weakptr:[164,166],wear:109,web:[8,149],websit:[15,18,159],weigh:[136,137,138,139,140,141,142,143,144,145],weight1:91,weight2:91,weight:[27,57,86,91,99,105,108,133,134,135,143,155,157,159,177,184,188],welcom:151,well:[0,1,4,6,14,18,19,21,23,24,26,92,98,99,137,141,142,148,155,156,157,159,170,174,175,177,179,180,181,182,184,187,188,190,191,193],went:[177,187],were:[11,14,18,27,87,154,155,156,157,158,159,175,176,177,178,188,190,192],wgs84:187,what:[2,6,19,27,99,120,150,151,157,169,173,174,175,176,178,179,186,187],whatev:163,wheel:[27,96,173,175,176,184,187],wheel_diamet:173,wheel_radiu:[173,176],wheel_separ:173,wheel_width:176,wheel_xoff:176,wheel_ygap:[173,176],wheel_zoff:176,when:[11,18,19,20,21,23,27,41,57,60,64,66,70,78,80,81,83,84,85,86,87,92,93,94,96,97,99,101,102,103,108,109,110,111,114,117,131,134,135,140,144,146,148,149,151,153,155,156,157,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,187,188,190,192,193,194],whenev:[148,149,157,186,189],where:[1,6,10,13,17,19,22,26,27,84,85,96,99,105,111,117,119,131,135,136,147,148,151,152,155,156,157,159,162,163,164,165,166,168,171,173,174,175,176,177,178,183,186,187,188,190,192],wherea:[9,41,99,134,158,177,178],wherein:[170,171],whether:[41,53,84,85,86,87,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,126,127,128,129,130,131,132,133,134,135,136,139,151,154,156,161,163,164,168,173,174,176,177],which:[3,9,18,19,22,24,26,27,28,29,30,41,42,43,45,46,48,49,55,56,57,58,78,79,81,83,84,85,86,87,88,91,92,93,96,97,98,99,101,102,106,107,109,110,111,112,114,116,117,148,154,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,192,193],whilst:176,whip:[177,194],white:[14,148,153,181,188],whiter:188,whitespac:176,who:[99,151,159,166,177,185],whole:[18,57,151,159,163,174,180,190,192],whose:[91,174],why:[150,182],wide:[4,18,27,134,159,161,177,184],wider:177,widest:148,widget:176,width:[26,93,94,96,99,102,163,174,177,187],wiki:176,wilcox:[14,168],wild:14,willing:177,window:[95,134,135,157,163,170,171,173,174,175,176,177,180,181,182,183,187,193],wisdom:177,wise:[27,99,166,177],wish:[0,22,59,85,94,114,156,157,178,179],within:[10,18,19,21,27,59,84,85,86,87,88,90,92,94,99,101,103,107,110,113,115,119,133,134,135,148,149,151,157,158,159,163,166,168,173,174,176,177,178,183,191,192,193,194],withing:157,without:[1,4,14,27,57,84,85,91,92,99,104,112,114,134,148,149,155,156,157,159,163,166,171,172,174,177,182,184,185,187,188,189,194],wizard:14,wobbl:[99,134],won:[38,99,156,159,161,162,164,165,166,171,176,181,187,188],word:[149,158,164,165,175,181,188],work:[0,1,4,5,6,7,8,9,11,12,13,14,15,16,27,84,89,90,96,99,102,148,151,152,153,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,179,182,183,184,187,188,190,191,192],workaround:[87,88,92,101,107,110],workflow:[27,148,149],workspac:[146,147,148,149,163,176,180,182,183,185,187,189,191,193],world:[8,9,26,27,148,152,153,161,173,174,175,177,181,185,188,189,190,191],world_fram:[173,184,187],world_path:174,worldtomapvalid:26,worldwid:153,worri:[21,23,24,27,149,177,182],worst:12,worth:[21,23,27,99,177,181],would:[0,1,6,8,14,19,22,27,85,98,102,108,133,134,135,148,149,151,156,157,159,161,162,164,165,166,168,173,175,176,177,179,182,183,184,187,188,189,190,191,194],wouldacontrollerrecoveryhelp:[89,158],wouldaplannerrecoveryhelp:[89,158],wouldasmootherrecoveryhelp:[89,158,179],wouldn:[9,177],wrap:[18,26,27],wrapper:[27,161,162,182,184],write:[155,158,159,167,168,170,173,177,178,193],written:[6,27,159,161,163,164,165,166,174,181,187,188,190,192,193],wrong:187,wz_max:99,wz_std:99,x11:[148,149],x86_64:[182,191],x_increment:165,x_only_threshold:140,x_pose:177,x_reflect:176,xacro:[173,176],xml:[1,2,17,18,27,28,48,49,88,153,155,157,159,161,162,163,164,165,166,173,176,178,185,193],xml_tag_nam:162,xmln:176,xterm:[182,183],xvf:180,xxx:183,xy_goal_toler:[92,95,96,102,103,127,129,144,156,194],xytheta:95,xyz:[173,174,176,187],y_increment:165,y_pose:177,y_reflect:176,yai:184,yaml:[26,84,85,98,156,157,161,162,163,164,165,166,170,171,173,177,178,179,180,181,182,183,184,186,187,188,190,191,192,194],yaml_filenam:[98,158,188,190],yaw:[86,173,177,184,187,188,190],yaw_goal_toler:[92,95,96,102,103,127,129,156,194],yaw_offset:187,yeah:184,year:[6,14,153],yes:182,yet:[6,19,26,99,148,157,159,175,177,187],yolact:4,yolo3d:4,you:[0,4,5,6,10,11,12,13,14,17,20,26,27,41,59,85,86,88,91,92,94,98,99,102,106,108,109,114,134,135,136,146,147,148,149,151,152,153,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],your:[3,4,5,6,8,9,10,11,12,13,14,17,18,26,27,85,97,98,99,102,103,106,108,109,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,163,164,165,166,168,170,171,172,174,175,176,177,178,180,182,183,184,185,187,188,189,190,191,192,193,194],your_map:186,your_params_fil:[161,164,165,166],yourself:[151,157,179],youtub:184,yuk:13,z_hit:86,z_max:86,z_pose:177,z_rand:86,z_resolut:[93,119,174],z_short:86,z_voxel:[93,119,174],zag:[134,184],zed2:184,zed2i:184,zed_wrapp:184,zedx:184,zedxm:184,zero:[85,96,109,116,117,132,157,162,180,187,188,190],zero_altitud:187,zig:[134,184],zmq:157,zone:[9,27,84,85,91,94,98,114,134,135,156,157,168,174,177,187,190,192,195],zurich:5},titles:["Projects 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","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 Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Graceful Motion Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic 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":[87,92,93,101,110,156,158,159],"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:24,For:159,GPS:[159,187],Into:184,Near:22,ROS:[5,11,27,93,158,182,183,184],The:[159,176],Use:157,Uses:[158,159],Using:[16,148,184,187,191,192,194],With:[18,24],about:14,academ:27,access:[158,159],ackermann:99,action:[19,27,89,155,156,157,159],activ:159,add:[159,162],added:159,addit:159,advanc:12,algorithm:170,align:99,allow:[158,159],amcl:[86,157],analog:2,angl:[99,159],api:[26,157,158,159],appli:158,approach:[157,159],architectur:154,areerrorcodespres:59,assist:[1,2,157],assistedteleop:[29,87],attribut:156,augment:184,automat:182,avail:159,backtrac:182,backup:[30,87,156],base:159,baseobstaclecrit:136,becom:24,behavior:[17,18,27,87,88,89,155,156,157,158,159,161,162,168,177,185,193],being:157,benchmark:158,binari:[111,147],block:159,bond:27,both:158,brand:8,bringup:[159,182,183],btactionserv:159,btservicenod:157,build:[146,147,148,171,173,174,176],cach:177,calibr:[25,180],camera:[180,184],cancel:157,cancelassistedteleop:31,cancelbackup:32,cancelcontrol:33,cancelcoverag:34,canceldriveonhead:35,cancelspin:36,cancelwait:37,capabl:155,certif:151,chang:[154,156,157,158,159],check:158,checker:[26,156,157,158,168],citat:153,cleararea:157,clearcostmaparoundrobot:[38,156],clearcostmapexceptregion:[39,156],clearentirecostmap:40,click:185,clock:159,code:[158,159,178],collis:[26,84,85,90,158,159,192],command:[26,157,158,159],common:[146,174],composit:[157,178],computecoveragepath:41,computepaththroughpos:[42,156],computepathtopos:[43,156],concept:27,conclus:[170,171,173,174,175,176,178,187],condit:[19,89],config:162,configur:[2,13,28,156,170,171,173,174,188,190,192,194],consist:24,constant:157,constrain:[91,157],constraint:99,constructor:158,contact:14,contain:[147,148,149],control:[3,19,27,89,92,95,96,99,103,120,156,157,158,159,164,168,170,177,194],controllerselector:44,controllerserv:156,convert:13,corner:157,cost:[99,159],costmap2d:[93,156,163,177,191],costmap:[26,27,93,98,99,155,156,158,159,168,174,188,190,191],costmap_2d_nod:158,costmaplay:157,costmapupd:159,could:159,coverag:94,crash:182,creat:[2,3,148,161,162,164,165,166,185],critic:[95,99,159],current_:156,curv:158,custom:[162,193],dash:154,dco:151,debug:159,deceler:158,decor:[19,89],demo:[26,173,175,192,194],denois:[112,158,181],depend:146,depreci:159,descript:[106,174],detail:18,detect:157,detector:[84,159],determin:11,dev:[148,149],develop:[147,150,151],direction:159,disabl:159,distanc:[157,158],distancecontrol:78,distancetravel:60,distribut:147,docker:147,doxygen:147,driveonhead:[45,87],drop:157,durat:159,dwb:[95,120,158],dynam:[4,20,157,159,185],each:155,ecosystem:13,edit:193,eloqu:[154,155],enabl:[159,163,181,188,190],enumer:159,enviro:186,environ:176,environment:[5,27],error:[158,159,178],estim:[27,184],euclidean:157,exampl:[26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,152,170],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:[84,85,159],feedback:[156,158],field:177,file:[158,159,161,164,165,166,173,174,182,183],filter:[27,93,98,111,114,117,155,156,158,168,181,188,190],first:172,fix:157,follow:[20,27,99,110,159,185,187],followpath:[46,156],followpoint:155,footprint:[26,27,171,177],form:27,format:159,forward:[99,158],foxi:[155,156],frame:159,framework:12,from:[158,159,182,183],full:159,fuse:184,galact:[156,157],gazebo:[157,173,174,187],gener:[99,147,155,195],get:[149,151,152,182,189],give:158,global:[27,159,184,187],globallyupdatedgo:61,goal:[22,99,156,157,158,159,168,186],goal_checker_id:156,goalaligncrit:137,goalcheckerselector:47,goaldistcrit:138,goalreach:62,goalupd:63,goalupdat:79,golai:[104,158],grace:[96,159],gradientlay:163,grid:5,groot:[156,157,193],guid:[28,146,148,150,160,172,177],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:64,input:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],inputatwaypoint:130,instal:[147,152,191],integr:[4,10,99,158],interact:[187,193],interfac:[156,189],interpret:183,introduc:159,introduct:[19,159,171,173,174,175],invalid:[24,157],invert:157,involv:151,iron:[158,159,169],isbatterycharg:65,isbatterychargingcondit:158,isbatterylow:66,ispathvalid:67,isstuck:68,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:[27,99,112,113,115,118,119,155,158,159,168,181],librari:[159,162],licens:151,lifecycl:[27,97,148,157,178],limit:[157,158,190],limitedaccelgener:124,live:157,load:158,local:[6,27,173,174,184,187],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:[85,90,157,158,159,192],more:158,motion:[96,99,157,159],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:[17,19,27,146,153,156,157,158,174,177,178,181,182,183,185,186,188,190,192],nav2_collision_monitor:159,nav2_cor:157,nav2_costmap_2d:174,navfn:[100,156,157],navig:[4,7,8,9,12,18,21,22,23,24,27,88,152,155,157,158,166,168,170,186,187,188,189,190],navigatethroughpos:[48,156],navigatetopos:[49,156],navigation2:[154,175,189,191],navsat:187,node:[9,11,19,27,84,85,89,90,156,157,158,159,168,174,178,179,182,183,193],nois:181,note:99,object:185,observ:[84,85],obstacl:[4,22,99,115,156,159,177,181],obstaclefootprintcrit:139,obtain:159,odometri:[25,27,173,184,187],offer:177,offset:99,onli:157,opennav_coverag:159,option:[159,177],orient:157,origin:151,oscillationcrit:140,other:[27,177],ouput:[56,57],our:153,out:184,output:[30,41,42,43,44,45,46,47,48,49,50,52,53,54,55],overview:[18,26,27,153,161,162,163,164,165,166,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],packag:154,page:177,panel:[156,158],param:[157,159,161,164,165,166],paramet:[60,62,79,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,156,157,158,159,191],parameteriz:158,particl:155,pass:[161,164,165,166],path:[24,99,157,158,159],pathaligncrit:141,pathdistcrit:142,pathexpiringtim:69,pathlongeronapproach:[80,157],paus:22,photoatwaypoint:131,physic:[176,186],pipelinesequ:[19,75],place:177,planner:[3,27,100,101,106,108,133,134,135,156,157,158,159,162,165,168,170,177],plannerselector:50,plugin:[3,87,89,92,93,95,101,106,110,154,155,156,157,158,159,161,162,163,164,165,166,167,168,170,173,174,177,179,191],point:[20,159,185],pointcloud2:[156,174],pointcloud:156,polygon:[84,85,159],port:[5,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],pose:[18,21,22,23,24,158,186],poseprogresscheck:[126,158],posit:27,potenti:177,predict:[99,158],prefer:99,preferforwardcrit:143,preliminari:[182,183],prepar:[188,190,192],prerequisit:[18,149,173],primari:194,process:[151,157],profil:183,program:0,progress:168,progress_checker_plugin:158,project:[0,15,153,159,182],properti:176,provid:[90,92,106,110],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:81,real:159,rebuild:148,recoveri:[18,19,27,156,157],recoverynod:76,recurs:158,reduc:[11,157],refactor:157,refin:158,regul:[102,158],regulatedpurepursuitcontrol:156,reinitializegloballoc:51,relat:[15,153],releas:147,remov:[156,157,158,159],removepassedgo:52,renam:158,replan:[18,24,157],report:146,represent:27,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:[16,27,157,159,171,172,173,176,177,184,189],roll:147,rotat:[103,157,177,194],rotatetogoalcrit:144,roundrobin:[19,77],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:[27,87,91,92,94,98,101,107,155,157,158,159,170,178,188,190],servic:[153,157],set:[170,171,173,174,175,176,184],setup:[172,173,185,186,187,191],share:159,shim:[103,157,194],shortcut:159,simpl:[26,105,157,158,159],simplegoalcheck:127,simpleprogresscheck:128,simplif:189,simul:[173,174,185],singletrigg:82,size:99,slam:[27,189],slam_toolbox:174,smac:[106,133,134,135,157,158,159,177],smacplann:156,smacplanner2d:157,smacplannerhybrid:158,small:157,smoother:[27,91,104,105,107,109,157,158,168,179],smootherselector:[54,158],smoothpath:53,soft:159,solut:159,sourc:[84,85,147,159],source_timeout:159,spawn:157,specif:19,specifi:179,speed:[117,158,190],speedcontrol:83,spin:[55,87],sponsor:153,stabl:158,stack:[159,181,188,190,192],standard:[27,156],standardtrajectorygener:125,star:108,start:[148,149,152,158,189],state:[27,135,158,176,184],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:[18,159],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],thetastarplann:156,through:[21,161,164,165,166],time:[13,156,158,159,172],timeexpir:70,timeout:[157,158,159],toler:158,trace:156,trajectori:[95,99],transform:[159,175,187],transformavail:71,tree:[17,18,27,88,89,155,156,158,162,168,185,193],troubleshoot:146,truncatepath:56,truncatepathloc:[57,157],tune:177,turtlebot:186,tutori:[161,162,163,164,165,166,167,179,180,181,185,186,187,188,189,190,191,195],twirl:99,twirlingcrit:145,twist:13,twiststamp:[13,159],type:[158,159],unit:156,updat:[155,156],urdf:[173,174,176],usag:156,use:[149,159],use_final_approach_orient:157,use_interpol:159,use_sim_tim:158,user:99,using:[173,174,176],variabl:186,veloc:[109,157,158],velocitypolygon:[85,159,192],verif:[171,173,174],vio:184,visual:[99,171,174,176,193],viz_expans:158,voxel:[119,159],vslam:184,wait:58,wait_act:159,waitatwaypoint:132,walkthrough:18,watchdog:159,waypoint:[27,110,158,159,168,187],websit:8,what:[149,194],when:[158,159],why:149,wisdom:99,word:99,work:[149,155,181,189],world:187,wouldacontrollerrecoveryhelp:72,wouldaplannerrecoveryhelp:73,wouldasmootherrecoveryhelp:74,write:[161,162,163,164,165,166,176],xml:[89,156,179],xytheta:121,yaml:[158,159],your:[162,173,179,186],zed:184,zone:188}}) \ No newline at end of file +Search.setIndex({docnames:["2021summerOfCode/Summer_2021_Student_Program","2021summerOfCode/projects/assisted_teleop","2021summerOfCode/projects/create_configuration_assistant","2021summerOfCode/projects/create_plugins","2021summerOfCode/projects/dynamic","2021summerOfCode/projects/grid_maps","2021summerOfCode/projects/localization","2021summerOfCode/projects/multithreading","2021summerOfCode/projects/navigation_rebranding","2021summerOfCode/projects/safety_node","2021summerOfCode/projects/semantics","2021summerOfCode/projects/spinners","2021summerOfCode/projects/testing","2021summerOfCode/projects/twist_n_config","about/index","about/related_projects","about/robots","behavior_trees/index","behavior_trees/overview/detailed_behavior_tree_walkthrough","behavior_trees/overview/nav2_specific_nodes","behavior_trees/trees/follow_point","behavior_trees/trees/nav_through_poses_recovery","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle","behavior_trees/trees/nav_to_pose_recovery","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid","behavior_trees/trees/odometry_calibration","commander_api/index","concepts/index","configuration/index","configuration/packages/bt-plugins/actions/AssistedTeleop","configuration/packages/bt-plugins/actions/BackUp","configuration/packages/bt-plugins/actions/CancelAssistedTeleop","configuration/packages/bt-plugins/actions/CancelBackUp","configuration/packages/bt-plugins/actions/CancelControl","configuration/packages/bt-plugins/actions/CancelCoverage","configuration/packages/bt-plugins/actions/CancelDriveOnHeading","configuration/packages/bt-plugins/actions/CancelSpin","configuration/packages/bt-plugins/actions/CancelWait","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion","configuration/packages/bt-plugins/actions/ClearEntireCostmap","configuration/packages/bt-plugins/actions/ComputeCoveragePath","configuration/packages/bt-plugins/actions/ComputePathThroughPoses","configuration/packages/bt-plugins/actions/ComputePathToPose","configuration/packages/bt-plugins/actions/ControllerSelector","configuration/packages/bt-plugins/actions/DriveOnHeading","configuration/packages/bt-plugins/actions/FollowPath","configuration/packages/bt-plugins/actions/GoalCheckerSelector","configuration/packages/bt-plugins/actions/NavigateThroughPoses","configuration/packages/bt-plugins/actions/NavigateToPose","configuration/packages/bt-plugins/actions/PlannerSelector","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization","configuration/packages/bt-plugins/actions/RemovePassedGoals","configuration/packages/bt-plugins/actions/Smooth","configuration/packages/bt-plugins/actions/SmootherSelector","configuration/packages/bt-plugins/actions/Spin","configuration/packages/bt-plugins/actions/TruncatePath","configuration/packages/bt-plugins/actions/TruncatePathLocal","configuration/packages/bt-plugins/actions/Wait","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent","configuration/packages/bt-plugins/conditions/DistanceTraveled","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal","configuration/packages/bt-plugins/conditions/GoalReached","configuration/packages/bt-plugins/conditions/GoalUpdated","configuration/packages/bt-plugins/conditions/InitialPoseReceived","configuration/packages/bt-plugins/conditions/IsBatteryCharging","configuration/packages/bt-plugins/conditions/IsBatteryLow","configuration/packages/bt-plugins/conditions/IsPathValid","configuration/packages/bt-plugins/conditions/IsStuck","configuration/packages/bt-plugins/conditions/PathExpiringTimer","configuration/packages/bt-plugins/conditions/TimeExpired","configuration/packages/bt-plugins/conditions/TransformAvailable","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp","configuration/packages/bt-plugins/controls/PipelineSequence","configuration/packages/bt-plugins/controls/RecoveryNode","configuration/packages/bt-plugins/controls/RoundRobin","configuration/packages/bt-plugins/decorators/DistanceController","configuration/packages/bt-plugins/decorators/GoalUpdater","configuration/packages/bt-plugins/decorators/PathLongerOnApproach","configuration/packages/bt-plugins/decorators/RateController","configuration/packages/bt-plugins/decorators/SingleTrigger","configuration/packages/bt-plugins/decorators/SpeedController","configuration/packages/collision_monitor/configuring-collision-detector-node","configuration/packages/collision_monitor/configuring-collision-monitor-node","configuration/packages/configuring-amcl","configuration/packages/configuring-behavior-server","configuration/packages/configuring-bt-navigator","configuration/packages/configuring-bt-xml","configuration/packages/configuring-collision-monitor","configuration/packages/configuring-constrained-smoother","configuration/packages/configuring-controller-server","configuration/packages/configuring-costmaps","configuration/packages/configuring-coverage-server","configuration/packages/configuring-dwb-controller","configuration/packages/configuring-graceful-motion-controller","configuration/packages/configuring-lifecycle","configuration/packages/configuring-map-server","configuration/packages/configuring-mppic","configuration/packages/configuring-navfn","configuration/packages/configuring-planner-server","configuration/packages/configuring-regulated-pp","configuration/packages/configuring-rotation-shim-controller","configuration/packages/configuring-savitzky-golay-smoother","configuration/packages/configuring-simple-smoother","configuration/packages/configuring-smac-planner","configuration/packages/configuring-smoother-server","configuration/packages/configuring-thetastar","configuration/packages/configuring-velocity-smoother","configuration/packages/configuring-waypoint-follower","configuration/packages/costmap-plugins/binary_filter","configuration/packages/costmap-plugins/denoise","configuration/packages/costmap-plugins/inflation","configuration/packages/costmap-plugins/keepout_filter","configuration/packages/costmap-plugins/obstacle","configuration/packages/costmap-plugins/range","configuration/packages/costmap-plugins/speed_filter","configuration/packages/costmap-plugins/static","configuration/packages/costmap-plugins/voxel","configuration/packages/dwb-params/controller","configuration/packages/dwb-params/iterator","configuration/packages/dwb-params/kinematic","configuration/packages/dwb-params/visualization","configuration/packages/dwb-plugins/limited_accel_generator","configuration/packages/dwb-plugins/standard_traj_generator","configuration/packages/nav2_controller-plugins/pose_progress_checker","configuration/packages/nav2_controller-plugins/simple_goal_checker","configuration/packages/nav2_controller-plugins/simple_progress_checker","configuration/packages/nav2_controller-plugins/stopped_goal_checker","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint","configuration/packages/smac/configuring-smac-2d","configuration/packages/smac/configuring-smac-hybrid","configuration/packages/smac/configuring-smac-lattice","configuration/packages/trajectory_critics/base_obstacle","configuration/packages/trajectory_critics/goal_align","configuration/packages/trajectory_critics/goal_dist","configuration/packages/trajectory_critics/obstacle_footprint","configuration/packages/trajectory_critics/oscillation","configuration/packages/trajectory_critics/path_align","configuration/packages/trajectory_critics/path_dist","configuration/packages/trajectory_critics/prefer_forward","configuration/packages/trajectory_critics/rotate_to_goal","configuration/packages/trajectory_critics/twirling","development_guides/build_docs/build_troubleshooting_guide","development_guides/build_docs/index","development_guides/devcontainer_docs/devcontainer_guide","development_guides/devcontainer_docs/index","development_guides/index","development_guides/involvement_docs/index","getting_started/index","index","migration/Dashing","migration/Eloquent","migration/Foxy","migration/Galactic","migration/Humble","migration/Iron","migration/index","plugin_tutorials/docs/writing_new_behavior_plugin","plugin_tutorials/docs/writing_new_bt_plugin","plugin_tutorials/docs/writing_new_costmap2d_plugin","plugin_tutorials/docs/writing_new_nav2controller_plugin","plugin_tutorials/docs/writing_new_nav2planner_plugin","plugin_tutorials/docs/writing_new_navigator_plugin","plugin_tutorials/index","plugins/index","roadmap/roadmap","setup_guides/algorithm/select_algorithm","setup_guides/footprint/setup_footprint","setup_guides/index","setup_guides/odom/setup_odom","setup_guides/sensors/setup_sensors","setup_guides/transformation/setup_transforms","setup_guides/urdf/setup_urdf","tuning/index","tutorials/docs/adding_a_nav2_task_server","tutorials/docs/adding_smoother","tutorials/docs/camera_calibration","tutorials/docs/filtering_of_noise-induced_obstacles","tutorials/docs/get_backtrace","tutorials/docs/get_profile","tutorials/docs/integrating_vio","tutorials/docs/navigation2_dynamic_point_following","tutorials/docs/navigation2_on_real_turtlebot3","tutorials/docs/navigation2_with_gps","tutorials/docs/navigation2_with_keepout_filter","tutorials/docs/navigation2_with_slam","tutorials/docs/navigation2_with_speed_filter","tutorials/docs/navigation2_with_stvl","tutorials/docs/using_collision_monitor","tutorials/docs/using_groot","tutorials/docs/using_shim_controller","tutorials/index"],envversion:{"sphinx.domains.c":2,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":3,"sphinx.domains.index":1,"sphinx.domains.javascript":2,"sphinx.domains.math":2,"sphinx.domains.python":2,"sphinx.domains.rst":2,"sphinx.domains.std":2,sphinx:56},filenames:["2021summerOfCode/Summer_2021_Student_Program.rst","2021summerOfCode/projects/assisted_teleop.rst","2021summerOfCode/projects/create_configuration_assistant.rst","2021summerOfCode/projects/create_plugins.rst","2021summerOfCode/projects/dynamic.rst","2021summerOfCode/projects/grid_maps.rst","2021summerOfCode/projects/localization.rst","2021summerOfCode/projects/multithreading.rst","2021summerOfCode/projects/navigation_rebranding.rst","2021summerOfCode/projects/safety_node.rst","2021summerOfCode/projects/semantics.rst","2021summerOfCode/projects/spinners.rst","2021summerOfCode/projects/testing.rst","2021summerOfCode/projects/twist_n_config.rst","about/index.rst","about/related_projects.rst","about/robots.rst","behavior_trees/index.rst","behavior_trees/overview/detailed_behavior_tree_walkthrough.rst","behavior_trees/overview/nav2_specific_nodes.rst","behavior_trees/trees/follow_point.rst","behavior_trees/trees/nav_through_poses_recovery.rst","behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst","behavior_trees/trees/nav_to_pose_recovery.rst","behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst","behavior_trees/trees/odometry_calibration.rst","commander_api/index.rst","concepts/index.rst","configuration/index.rst","configuration/packages/bt-plugins/actions/AssistedTeleop.rst","configuration/packages/bt-plugins/actions/BackUp.rst","configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst","configuration/packages/bt-plugins/actions/CancelBackUp.rst","configuration/packages/bt-plugins/actions/CancelControl.rst","configuration/packages/bt-plugins/actions/CancelCoverage.rst","configuration/packages/bt-plugins/actions/CancelDriveOnHeading.rst","configuration/packages/bt-plugins/actions/CancelSpin.rst","configuration/packages/bt-plugins/actions/CancelWait.rst","configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.rst","configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.rst","configuration/packages/bt-plugins/actions/ClearEntireCostmap.rst","configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst","configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst","configuration/packages/bt-plugins/actions/ComputePathToPose.rst","configuration/packages/bt-plugins/actions/ControllerSelector.rst","configuration/packages/bt-plugins/actions/DriveOnHeading.rst","configuration/packages/bt-plugins/actions/FollowPath.rst","configuration/packages/bt-plugins/actions/GoalCheckerSelector.rst","configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst","configuration/packages/bt-plugins/actions/NavigateToPose.rst","configuration/packages/bt-plugins/actions/PlannerSelector.rst","configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.rst","configuration/packages/bt-plugins/actions/RemovePassedGoals.rst","configuration/packages/bt-plugins/actions/Smooth.rst","configuration/packages/bt-plugins/actions/SmootherSelector.rst","configuration/packages/bt-plugins/actions/Spin.rst","configuration/packages/bt-plugins/actions/TruncatePath.rst","configuration/packages/bt-plugins/actions/TruncatePathLocal.rst","configuration/packages/bt-plugins/actions/Wait.rst","configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.rst","configuration/packages/bt-plugins/conditions/DistanceTraveled.rst","configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst","configuration/packages/bt-plugins/conditions/GoalReached.rst","configuration/packages/bt-plugins/conditions/GoalUpdated.rst","configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst","configuration/packages/bt-plugins/conditions/IsBatteryCharging.rst","configuration/packages/bt-plugins/conditions/IsBatteryLow.rst","configuration/packages/bt-plugins/conditions/IsPathValid.rst","configuration/packages/bt-plugins/conditions/IsStuck.rst","configuration/packages/bt-plugins/conditions/PathExpiringTimer.rst","configuration/packages/bt-plugins/conditions/TimeExpired.rst","configuration/packages/bt-plugins/conditions/TransformAvailable.rst","configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.rst","configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.rst","configuration/packages/bt-plugins/controls/PipelineSequence.rst","configuration/packages/bt-plugins/controls/RecoveryNode.rst","configuration/packages/bt-plugins/controls/RoundRobin.rst","configuration/packages/bt-plugins/decorators/DistanceController.rst","configuration/packages/bt-plugins/decorators/GoalUpdater.rst","configuration/packages/bt-plugins/decorators/PathLongerOnApproach.rst","configuration/packages/bt-plugins/decorators/RateController.rst","configuration/packages/bt-plugins/decorators/SingleTrigger.rst","configuration/packages/bt-plugins/decorators/SpeedController.rst","configuration/packages/collision_monitor/configuring-collision-detector-node.rst","configuration/packages/collision_monitor/configuring-collision-monitor-node.rst","configuration/packages/configuring-amcl.rst","configuration/packages/configuring-behavior-server.rst","configuration/packages/configuring-bt-navigator.rst","configuration/packages/configuring-bt-xml.rst","configuration/packages/configuring-collision-monitor.rst","configuration/packages/configuring-constrained-smoother.rst","configuration/packages/configuring-controller-server.rst","configuration/packages/configuring-costmaps.rst","configuration/packages/configuring-coverage-server.rst","configuration/packages/configuring-dwb-controller.rst","configuration/packages/configuring-graceful-motion-controller.rst","configuration/packages/configuring-lifecycle.rst","configuration/packages/configuring-map-server.rst","configuration/packages/configuring-mppic.rst","configuration/packages/configuring-navfn.rst","configuration/packages/configuring-planner-server.rst","configuration/packages/configuring-regulated-pp.rst","configuration/packages/configuring-rotation-shim-controller.rst","configuration/packages/configuring-savitzky-golay-smoother.rst","configuration/packages/configuring-simple-smoother.rst","configuration/packages/configuring-smac-planner.rst","configuration/packages/configuring-smoother-server.rst","configuration/packages/configuring-thetastar.rst","configuration/packages/configuring-velocity-smoother.rst","configuration/packages/configuring-waypoint-follower.rst","configuration/packages/costmap-plugins/binary_filter.rst","configuration/packages/costmap-plugins/denoise.rst","configuration/packages/costmap-plugins/inflation.rst","configuration/packages/costmap-plugins/keepout_filter.rst","configuration/packages/costmap-plugins/obstacle.rst","configuration/packages/costmap-plugins/range.rst","configuration/packages/costmap-plugins/speed_filter.rst","configuration/packages/costmap-plugins/static.rst","configuration/packages/costmap-plugins/voxel.rst","configuration/packages/dwb-params/controller.rst","configuration/packages/dwb-params/iterator.rst","configuration/packages/dwb-params/kinematic.rst","configuration/packages/dwb-params/visualization.rst","configuration/packages/dwb-plugins/limited_accel_generator.rst","configuration/packages/dwb-plugins/standard_traj_generator.rst","configuration/packages/nav2_controller-plugins/pose_progress_checker.rst","configuration/packages/nav2_controller-plugins/simple_goal_checker.rst","configuration/packages/nav2_controller-plugins/simple_progress_checker.rst","configuration/packages/nav2_controller-plugins/stopped_goal_checker.rst","configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst","configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.rst","configuration/packages/smac/configuring-smac-2d.rst","configuration/packages/smac/configuring-smac-hybrid.rst","configuration/packages/smac/configuring-smac-lattice.rst","configuration/packages/trajectory_critics/base_obstacle.rst","configuration/packages/trajectory_critics/goal_align.rst","configuration/packages/trajectory_critics/goal_dist.rst","configuration/packages/trajectory_critics/obstacle_footprint.rst","configuration/packages/trajectory_critics/oscillation.rst","configuration/packages/trajectory_critics/path_align.rst","configuration/packages/trajectory_critics/path_dist.rst","configuration/packages/trajectory_critics/prefer_forward.rst","configuration/packages/trajectory_critics/rotate_to_goal.rst","configuration/packages/trajectory_critics/twirling.rst","development_guides/build_docs/build_troubleshooting_guide.rst","development_guides/build_docs/index.rst","development_guides/devcontainer_docs/devcontainer_guide.md","development_guides/devcontainer_docs/index.md","development_guides/index.rst","development_guides/involvement_docs/index.rst","getting_started/index.rst","index.rst","migration/Dashing.rst","migration/Eloquent.rst","migration/Foxy.rst","migration/Galactic.rst","migration/Humble.rst","migration/Iron.rst","migration/index.rst","plugin_tutorials/docs/writing_new_behavior_plugin.rst","plugin_tutorials/docs/writing_new_bt_plugin.rst","plugin_tutorials/docs/writing_new_costmap2d_plugin.rst","plugin_tutorials/docs/writing_new_nav2controller_plugin.rst","plugin_tutorials/docs/writing_new_nav2planner_plugin.rst","plugin_tutorials/docs/writing_new_navigator_plugin.rst","plugin_tutorials/index.rst","plugins/index.rst","roadmap/roadmap.rst","setup_guides/algorithm/select_algorithm.rst","setup_guides/footprint/setup_footprint.rst","setup_guides/index.rst","setup_guides/odom/setup_odom.rst","setup_guides/sensors/setup_sensors.rst","setup_guides/transformation/setup_transforms.rst","setup_guides/urdf/setup_urdf.rst","tuning/index.rst","tutorials/docs/adding_a_nav2_task_server.rst","tutorials/docs/adding_smoother.rst","tutorials/docs/camera_calibration.rst","tutorials/docs/filtering_of_noise-induced_obstacles.rst","tutorials/docs/get_backtrace.rst","tutorials/docs/get_profile.rst","tutorials/docs/integrating_vio.rst","tutorials/docs/navigation2_dynamic_point_following.rst","tutorials/docs/navigation2_on_real_turtlebot3.rst","tutorials/docs/navigation2_with_gps.rst","tutorials/docs/navigation2_with_keepout_filter.rst","tutorials/docs/navigation2_with_slam.rst","tutorials/docs/navigation2_with_speed_filter.rst","tutorials/docs/navigation2_with_stvl.rst","tutorials/docs/using_collision_monitor.rst","tutorials/docs/using_groot.rst","tutorials/docs/using_shim_controller.rst","tutorials/index.rst"],objects:{},objnames:{},objtypes:{},terms:{"000":[173,175],"000000":174,"0000008":173,"0000075":173,"0001":92,"000km":187,"001":[86,92,95,96,102,103,173,174,194],"002":173,"003":173,"005":86,"010":187,"015":[91,99,134,135,174],"015000":174,"022":174,"025":[18,21,23,26,30,45,89,95,125,176],"035":174,"047198":174,"048":191,"0508":174,"055":174,"05s":99,"092":173,"0_1602582820":131,"0x000055555555828b":182,"0x0000555555558e1d":182,"0x000055555555936c":182,"0x0000555555559cfc":182,"0x00007ffff79cc859":182,"0x00007ffff7c52951":182,"0x00007ffff7c553eb":182,"0x00007ffff7c5e47c":182,"0x00007ffff7c5e4e7":182,"0x00007ffff7c5e799":182,"0x5555555cfb40":182,"0x5555555cfdb0":182,"0x7fffffffc108":182,"100":[84,85,86,91,93,99,117,153,158,173,175,178,182,185,187,188,190,193],"1000":[88,99,105,133,134,135],"10000":[99,158,178],"100000":99,"1000000":[99,133,134,135],"10001":178,"10002":178,"1001":158,"10099":178,"100hz":18,"100m":[26,106,157],"101":[59,158,178,188],"1012":[87,88,92,101,107,110,159],"103":[156,175,187],"105":[27,153,173,175,187],"107":59,"1070":182,"1091":182,"10cm":[133,134,175],"10x":94,"113m":106,"119":59,"120000":174,"122":187,"124":163,"125":[133,174],"1263":156,"127":173,"128":176,"12th":173,"12thread":157,"130":174,"144m":106,"146m":106,"160":176,"161479":187,"161491":187,"161491054181276":187,"161587576524845":187,"164":176,"1660":155,"171":163,"177":187,"1780":155,"1784":155,"180":[84,85,187],"185":91,"1855":156,"1859":155,"188":[188,190],"1882":156,"195":171,"196":190,"199":[158,178],"1cm":187,"1ms":104,"1st":173,"200":[134,135,159,175,178],"2000":[86,99],"2000000":91,"2005":169,"200m":[106,157],"201":[158,178],"2011":96,"2020":153,"2021":[106,148,153,177,191],"2022":187,"2023":[26,85,102,153,184],"2024":153,"204":177,"20cm":175,"20hz":99,"20m":175,"20mm":180,"215":174,"2181":156,"2204":156,"2247":156,"2263":156,"2264":156,"2295":156,"22km":187,"2338":156,"2411":157,"243m":106,"2473":157,"2481":157,"2488":157,"254":174,"255":[93,163,188],"2567":158,"2569":157,"2591":157,"2592":157,"25hz":157,"2607":157,"2627":157,"2642":157,"2665":157,"2696":157,"2701":157,"2704":157,"2718":157,"2750":157,"2752":157,"2753":157,"2772":157,"2787":157,"280000":174,"2804":157,"2814":159,"2856":157,"2865":157,"2867":157,"2875":157,"2904":157,"292km":187,"2964":157,"2965":157,"2976":157,"2982":158,"299":[158,178],"2992":157,"2nd":173,"300":[99,177,178],"301":[158,178],"30hz":99,"3131":158,"3146":158,"3159":158,"3165":158,"3168":158,"3174":158,"3201":158,"3204":158,"3218":158,"3219":158,"3222":158,"3227":158,"3228":158,"3229":158,"3248":158,"325":[137,141],"3251":158,"3255":158,"3283":158,"32gb":157,"3320":158,"3324":158,"333":21,"3345":158,"3374":158,"3414":158,"3504":158,"3512":158,"3513":158,"3519":158,"3530":158,"3553":158,"3555":158,"3569":158,"3572":159,"3577":158,"360":174,"3612":159,"3693":159,"3704":159,"3708":159,"3785":159,"3787":159,"3825":159,"3866":159,"3871":159,"3880":159,"3911":159,"3914":159,"3950":159,"3962":159,"3965":159,"399":[158,178],"3rd":173,"4020":159,"4021":159,"40hz":9,"40x":[134,135],"413km":187,"4194":187,"454630":187,"4546443":187,"45464431092836":187,"4547994038464":187,"46m":108,"475km":187,"4789":187,"480":174,"488":187,"4th":99,"500":[86,178],"501":[158,178],"50m":157,"511km":187,"553km":187,"557":176,"570796":25,"599":[158,178],"5cm":[99,133,134],"5e3":91,"600":[26,157,178],"601":[158,178],"640":174,"65535":[158,178],"699":[158,178],"6core":157,"6th":85,"701":[158,178],"709":158,"70m":184,"710":158,"719":158,"720":158,"729":158,"730":158,"739":158,"785":[102,103,194],"785398":99,"799":178,"7x7":180,"7x9":180,"800":178,"801":[158,178],"816":157,"842000000":173,"8700":157,"8745":191,"899":178,"8x10":180,"900":[88,110],"901":158,"9900":178,"9901":178,"996":173,"9999":[158,178],"abstract":[5,11,27,157,158,193],"boolean":[27,111,158,168,174],"break":[105,156,158],"case":[1,6,12,18,19,21,27,29,30,45,51,55,65,84,85,94,96,99,102,104,117,120,127,129,133,134,135,148,153,155,156,159,161,162,163,164,166,168,171,173,174,175,176,178,181,182,183,184,185,186,187,188,190,192,193],"catch":[26,157],"char":163,"class":[27,85,86,88,153,155,156,157,158,159,161,162,163,164,165,166,176,177,191],"const":[157,161,162,164,166],"default":[15,17,18,19,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,66,70,71,72,73,74,76,78,79,80,81,83,84,85,86,88,91,94,95,96,97,98,99,100,102,103,104,105,107,108,109,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,152,154,155,157,162,163,166,168,170,171,173,174,177,180,181,184,185,187,188,192,193],"enum":[98,99,115,119,134,158,178],"export":[147,152,186,189,191,193],"final":[21,22,26,27,96,97,99,133,134,135,148,156,162,166,174,177,178,179,184,187,194],"float":[26,159],"function":[1,3,4,9,11,17,22,26,27,91,92,99,106,108,113,134,135,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,177,181,182,183,188,190,193],"gin\u00e9":153,"goto":[163,164,165,166],"i\u00f1igo":168,"import":[11,17,26,27,41,91,99,106,109,148,151,166,169,171,174,175,176,177,178,181,182,183,187,188,190,193,194],"int":[26,41,76,84,85,86,88,91,93,94,98,99,104,105,108,110,112,115,119,121,132,133,134,135,159,162,163,165,166,182],"long":[2,4,9,14,22,27,87,88,92,101,106,107,110,115,119,123,135,157,159,166,170,174,177,181,187],"mart\u00edn":[153,168],"new":[1,4,5,6,8,9,11,14,17,18,20,21,23,24,26,27,84,85,87,88,99,103,115,119,146,148,149,151,167,168,169,170,171,172,173,174,175,176,177,179,182,184,185,186,187,188,189,190,191,193,194,195],"public":[151,159,163,178,184,187],"r\u00f6smann":168,"return":[18,19,21,22,23,24,26,27,41,53,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,78,81,82,83,99,115,119,133,134,135,153,154,156,157,158,161,162,164,165,166,168,173,174,176,178,179,182,188,190],"short":[18,59,72,73,74,135,161,174,175,184,193],"static":[3,27,84,85,86,93,115,119,134,135,151,153,157,159,162,168,171,174,177,178,181,187,191,192],"switch":[26,85,99,111,148,149,155,156,157,158,159],"throw":[26,84,92,157,158,182],"transient":[21,23,24,44,47,50,54],"true":[8,19,26,27,29,41,53,55,66,84,85,86,87,88,91,92,93,94,95,96,97,99,100,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,152,156,157,158,159,161,162,163,164,165,166,171,173,174,176,177,178,179,181,183,184,187,188,189,190,191,192,194],"try":[18,20,21,23,24,26,85,94,97,99,109,110,134,135,146,148,152,154,175,176,182,185,188,193],"void":[41,157,162,164,166],"while":[7,9,13,18,21,23,24,26,88,97,99,102,104,114,134,144,147,148,149,156,157,158,162,166,170,171,173,174,177,178,179,181,182,184,186,187,188,192,193,194,195],ADE:149,Adding:[158,182,195],And:[17,18,153,159,175,176,179,180,181,188],Are:[115,119,168],Axes:176,BTs:[18,19,168,178,193],BUT:18,DDS:[11,148],For:[0,14,18,19,27,84,85,86,87,88,92,93,94,95,96,99,101,102,103,104,106,107,108,110,111,114,117,131,134,135,147,148,149,151,152,156,157,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,181,182,184,185,187,188,189,190,191,192,194],GPS:[15,27,41,94,110,168,173,174,184,195],IDE:[149,182],IDEs:[149,182],IDs:[41,166],Its:[99,166,176,181,184],LTS:152,NOT:[115,119],Near:17,Not:[57,99,153,177],One:[27,170,173,176,187],PMs:151,PRs:[13,151,157,158],QoS:[44,47,50,54,118,156,174,184],ROS:[0,1,2,3,4,6,7,8,9,10,12,13,14,15,19,21,23,24,26,29,30,41,42,43,45,46,48,49,55,58,85,94,95,98,106,146,147,148,149,151,152,153,154,155,156,157,159,161,162,163,164,165,166,168,169,170,172,173,174,175,176,177,178,179,180,181,186,188,189,190,191,192,193,194,195],SMS:[27,161],Such:148,TLS:191,That:[19,27,134,151,156,157,170,171],The:[0,3,4,6,7,8,9,10,12,13,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,41,42,43,44,45,46,47,48,49,50,52,53,54,56,57,59,60,62,69,70,72,73,74,76,78,79,81,83,84,85,86,87,88,89,90,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,117,131,133,134,135,146,147,148,151,153,154,155,156,157,158,161,162,163,164,165,166,168,170,171,172,173,174,175,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],Then:[7,19,156,162,163,164,165,166,173,174,182,183,186],There:[3,14,18,19,27,98,99,146,147,151,154,156,157,163,168,170,174,175,182,187,188,194],These:[17,18,27,99,148,153,154,155,156,157,158,162,163,164,166,170,172,173,174,175,176,177,178,179,182,183,184,187,188,190,193],Use:[27,88,91,173,181,184,185,188,190],Used:[31,32,33,34,35,36,37,51,84,85,88,111,114,117,177,187],Useful:[71,91,177],Uses:168,Using:[14,84,85,99,103,149,157,168,173,174,177,182,183,195],Will:[19,53,85,168],With:[14,17,27,134,175,187,191],Yes:[161,162,163,164,165,166],__cxa_throw:182,__gi_abort:182,__gi_rais:182,__n:182,__node:[182,183],_config:173,_costmap:[156,191],_differenti:184,_from_numb:161,_joint:176,_link:176,_m_range_check:182,_nav:177,_to_numb:161,_twilio:161,abi:[99,148],abil:[6,7,27,85,99,158,159,192],abl:[0,5,9,14,18,19,157,158,161,162,164,165,166,168,171,173,174,175,177,182,183,184,187,193],abort:[93,156,162,182],about:[4,7,9,11,21,22,23,24,27,84,111,114,117,146,147,148,149,151,153,156,158,159,161,162,163,165,166,173,174,175,176,177,181,182,183,184,186,187,190,193],abov:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,19,22,27,83,99,108,116,135,147,154,156,161,164,165,166,170,173,174,175,176,177,178,181,182,183,187,188,189,190,191,193,194],abrupt:27,abs:164,absolut:[48,49,98,117,155,159,164,173,176,182,184,187,188,190],absurdli:99,academ:6,acc_lim_i:[95,122],acc_lim_theta:[95,122],acc_lim_x:[95,122],accel:173,acceler:[87,102,103,109,122,157,173,177,194],accelwithcovariancestamp:173,accept:[6,26,62,86,108,134,135,151,159,166,170,171,184,185],acceptpendinggo:166,access:[0,27,85,92,109,148,149,156,157,162,174,176,182,193],accommod:148,accompani:91,accomplish:[8,161,168,173,176,182],accord:[27,98,173,174,187,188,190],accordingli:[9,85,187,188,190],account:[27,84,85,156,157,161,170,177,181],account_sid:161,accross:159,accumul:99,accur:[6,27,84,85,156,173,177,184,187],accuraci:[25,85,154,184,187],achiev:[11,91,99,102,106,109,110,156,157,158,159,176,177,184,187],acircl:180,ackerman:170,ackermann:[106,153,156,168,170,177],ackermannconstraint:99,acknowledg:88,acquir:27,across:[17,27,99,105,113,134,135,148,158,166,169,174,175,177,187,193],act:[9,14,27,133,155,156,172,174,176,188,192,194],action:[11,18,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,53,55,58,76,78,79,80,81,84,85,87,88,92,93,94,99,101,107,110,152,153,154,158,161,162,166,168,170,171,173,174,175,176,177,178,179,185,186,187,188,190,192,193],action_a:19,action_b:19,action_c:19,action_nam:162,action_server_result_timeout:[87,88,92,94,101,107,110,159],action_typ:[84,85,159,192],actionnod:19,actionnodebas:162,actiont:166,activ:[12,26,27,59,72,73,74,85,87,88,92,94,97,101,107,110,146,151,152,155,156,157,158,161,164,165,166,173,174,177,178,187],actual:[18,53,85,91,99,103,134,157,166,171,175,176,177,180,184,186,187,192,194],actuat:148,adapt:[6,27,86,102,156,168,174,175,176],add:[0,2,8,75,76,77,78,79,80,81,82,83,85,91,92,99,109,114,115,119,134,148,151,155,156,157,158,161,166,171,173,174,175,176,177,178,179,182,183,184,187,189,191,192,193],add_act:[188,190],add_compile_opt:[182,183],added:[10,13,21,23,24,88,99,148,151,154,155,156,157,158,161,163,164,165,166,170,171,174,175,176,177,178,183,187,191,192,194],addin:187,adding:[1,9,41,86,134,135,148,157,158,173,174,176,178,181,184,187,188,190,192],addit:[3,11,19,21,22,23,24,27,41,84,85,88,90,134,147,148,156,157,158,162,166,170,173,174,176,177,182,183,184,187,192],addition:[0,11,27,85,148,149,154,155,156,159,166,187,192],address:[31,32,33,34,35,36,37,41,42,43,46,154,155,156,157,158,159,161],adequ:177,adher:175,adjac:[108,112,181],adjust:[9,11,27,28,41,78,81,83,85,87,88,92,93,99,101,107,109,110,134,153,158,159,171,176,184,190,192],admiss:[134,135,157],admittedli:11,advanc:[0,27,134,169,177],advantag:[12,27,158,194],advic:[170,177],advis:[21,23,24,27,173],affect:[84,90,156,157,159,176],aforement:99,after:[2,10,20,21,23,24,26,27,85,86,88,99,103,104,109,118,120,127,129,132,133,134,135,151,152,156,157,159,163,164,165,166,171,173,174,176,177,178,180,181,182,183,185,187,188,190,191,192,193,194],afterward:173,again:[18,19,20,22,76,146,148,152,154,169,173,176],against:[59,72,73,74,135,158,159,177,192],agent:[85,177],aggreg:178,aggregation_typ:[137,138,141,142],aggress:[85,134],agre:151,agreement:151,ahead:[87,99,102,124,125,137,141],aid:[2,22],aim:[1,7,9,10,13,109,172,176,177,183],air:187,aisl:[27,133,157,170,177],aislewai:[134,157],aitor:168,alarm:[84,159],alberto:168,aleksei:168,alexei:[14,153,168],alexeymerzlyakov:14,algorithm:[3,15,17,21,23,24,27,91,99,102,104,105,106,133,151,153,154,156,157,158,159,163,164,168,171,174,176,177,179,181,183,184],alias:27,align:[96,120,137,141,142,159,187],alik:14,aliv:14,all:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,18,19,26,27,39,75,85,86,87,88,94,97,99,102,104,106,108,109,112,116,134,139,147,148,149,151,153,154,155,156,157,159,161,164,165,166,168,170,173,174,175,176,177,178,179,180,182,183,184,187,188,190,191,193,194],allevi:177,alloc:[27,178,182,191],allot:[1,9,11],allow:[5,6,8,9,10,17,18,19,21,22,23,24,27,80,85,86,87,88,94,96,99,100,102,108,117,133,134,135,136,139,144,148,149,151,153,155,156,157,161,163,164,165,170,173,174,175,176,177,178,180,181,182,184,185,187,188,190,192],allow_backward:96,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:[14,26,27,57,67,83,96,99,102,103,111,114,117,134,135,139,155,156,157,158,168,170,174,176,178,179,182,184,187,188,190],alongsid:[159,166,177],alot:[99,184],alpha1:86,alpha2:86,alpha3:86,alpha4:86,alpha5:86,alpha:[176,188],alreadi:[4,7,99,155,156,157,161,171,173,176,177,182,184,187],also:[1,3,4,6,7,11,18,19,20,21,22,23,24,26,27,84,85,86,87,89,92,93,94,97,98,99,101,102,104,106,107,109,110,113,134,135,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,189,190,191,192,194],alter:148,altern:[3,22,27,57,148,149,156,159,171,173,182],although:149,altitud:187,altogeth:184,alwai:[9,16,20,71,84,85,97,109,135,146,156,157,176,177,187,188,192,194],always_on:[173,174,187],always_reset_initial_pos:86,always_send_full_costmap:[93,159,174],alwayson:174,ambigu:102,amcl:[6,7,26,27,28,51,64,152,155,168,174,175,177,184,187],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:[27,108,170,177,181],amongst:176,amount:[93,116,126,128,130,132,133,134,135,144,155,156,158,188],amp:187,ampl:[21,23,24],amr:184,analog:[8,85,156,158,159,162,182,194],analysi:[7,27,151,153,183],analyt:[134,135,156,157,159],analytic_expansion_max_cost:[134,135,159],analytic_expansion_max_cost_overrid:[134,135,159],analytic_expansion_max_length:[134,135,157,159],analytic_expansion_ratio:[134,135],analyz:[5,6,7,10,26,27,162,183],andrei:168,angl:[26,27,55,84,85,94,108,126,133,134,156,168,177,187],angle_quantization_bin:134,angular:[57,85,94,96,99,102,103,121,122,125,134,137,140,141,143,158,164,173,177,192,194],angular_dist_threshold:[103,194],angular_distance_weight:57,angular_granular:[95,125],angular_limit:[85,158],angular_vel:164,angular_veloc:173,ani:[0,3,9,11,14,18,19,20,22,27,44,47,50,52,54,59,61,75,84,85,92,97,99,102,105,106,108,114,115,119,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,174,175,176,177,178,179,181,182,183,184,185,187,188,190,192,193,194],anim:[4,181],annot:[27,94,156,163,164,165,188,190],announc:151,anoth:[0,1,4,6,10,20,21,23,26,27,59,84,87,88,92,101,106,107,110,133,134,148,151,156,157,159,162,168,170,171,173,174,176,179,182,185,187,188,189,190,191],anshumaan:168,answer:[0,151,156],anybot:5,anyhow:157,anyon:11,anyth:[20,27,84,156,162,163,166,177,188,193],anywai:177,anywher:[149,157],apach:[1,2,3,4,5,6,7,8,9,10,11,12,13,151],apart:[22,194],apex:149,api:[17,27,53,153,154,156,161,163,166,174,179,187],appear:[85,151,152,156,157,158,174,176,180,181,186,187,192,193],append:[148,151,173,174],appli:[0,7,11,27,85,96,99,102,105,108,109,114,133,134,135,143,149,156,162,175,176,177,181,182,183,189,190],applic:[1,3,6,10,12,14,17,18,21,22,23,24,26,27,41,57,84,85,87,88,91,92,99,101,107,110,146,148,153,154,157,158,161,163,166,168,170,177,178,181,182,183,184,185,187,190,191,193,194],appreci:[27,151],approach:[22,27,80,85,95,99,100,102,106,108,133,134,135,153,156,158,168,170,173,177,179,192,194],approach_velocity_scaling_dist:102,appropri:[2,18,92,99,101,109,117,151,157,158,166,170,173,175,176,177,182,184,192,193],approri:[159,192],approv:[3,151],approxim:[85,103,109,133,134,152,158,170,171,177,180,194],apt:[147,148,152,173,174,176,180,183,187,189,191],arbitrari:[27,85,106,149,168,170,172,177],arbitrarili:153,arc:[84,85,96,174],architectur:[11,156,184],area:[3,7,27,38,39,85,93,111,114,116,117,133,134,135,151,156,157,158,159,161,163,168,174,176,177,180,183,188,190],area_memori:184,areerrorcodespres:[89,158],arg:[147,180,182,183,192],argc:182,argument:[26,147,157,158,159,162,164,173,176,179,182,183,187,188,190,192],argv:182,arm:161,aroun:158,around:[9,14,18,22,27,38,57,80,84,85,91,93,96,99,102,113,151,156,168,174,175,176,177,180,187,189,194],arrai:[91,134,135],arriv:[110,131,156,168],arrow:[176,186,187],art:106,articl:[153,178],artifact:[104,106,148,181],artifici:99,arxiv:153,as_str:166,asid:[173,174],ask:[0,3,27,151,163,182,193],asla:14,aspect:[19,148,149,179,180],assembl:193,assess:177,asset:182,assign:[27,53,57,91],assist:[0,26,29,151,168,177],assisted_teleop:[31,87],assisted_teleop_error_cod:29,assisted_teleop_serv:29,assistedteleop:[26,31,89,157,158,168],associ:[27,158,173,174,175],assum:[18,19,149,156,163,164,168,171,175,176,181,182,187,188,189,190,191,192,193],assumpt:[109,177,187,189],assymmetr:184,asymmetr:91,async_slam_toolbox_nod:174,asynchron:[18,19,27,155],ata:[131,168],atom:13,attach:[27,93,151,171,173,174,175,178],attempt:[1,18,20,21,23,24,27,80,97,98,99,105,112,133,134,135,149,159,182,184,188],attempt_respawn_reconnect:97,attent:[27,99,177],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:[17,27,94,99,102,116,148,151,156,157,171,173,175,176,177,178,187,188,190],autonom:[1,26,27,99,102,153,156,184,187],autonomi:[1,26,27,154,157,158,178,187,193],autostart:[26,97,152,177,178,186,188,190],auxiliari:26,avail:[5,9,26,27,71,84,85,93,94,99,102,108,146,147,149,151,154,156,157,163,168,170,173,174,177,178,179,180,182,185,187,191],averag:[84,85,86,108],avoid:[1,27,85,87,88,90,91,92,93,99,101,107,110,114,116,135,148,153,156,157,159,163,170,171,173,174,175,176,177,192],awai:[20,91,96,99,103,133,158,174,177,180,193,194],awar:[21,23,24,91,99,106,108,133,134,135,153,156,174,177],awkward:[99,177],axes:109,axi:[26,109,163,176,187],back:[1,9,21,23,24,26,27,30,91,94,99,103,111,135,151,153,154,157,158,162,164,165,166,168,175,176,177,187,193],back_up:87,background:[98,155,157,176,177,188],backport:99,backtrac:[158,195],backup:[1,18,19,21,22,23,24,26,32,89,154,157,158,161,168],backup_dist:[18,21,22,23,24,26,30,89,156],backup_error_cod:30,backup_serv:[30,45],backup_spe:[18,21,22,23,24,26,30,89,156],backward:[57,96,120,140,143,156,158,159,182,192],backward_ro:182,bad:[21,23,24,27,86,161,184],bake:177,balanc:[99,105],ball:27,band:[3,154,170,187,194],bar:[176,180,193],barrier:14,base:[2,5,6,9,18,20,27,52,57,60,62,78,83,84,85,86,87,88,91,93,96,98,99,104,106,107,111,114,117,126,134,135,136,137,138,139,141,142,147,148,149,151,153,154,156,157,158,161,162,164,165,166,168,170,173,174,175,176,177,181,182,184,187,188,190,191,192,193],base_:176,base_class_typ:[161,163,164,165,166],base_footprint:[84,85,86,176,187,192],base_frame_id:[84,85,86,192],base_height:176,base_joint:[176,187],base_las:175,base_laser2:175,base_length:176,base_link:[27,52,57,60,62,71,78,87,88,93,104,105,107,161,162,163,166,171,173,174,175,176,179,184,187],base_link_fram:[173,187],base_shift_correct:[84,85],base_width:176,baselin:[99,134,174],baseobstacl:95,baseobstaclecrit:95,bash:[146,147,148,152,163,171,173,174,176,186,188,189,190],bashrc:[146,148],basi:[5,99,177],basic:[4,5,17,18,26,27,135,154,156,157,163,166,170,171,172,173,174,175,182,184,191],basic_class_typ:163,basicnavig:[26,157,187],basket:26,batch:99,batch_siz:99,batteri:[18,19,27,65,66,157,158,168,185],battery_statu:[65,66],battery_top:[65,66],batteryst:[65,66],beam:86,beam_skip_dist:86,beam_skip_error_threshold:86,beam_skip_threshold:86,beamskip:86,beauti:182,becam:156,becaus:[22,27,97,99,148,149,151,156,159,161,173,175,177,182,183,186,187,193,194],becom:[4,11,17,18,27,93,97,99,108,154,157,159,173,175,176,184],been:[4,6,14,18,19,21,23,24,27,52,60,84,87,88,90,92,99,101,106,107,110,148,151,155,156,157,158,159,163,164,165,168,171,174,175,176,177,183,187,191,192],befor:[5,11,18,21,22,23,24,25,27,44,47,50,54,60,76,78,80,85,86,92,94,96,98,99,105,114,115,119,130,133,134,135,143,148,149,154,155,156,157,159,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,183,186,187,188,189,190,191,193,194],beforehand:[11,187],begin:[134,135,157,159,164,166,173,176,178,194],beginn:[176,182],behalf:151,behav:[96,157],behavior:[1,2,3,11,19,20,21,22,23,24,25,28,29,30,31,32,35,36,37,44,45,47,48,49,50,55,58,60,62,75,76,77,80,84,85,99,102,103,106,110,133,134,148,153,154,164,166,167,170,173,178,179,187,191,194,195],behavior_plugin:[87,157,161],behavior_serv:[87,97,157,161,178],behavior_tre:[18,26,48,49,88,155,159,166,193],behaviortre:[17,18,19,20,21,22,23,24,25,27,61,89,153,162,168,185,193],behaviortreeengin:159,behaviortreenavig:[88,158,166],behaviour:[155,156,190],behavor:156,behind:[157,190],being:[0,6,8,11,18,21,23,24,27,55,85,91,98,99,111,117,134,135,148,155,156,159,164,166,170,171,173,174,177,178,182,187,188,190,192],believ:[19,184],belong:[27,117,156,188,190],below:[0,4,9,11,13,16,17,18,19,22,26,27,66,83,85,88,90,92,95,99,103,104,106,108,110,115,116,119,129,144,151,153,156,157,158,161,162,163,164,165,166,168,171,173,174,175,176,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194],belt:182,benchmark:[4,7,11],benefici:[2,27,99,114,166,182],benefit:[7,148,177],benign:149,benjamin:96,berth:177,bespok:157,best:[6,8,11,27,28,85,99,120,133,134,135,148,151,157,158,170,174,175,177,181,182,184,188,191],beta:96,better:[21,23,24,27,84,85,92,102,108,109,134,148,156,157,159,174,177,178,183,190,194],between:[18,26,27,41,84,85,86,89,94,99,100,104,108,133,134,135,148,149,155,156,157,158,159,160,166,170,171,173,174,175,176,177,184,187,188,193,194],bewar:158,beyond:[152,162,177,190],bezier:91,bias_mean:173,bias_stddev:173,bidirect:159,big:[18,187],bigger:96,bin:[134,135,157],binari:[27,93,98,133,152,158,161,162,164,165,166,168,177,191],binary_filt:111,binary_st:111,binary_state_top:111,binaryfilt:[111,177],bind:[91,166],bing:187,bit:[18,157,177,182,187],black:[174,179,181,188],blackboard:[17,41,42,43,46,48,49,53,61,62,63,80,88,157,158,162,166,178,179,193],blacker:188,blanco:168,blank:165,blasco:168,blib:184,blind:[102,156],blink:84,blob:[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],block:[12,13,26,27,85,146,157,163,165,173,176,177,191,194],blocki:135,blog:8,blue:[187,193],blur:184,bmp:[188,190],board:[27,180],bodi:162,bog:182,bogu:[98,184],boiler:161,boilerpl:[161,166,172],bond:[97,155,174],bond_client_node_:157,bond_respawn_max_dur:97,bond_timeout:[97,156,178],bond_timeout_m:156,book:27,booker:153,bookkeep:[87,88,92,101,107,110],booktitl:153,bool:[41,53,55,84,85,86,87,88,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,127,129,130,131,132,133,134,135,136,139,156,161,166],both:[1,7,11,18,21,22,23,24,26,27,41,84,85,102,106,153,156,157,159,162,166,170,171,173,174,176,177,181,182,183,184,188,189,190,191,192,194],bottleneck:183,bottom:[152,171,174,180,182,183,186],bounc:184,bound:[9,57,85,96,102,105,133,134,135,157,163,192],boundari:[157,190],boustrophedon:94,box:[1,9,27,85,110,157,158,171,173,174,176,177,184,191,192,193],box_inertia:[173,176],bpwilcox:14,branch:[5,13,22,134,135,146,147,148,151,157,179],breakdown:177,breakpoint:182,breez:176,breviti:[161,194],brian:[14,168],brief:[106,157,173,174,175,176],briefli:149,bring:[26,85,97,157,159,176,187,189],bringup:[26,27,97,147,152,157,158,163,170,172,174,177,178,192],bringup_launch:186,broad:[2,7,172,177],broadcast:[173,187],broadcast_utm_transform:187,broader:184,broadli:[134,184,187],broken:18,brother:161,brought:153,brows:193,browser:[147,149],brute_forc:94,bsd:151,bt_action_server_:166,bt_loop_dur:88,bt_navig:[26,48,49,60,62,88,97,155,158,159,162,166,178],bt_plugin:[155,156],bt_register_nod:162,bt_xml_filenam:166,btactionnod:162,btstatu:166,budyakov:168,buffer:[27,87,93,107,109,115,119,161,164,165,184,191],bug:[14,151,169,187],buggi:193,build:[1,5,7,10,14,17,18,26,27,149,150,152,153,157,158,161,162,163,164,165,166,175,181,182,183,185,187,188,190,191,192],build_test:176,build_typ:[161,164,165,166],builder:[148,162],buildtool_depend:176,buildx:148,built:[11,148,151,163,171,172,173,174,176,177,180,181,182,187,188,189,190,191,192,194],builtin_interfac:178,bulldoz:27,bunch:146,burden:177,busi:27,button:[152,158,163,164,165,166,171,174,180,185,186,187],bypass:[85,90,188],c_str:[165,166],cach:[94,134,135,147,148,157],cache_obstacle_heurist:[134,135,177],cachefrom:148,calcul:[18,26,84,85,111,157,163,164,165,173,181,187],calendar:151,calib_cb_fast_check:180,calibr:[17,187,195],calibrationdata:180,call:[26,27,38,39,40,85,92,101,134,135,140,151,152,154,155,156,157,158,159,161,162,163,164,165,166,168,175,176,177,178,179,182,183,187,188],callabl:163,callback:[11,13,27,156,166],callback_group:157,caller:[21,23,24],callgrind:183,came:156,camera:[27,111,131,158,174,177,191,195],camera_calibr:180,camera_depth_fram:174,camera_depth_joint:174,camera_image_topic_nam:131,camera_joint:174,camera_link:[174,175],camera_nam:180,camera_odom:184,cameracalibr:180,can:[0,1,3,4,5,6,7,8,11,13,14,17,18,19,21,22,23,24,25,26,27,28,31,32,33,34,35,36,37,41,42,43,46,76,78,79,81,83,84,85,86,88,89,90,91,92,93,94,96,98,99,102,103,104,106,108,109,110,115,119,134,135,146,147,148,149,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],cancel:[20,22,26,31,32,33,34,35,36,37,152,162,166,168,185],cancelassistedteleop:[89,157],cancelbackup:89,cancelcontrol:[22,89,157],cancelcoverag:89,canceldriveonhead:89,cancelingcontrolandwait:22,cancelnav:157,cancelspin:89,canceltask:26,cancelwait:89,candid:[1,7,94,99,151,170],cannot:[27,71,99,102,109,134,135,140,156,158,166,177,178,187,191,193],canon:27,capabl:[4,7,10,15,26,148,149,153,156,159,169,174,184,185,187,194],captur:[27,157,170,183,184],car:[106,153,156,168,171,177],cardin:187,care:[99,134],career:11,carefulli:[170,184],carl:[14,168],carlo:[6,27,86,174],carri:[27,155,156,157,165,185],carrot:20,cart:4,cartesian:[27,41,94,99,159,168,187],cartograph:154,cast:7,caster:176,caster_joint:176,caster_xoff:176,catchi:8,categori:170,cater:157,cati:185,caus:[22,30,45,84,85,86,99,134,135,152,157,177,181,184,188,190],caution:[149,181],ccach:[147,148],ccw:25,ceas:85,cell:[26,27,108,112,113,115,116,119,134,157,163,170,171,174,176,181,188,190],center:[18,27,38,39,94,99,114,133,134,135,157,161,171,175,176,180,186,187],central:[27,187],cere:91,cerescostawaresmooth:[107,179],certain:[19,155,157,163,170,172,174,185],certainli:[159,184],certif:[85,150],certifi:[9,85,151],chain:[187,190,192],challeng:27,chanc:[1,7,9,19,157],chang:[6,11,12,13,14,17,18,21,23,24,26,27,61,63,75,85,87,88,91,92,93,94,96,99,101,105,107,109,110,127,129,133,134,135,137,141,148,151,152,155,163,164,166,169,171,173,174,177,182,184,185,186,187,188,190,191,192,193],change_penalti:[134,135],changemap:26,channel:[134,151],chao:151,chapter:[27,188,190],charact:104,characterist:[4,12,105,173],charg:[27,65,158,168,170],charger:27,charuco:180,chassi:[175,176],chat:151,check:[0,7,9,11,14,18,19,22,26,27,52,53,59,61,62,63,65,66,67,69,71,72,73,74,80,84,85,87,88,89,91,92,93,99,102,103,107,110,113,114,126,127,128,129,140,146,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,173,174,175,177,180,181,182,186,187,188,190,192,194],check_for_collis:[26,53],checker:[17,46,92,120,154,161,194],checkerboard:180,checklist:172,checkout:[102,147,184],chessboard:180,child:[18,19,22,71,75,76,78,81,82,83,157,168,173,174,175,176,187],child_frame_id:173,children:[18,19,22,75,76,77,80,168,183],chip:177,choic:[10,26,27,177,178,184,189],choos:[108,148,149,152,166,171,175,177,181,182,187,190],chosen:[26,27,148,158,190],christoph:168,chronicl:148,chug:182,cilqr:3,circl:[19,27,84,85,177,180,192],circular:[27,93,99,106,113,153,159,170,171,176,177],cite:[102,153],citizen:191,cla:[1,2,3,4,5,6,7,8,9,10,11,12,13],claim:151,class_list_macro:[161,163,164,165,166],classic:177,classification2d:174,classification3d:174,clavero:153,clean:[27,94,99,148,155,157,159,161,164,165,166,177],cleaner:176,cleaningup:178,cleanli:[27,97,166,177,183],cleanup:[161,164,165,166,178],clear:[18,19,21,22,23,24,26,27,38,39,40,93,115,116,119,151,156,157,158,165,168,174,177,180,184,191],clear_after_read:191,clear_around_:156,clear_around_local_costmap:38,clear_entirely_global_costmap:[18,21,22,23,24,89,162],clear_entirely_local_costmap:[18,21,22,23,24,40,89,162],clear_except_:156,clear_except_local_costmap:39,clear_on_max_read:[116,174],clear_threshold:116,clearallcostmap:26,cleararoundrobot:157,clearcostmaparoundrobot:89,clearcostmapexceptregion:89,clearcostmapservic:19,clearentirecostmap:[18,21,22,23,24,89,156,162],clearer:174,clearexceptregion:157,clearglobalcostmap:[18,21,22,23,24,26,89,162],clearing_endpoint:156,clearingact:[18,21,22,23,24,89],clearlocalcostmap:[18,19,21,22,23,24,26,38,39,40,89,162],clever:182,cli:[27,98,148,149,155,156,183,189],click:[16,149,152,163,164,165,166,171,174,180,186,187,193],clicked_point:185,clicked_point_to_pos:185,client:[19,27,94,154,156,157,161,162,166,179],client_nod:157,client_node_:157,clinet_node_:157,clip:[174,188],clock:[188,190],clock_:[164,166],clockwis:192,clone:[147,180,185,187,188,189,190,191],cloned_tb3_simulation_launch:159,close:[22,27,52,80,84,85,93,99,102,109,135,138,144,148,156,157,159,164,171,177,187,192],closed_loop:109,closer:[56,99,134,158,159],closest:[57,96,102,120],closur:184,cloud:[7,27,148,149,152,155],cluster:177,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:[13,84,85,159,164,173,183,192],cmd_vel_in_top:[85,192],cmd_vel_nav:[183,192],cmd_vel_out_top:[85,192],cmd_vel_raw:85,cmd_vel_smooth:[85,192],cmd_vel_teleop:87,code:[5,6,15,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,133,148,149,151,154,155,157,161,162,163,164,165,166,168,171,173,174,176,179,181,182,187,191,194],codebas:[85,92,109,151,159],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:[26,172,174,177,183,184],collid:[4,9,171],collis:[1,7,9,27,28,29,53,87,91,93,99,102,103,107,113,114,116,144,153,154,156,157,161,168,169,170,171,173,174,176,177,194,195],collision_cost:99,collision_detector:84,collision_detector_st:[84,159],collision_margin_dist:99,collision_monitor:[85,192],collision_monitor_nod:192,collision_monitor_param:192,collision_monitor_st:85,collisionmonitor:158,color:[8,91,131,174,176,177,181,188,190,191],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:[27,93,134,137,138,141,142,156,189],combination_method:[93,115,119,159,191],come:[8,13,14,27,94,99,102,129,134,151,157,158,161,164,165,166,173,175,176],command:[1,9,22,29,44,47,50,54,79,85,102,103,109,147,148,149,153,155,161,163,164,165,166,168,170,173,174,175,176,182,184,185,186,188,189,190,194],commandlin:[98,182,183],comment:[148,151,157,163,165,182,191],commerci:[27,151,187],commit:[148,151,169,180],common:[18,26,27,85,99,148,149,153,156,157,166,173,184,187,192],commonli:[19,44,47,50,54,166,174,184,187],commun:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,148,151,153,161,166,175,177,178,180],compani:[151,153,177],companion:193,compar:[27,59,72,73,74,85,88,91,106,158],comparison:153,compat:173,compens:187,compet:151,compil:[148,149,161,164,165,166,179,182,183],complement:[5,155,187],complementari:178,complet:[3,4,5,12,17,18,19,22,26,27,34,53,85,94,96,99,102,103,127,129,134,135,144,148,151,152,153,154,155,156,157,158,159,161,162,166,168,169,170,171,173,174,176,178,179,180,183,184,186,187,189,191,193,194],complex:[27,88,99,134,153,158,174,175,176,182,193],complexyolo:4,compli:[2,170,173,187],complianc:109,compliant:175,complic:153,complimentari:166,compon:[6,41,75,76,77,78,79,80,81,82,83,99,108,109,143,156,157,172,176,178,184,188,190],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:[13,153,176],comput:[7,17,18,19,20,21,27,41,42,43,94,99,101,102,106,108,133,134,135,137,141,153,157,158,161,162,164,165,168,170,171,173,174,175,177,179,183,184,186],computation:[27,119,157],compute_complete_coverag:34,compute_coverage_error_cod:41,compute_path_error_cod:[42,43,88,179],compute_path_error_code_id:178,compute_path_through_pos:[158,178],compute_path_to_pos:[158,178],compute_path_to_pose_error_cod:73,computeandpublishveloc:156,computeandsmoothpath:179,computecoverag:41,computecoveragepath:89,computepaththroughpos:[21,89],computepaththroughposesrecoveryfallback:21,computepathtopos:[17,18,19,20,22,23,24,50,52,78,81,83,89,162,166,179,185],computepathtoposeact:50,computepathtoposerecoveryfallback:[18,23,89],computevelocitycommand:[92,164],concaten:156,concept:[7,18,19,153,156,170,174,175,178,188,190,193],conceptu:175,concern:[149,151,157],conclus:22,concret:175,condit:[12,18,21,23,24,27,29,30,45,55,67,68,71,105,148,157,158,162,168,173,176,184,187,193,194],conditionnod:162,conduct:153,conf:[85,92,109,159,162],confer:153,config:[148,149,171,173,174,176,182,187,189],configur:[0,1,14,16,17,18,19,26,27,44,47,50,54,60,84,85,90,91,92,93,97,98,99,106,111,114,117,147,148,149,153,154,155,157,158,159,161,162,164,165,166,168,172,176,177,178,179,181,182,184,185,186,187,189,191,193],configured_param:[178,188,190,192],confin:[99,134,148,159,171],confirm:[171,174,180,187],conflict:155,conform:153,confort:159,confus:19,conjunct:[26,99],connect:[14,19,27,94,97,100,108,112,133,148,149,155,156,157,168,170,173,174,175,176,181,187,193],connector:[41,184],consequ:22,consid:[3,14,18,29,30,45,55,84,85,86,88,89,93,99,129,134,135,144,151,155,156,158,159,161,162,164,165,166,168,170,177,178,184,187,188,192],consider:[4,99,177],consider_footprint:99,consist:[8,17,99,149,151,156,157,168,173,174,175,177,178,187,193],consol:192,constant:[19,94,96,102,164,176,177],constantli:[155,157],constrain:[28,105,156,168,177],constrainedsmooth:[91,157],constraint:[21,103,109,135,156,157,159,166,168,170,177,194],constraintcrit:99,construct:[27,151,157],constructor:[26,27,157,159,162],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:[9,11,17,21,23,24,27,46,49,90,99,106,109,115,119,134,135,150,154,155,156,157,158,159,161,163,164,165,166,168,173,174,176,177,178,179,180,182,184,188,190,192,194],container:148,containeris:148,content:[149,171,172,174,176],context:[11,13,18,19,21,22,23,24,89,147,162,168,193],contextu:[17,18,21,23,24,153,158],continu:[1,12,18,19,20,21,22,23,24,27,94,99,110,132,134,135,149,151,152,153,154,155,156,157,158,166,173,176,177,184,187,189,192],contractor:14,contrast:[157,187],contribut:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,94,134,151,159,174,177,178],contributor:[14,151],control:[2,4,7,9,11,13,17,18,20,21,22,23,24,26,28,33,44,46,56,57,72,73,74,76,77,78,79,83,85,93,102,106,109,117,119,121,122,123,124,125,126,127,128,129,135,136,137,138,139,140,141,142,143,144,145,153,154,155,161,162,163,166,167,169,171,172,173,176,178,179,182,183,184,185,186,189,190,191,192,193,195],controlcancel:22,controller_frequ:[92,95,96,99,102,103,194],controller_id:[18,20,21,22,23,24,26,44,46,89,156,162,185],controller_pati:156,controller_plugin:[92,95,96,102,103,155,164,170,194],controller_plugin_id:[120,121,122,123,124,125,136,137,138,139,140,143,144,145],controller_selector:44,controller_serv:[22,92,95,96,97,99,102,103,155,156,157,159,164,170,178,183,190,194],controllerselector:[21,23,24,89,156],controllerserv:157,controlnod:162,conveni:[149,159,184,190],convent:[21,23,24,27,174,175,178,187],converg:[86,91,96,99,187],convers:[26,98,151,188,190],convert:[0,27,94,99,110,117,134,135,153,154,156,165,175,187,188,190],convert_typ:[188,190],convex:99,cooper:2,coordin:[5,26,27,41,86,93,94,110,157,173,175,176,184,185,187],coordinates_in_cartesian_fram:94,cope:187,copi:[157,171,173,174,176,179,182,188,190,191],copyright:151,core:[7,17,27,158,178,179],corner:[102,152,156,180,188,193],corpor:14,correct:[27,84,85,146,148,151,157,173,174,176,186,188,190,192],correctli:[19,27,152,156,157,171,173,174,175,187,188,190,192],correl:148,correspond:[27,41,80,84,85,88,99,100,108,111,112,113,114,115,116,117,118,119,133,134,135,156,157,161,162,163,174,175,181,187,190],correspont:188,corridor:[99,170,177],cost:[9,18,26,27,84,85,87,91,93,102,106,108,113,114,123,133,134,135,148,153,156,157,163,168,174,177,181],cost_check_point:91,cost_cloud:156,cost_penalti:[134,135],cost_pow:99,cost_scaling_factor:[93,99,108,113,163,174],cost_travel_multipli:133,cost_weight:99,costamp2d:188,costcrit:[99,159],costli:27,costmap2d:[146,159,167,168,181,188,190],costmap2dro:[157,164],costmap:[1,2,4,5,7,10,18,19,20,21,23,24,28,38,39,40,85,87,90,91,92,96,101,102,107,108,111,112,113,114,115,116,117,118,119,133,134,135,136,139,153,154,157,163,164,165,170,171,177,181,187,195],costmap_2d:[5,159,163,174],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:[87,104,105,107,161,179],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:[1,2,3,6,7,9,10,20,27,84,85,92,108,148,149,155,156,157,158,162,163,164,168,175,177,179,182,185,187,188,190,191,192],couldn:182,count:[99,157,173,180,188],counter:[29,106,157,162,166,173,192],counterpart:177,coupl:[26,184,194],cours:[5,11,148,176,184],cov_path:41,covari:[86,187],cover:[2,27,85,116,151,156,159,170,177,178,182,187,188,190,192],coverag:[3,4,6,12,17,27,28,34,41,153,159,166,168,169,177,178],coverage_path:41,coverage_serv:94,coveragenavig:[41,88,168],cpp:[18,27,153,154,155,156,157,159,162,163,168,182,193],cpu:[4,7,85,148,157,177,178,184],crash:[27,97,155,157,177,178,193],crdelsei:14,creat:[1,4,5,6,8,9,10,11,13,14,21,22,23,24,27,41,42,43,77,80,85,93,94,97,99,105,106,134,147,149,151,153,154,155,156,157,158,163,168,170,171,173,174,175,176,177,178,181,184,186,187,188,190,191,192,193,194],create_cli:166,create_subscript:166,createplan:165,creation:[9,155,177],creativ:[6,8],creator:168,criteria:[27,127,129,144,151,157,168],criterion:91,critic:[1,7,9,27,120,134,135,136,137,138,139,140,141,142,143,144,145,154,170,177,178,182],critical_cost:99,critical_weight:99,cross:[146,148,153,170,171],crowd:[21,23,24,170],crtl:[148,149],crux:18,ctrl:148,cube:[171,174],cubic:91,cuda:7,cull:[21,52,168],current:[3,9,11,12,14,18,19,24,26,27,45,52,57,61,78,81,83,84,85,94,99,101,102,103,109,110,111,114,116,117,135,147,151,153,155,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,185,187,192,193,194],current_path:166,current_pos:166,curv:[94,96,108,163,177],curvatur:[91,94,96,99,102,134,135,156,164,170],curvature_lookahead_dist:[102,158],curvature_smooth:[107,179],cusp:[91,99,102],cusp_zone_length:91,custom:[10,17,18,19,21,23,24,26,27,56,57,77,79,86,87,88,94,99,106,110,135,147,148,149,153,157,158,161,164,165,166,168,170,172,174,187,191,192],customiz:[153,158],cut:[134,135],cxprime:174,cyan:[91,176],cycl:[22,84,85,102,134,135,157,161],cycle_frequ:[87,161],cylind:[174,176,187],cylinder_inertia:176,dai:[11,85],damag:109,danc:187,danger:[91,153,192],dark:188,darker:190,dash:[152,160],data:[1,4,7,9,10,26,27,84,85,87,88,90,92,99,105,109,115,116,119,133,134,135,148,153,156,158,159,168,173,174,175,177,178,180,183,184,187,188,190,191,192],data_typ:[93,115,119,174,191],dataset:184,date:[84,85,86,111,114,117,151,154],datum:187,david:[14,95,168],dcmake_build_typ:183,dco:150,deactiv:[27,97,161,164,165,166,178],dead:27,deadband:[109,157],deadband_veloc:109,deadlin:[85,87,88,92,101,107,109,110,159],deal:[7,27,173,175,177],dealloc:27,dealt:18,debug:[27,91,99,119,120,123,134,135,148,158,182,183],debug_optim:91,debug_trajectory_detail:[95,120,164],debug_visu:[134,135,159],debugg:[148,182],debuggin:99,decad:[6,14],decai:[86,99,113,168,174,177],decay_acceler:191,decay_model:191,decel_lim_i:[95,122],decel_lim_theta:[95,122],decel_lim_x:[95,122],deceler:[122,159],decemb:[106,177,191],decent:99,decid:[22,86,159,175,176,178],decis:[171,187],declar:[60,62,148,151,156,159,161,163,164,165,188,190],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:[18,20,22,157,162,168,185,193],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_:94,default_allow_overlap:94,default_bt_xml_filenam:[88,155,162,166,185],default_control:44,default_critic_namespac:120,default_custom_ord:94,default_goal_check:47,default_headland_typ:94,default_headland_width:94,default_model_path:[173,176],default_nav_through_poses_bt_xml:[88,166],default_nav_to_pose_bt_xml:[88,159,166],default_offset:94,default_path_continuity_typ:94,default_path_typ:94,default_plann:50,default_route_typ:94,default_rviz_config_path:176,default_server_timeout:88,default_smooth:54,default_spiral_n:94,default_st:111,default_step_angl:94,default_swath_angl:94,default_swath_angle_typ:94,default_swath_typ:94,default_turn_point_dist:94,default_valu:[173,176,188,190],defaultsto:173,defin:[1,5,9,10,18,26,27,41,44,47,50,54,59,60,62,80,84,85,87,88,92,93,98,99,101,107,110,120,121,122,123,124,125,126,127,128,129,130,131,132,136,137,138,139,140,141,142,143,144,145,148,153,154,155,156,157,158,159,162,163,165,166,170,171,173,174,175,176,178,181,182,186,187,188,190,191,193],definit:[27,46,53,88,158,161,163,166,173,174,176,178],deg:[94,99],degrad:[134,135,187],degre:[11,25,84,85,134,156,159,187],delai:[84,85,187],delet:[157,173],deliv:26,deliveri:1,deloc:51,delsei:[14,168],delta:108,demand:[27,164,165,187],demo:[8,10,22,27,157,159,171,178,187,188,190],demo_inspect:26,demo_pick:26,demo_secur:26,demonstr:[4,10,26,85,147,157,159,163,187,191,192],deni:166,denois:[93,168],denoise_lay:[112,181],denoiselay:[112,177,181],denot:[174,182],dens:[26,135],dense_qr:91,densiti:[86,94,99],depend:[18,27,85,96,99,117,147,148,149,154,156,157,158,159,161,162,164,165,166,170,171,173,176,177,181,182,184,186,187,188,192],depict:[22,91],deploi:[4,99,153,170],deploy:[156,178,187],deprec:[6,91,156,157],depth:[27,85,93,115,119,168,170,174,175,176,177,184,191],depth_camera:174,depth_camera_control:174,deriv:[85,149,161,163,173,176,187],descent:[104,157],describ:[18,19,99,151,152,159,163,164,165,166,170,173,176,182,183,187,190,191,192,193],descriopt:111,descript:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,155,156,159,161,162,163,164,165,166,168,170,173,176,177,188,190],descriptor:175,design:[5,6,8,26,27,90,99,104,106,156,158,163,177,181,188,190,192,193],desir:[84,85,99,102,131,134,135,148,151,156,158,159,164,177,184,185,190],desired_linear_vel:[102,164],desired_linear_vel_:164,desk:153,despit:187,destin:[26,27,62,152,173,174,176],destroi:148,destroynod:26,detail:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,17,19,27,88,99,106,111,114,117,148,151,155,156,157,158,159,161,163,164,165,166,170,171,172,173,175,177,182,187,190,191,193],detect:[4,27,53,57,84,85,90,91,102,148,159,171,173,174,177,180,185],detection2d:174,detection3d:174,detector:[27,90,185],detectron2:4,determin:[0,68,96,110,120,131,159,166,170,176,181,182,183,192],determinist:[11,27,97,104,178],dev:[147,150,187],devcontain:[148,149],devcontainerid:148,devel:[189,191],develop:[3,4,5,8,11,14,21,23,24,27,85,106,108,146,148,149,157,169,176,177,178,182,194],developercertif:151,dever:148,deviat:[86,99,109,159,177],devic:[148,177,187],diademata:152,diagnost:173,diagnostic_msg:173,diagnosticarrai:173,diagon:112,diagram:[153,175,185],diamet:173,dictat:194,dictionari:159,did:[19,20,159,161,164,165,174,176,182,183],didn:177,diego:14,diff:[91,106,168,177,187],diff_driv:173,diff_drive_control:173,diffdriv:99,differ:[10,17,18,19,21,22,23,24,27,61,84,85,89,94,96,102,103,106,108,111,114,117,134,148,149,151,153,155,157,158,159,163,166,170,172,173,174,175,176,177,178,179,182,184,185,187,188,190,192,193,194],differenti:[8,86,96,99,103,106,108,153,156,157,159,168,170,171,173,174,176,177,184,187,194],differentialmotionmodel:86,difficult:[27,103,157,177,194],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:[4,57,85,91,99,102,106,109,121,134,135,140,147,148,156,159,169,170,175,180,186,187,192],direction_end_angl:[85,192],direction_start_angl:[85,192],directli:[27,94,99,132,148,149,151,156,159,162,163,176,182,187,188,190],directori:[131,147,148,149,156,157,159,161,163,164,165,166,168,171,173,174,176,177,188,190],disabl:[84,85,86,92,133,134,135,157,158,177,180,184],disable_calib_cb_fast_check:180,disagre:86,disappear:85,discard:[87,88,92,101,107,110,112,157,159,181],discontinu:[94,104,106,135],discours:[0,151],discov:[147,162],discover:[161,163,164,165,166],discoveri:[97,148],discret:[27,112,148,151,170,173],discretize_by_tim:125,discuss:[3,6,19,27,88,151,155,156,157,164,165,170,171,172,173,174,175,176,178,187,194],dislpai:174,dispatch:27,displac:[30,45],displai:[2,84,101,134,135,156,171,173,174,176,177,181,187,190,193],disproportion:99,disscuss:156,dist:[26,134,135,180],dist_to_travel:[25,45],distanc:[17,19,20,26,27,30,45,55,56,57,60,62,78,86,87,91,94,96,99,102,103,120,125,134,135,140,154,155,156,159,164,168,170,173,174,175,177,185,194],distance_backward:57,distance_forward:57,distance_remain:[156,166],distancecontrol:[17,18,89,91,155],distancetravel:89,distancetraveledcondit:155,distant:57,distinct:[27,175],distinguish:41,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:86,do_refin:[104,105,107,134,135,158,179],doc:[8,147,152,155,187],dock:[17,18,27,87,170],docker:[148,149],dockerfil:[147,148],document:[8,10,15,18,22,27,147,148,151,152,155,173,174,175,176,181,182,183,184,188,189,190],doe:[4,9,19,21,22,23,24,84,85,90,99,114,116,134,135,147,148,156,157,158,159,161,164,165,166,171,173,177,178,179,187,188,190,193],doesn:[75,133,156,157,161,177,184,188],dog:184,doing:[26,110,114,151,166,182,187],doisi:168,domin:[115,119,159],don:[134,135,139,152,156,175,177,179,182,184,185,186,187,188,189],done:[13,18,19,27,85,148,154,155,156,163,164,165,166,169,170,174,182,183,184,193],dont:176,door:17,dot:[159,187],doubl:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,52,53,55,56,57,58,60,62,70,78,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,105,107,108,109,110,111,113,114,115,116,117,118,119,120,122,123,124,125,126,127,128,129,130,133,134,135,136,137,138,139,140,141,142,143,144,145,156,159,164,165],doubt:99,down:[26,27,96,97,99,102,108,117,119,152,153,155,157,158,177,178,182,187,190,192],download:[5,148,180],downsampl:[91,99,133,134,135,157,159],downsample_costmap:[133,134],downsample_factor:[133,134],downsample_obstacle_heurist:[134,159],downsampling_factor:[133,134],downstream:156,doxygen:150,dozen:27,drag:[152,193],dramat:[134,135,155],draw:[187,188,190],drawn:188,drift:[27,173],drivabl:[103,170,177,194],drive:[1,25,26,35,45,91,99,102,106,134,135,153,156,164,168,170,171,173,174,176,177,187,188],drive_on_head:[35,87],drive_on_heading_error_cod:45,driven:[4,177],driveonhead:[25,26,89,158],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:[9,96,155,184,193],dropdown:2,dual:[149,187],dual_ekf_navsat:187,dub:157,dubin:[94,134,135,156,157,168,170],dubiou:157,due:[0,6,9,11,22,27,31,32,35,36,37,86,93,99,109,112,134,135,151,155,156,157,158,166,171,173,174,177,181,184,193,194],dumb:27,dummi:163,dump:170,duplic:[27,166],durabl:176,durat:[53,70,83,87,88,92,97,99,140,151,157,162,164,178,185],dure:[6,22,84,85,91,97,99,134,135,148,155,156,157,158,159,162,163,171,176,177,183,186,189,193],dwa:[3,168,170],dwb:[1,3,9,21,23,24,27,28,121,122,123,124,125,136,137,138,139,140,141,142,143,144,145,154,155,168,170,177,194],dwb_core:[92,95,155,156,170,194],dwb_critic:[95,120],dwb_local_plann:155,dwb_plugin:[95,120],dwblocalplann:[92,95,155,170,194],dynam:[0,3,13,15,17,21,23,24,27,79,80,84,85,95,99,134,135,153,154,155,156,161,162,163,164,165,166,169,170,174,176,177,190,191,192,193,195],dynamicfollowpath:155,each:[11,18,21,23,24,25,26,27,61,84,85,86,87,88,92,93,99,101,107,109,132,149,151,153,154,156,157,158,159,161,162,163,164,165,170,173,174,175,176,177,178,179,181,182,187,188,190,192,193],earli:[5,11,16],earlier:[86,134,135,149,152,157,161,175],earth:187,earth_wgs84:187,easi:[10,11,14,18,27,41,148,149,151,153,172,174,184,189],easier:[151,170,174,175,176,177,182,194],easili:[13,18,27,88,148,155,156,157,159,177,183,192],east:187,echo:187,ecosystem:[0,27,106,157,177],edg:[4,94,99,159,175,188],edit:[8,156,168,173,174,179],editor:[188,190,193],educ:14,effect:[2,4,85,91,116,133,148,155,157,173,177,188],effici:[22,27,106,174,177,178],effort:[8,14,27,94,109,151,153,156,170,174,177,191],efk:173,eight:[181,187],eitan:168,either:[1,18,19,26,27,85,86,98,99,116,118,148,149,158,159,168,170,173,174,177,183,190,193],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:[17,27,85,92,109,149,151,159,187],elif:[26,157],elimin:176,ellipsoid:187,elong:91,eloqu:[27,160],els:[26,84,93,156,157,159,163,164,166,173,192],elsewher:183,email:[0,14,27,151],emb:175,embed:[6,27,157,177,178],emerg:[6,9,85,90],emit:174,emphas:187,emploi:85,empti:[42,43,99,115,118,119,130,155,156,157,164,166,181],emul:148,emulate_tti:[188,190],enabl:[10,13,22,52,84,85,86,93,96,99,102,110,111,112,113,114,115,116,117,118,119,130,131,132,134,135,148,149,156,157,158,161,164,165,166,168,173,174,176,177,178,184,189,191,192,193],enable_stamped_cmd_vel:[85,87,92,109,159,192],enabled_:163,enact:[9,80,153,194],encod:[27,111,117,173,175,184,187,188,190],encompass:177,encount:[16,170,174,182,183],encourag:[0,14,22,99,151,176,178,182],end:[6,11,20,27,84,85,99,100,104,133,135,157,159,161,163,164,165,166,168,176,177,178,181,182,187,192],endpoint:[134,135],energi:[99,174],enforc:[91,109,114,156,180],enforce_path_invers:[99,159],engag:151,engin:[6,147,149,154,183,184],enhanc:151,enough:[18,158,171,177,180,187],enrich:149,ensur:[4,9,11,13,20,21,23,24,27,85,92,97,99,102,109,148,149,151,154,156,157,158,159,170,171,175,176,177,178,183,191],enter:[21,23,24,27,99,161,164,165,166,188],entir:[12,18,19,21,23,24,85,147,148,151,168,170,177,184,192],entiti:173,entri:[14,173,179,182,183,192],entryfil:177,entrypoint:147,enu:187,enumer:[29,30,41,42,43,45,46,53,55,193],env:148,environ:[4,5,9,10,12,27,96,106,146,147,148,149,151,152,153,170,171,173,174,175,177,184,186,187,188,192],environemnt:174,environment:[93,119,153],envok:[29,30,45,55],envrion:191,ephemer:148,eppstein:168,eqal:91,equal:[27,84,85,96,111,163,180,181,188,190],equat:108,equip:[174,184,187,193],eros:181,error:[27,29,30,41,42,43,45,46,48,49,53,55,59,72,73,74,84,85,86,88,96,99,112,146,147,155,156,157,168,171,174,179,181,184,186,187,191],error_cod:[59,72,73,74,178,179],error_code_id:[29,30,41,42,43,45,46,48,49,53,55,179],error_code_id_nam:[158,178],error_code_nam:[48,49,88],error_codes_to_check:59,especi:[86,134,135,149,154,157,175,179,184,186,187,189,191,194],essenc:175,essenti:[6,134,135,157,174,177],establish:178,estim:[15,85,86,104,109,152,154,156,163,164,165,166,173,174,175,186,187],estimated_time_remain:[156,166],etc:[4,10,13,17,26,27,84,85,88,92,93,94,109,111,148,149,151,156,158,159,161,166,170,172,173,175,177,184,187,189,193],eth:5,euclidean:[156,177],europ:187,evalu:[120,123,135,170,184],evalul:7,even:[19,20,21,23,98,99,102,109,113,134,149,153,155,156,157,168,170,171,172,173,177,182,184,188],evenli:86,event:[1,13,151,157],eventu:[158,174,176],ever:[99,156],everi:[17,19,21,23,24,57,82,91,93,96,99,102,115,119,134,151,156,157,159,162,163],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:[1,7,15,16,17,18,19,22,27,106,147,148,149,155,156,157,159,161,162,163,164,165,166,171,172,173,174,175,176,177,178,179,180,181,182,183,184,188,190,191,192,193,194],example_assisted_teleop:26,example_follow_path:26,example_nav_through_pos:26,example_nav_to_pos:26,example_rout:26,example_waypoint_follow:26,exce:[29,30,45,55,87,88,92,101,107,110,117,156],exceed:[18,93,158],excel:[1,7,9,187,194],except:[26,27,39,84,92,134,135,151,156,158,165,168,173,182,184,190],exception:[166,173,183],excess:11,exchang:[99,134],exclud:158,exclus:22,exe:182,exec:148,exec_depend:[173,176,178],execut:[10,11,18,20,21,23,24,26,27,76,80,85,88,92,103,109,110,148,149,151,155,156,157,159,162,163,166,168,170,171,173,174,175,176,178,181,182,183,188,190,193],executeprocess:[173,174],executor:[11,26,27,110,156,158],exemplari:17,exhaust:169,exhibit:22,exist:[4,8,11,12,27,41,84,85,98,99,112,133,146,148,151,155,156,157,159,164,166,177,183,184,185,187,193],exit:[21,23,27,97,155,157,182,183],expand:[100,134,135,136,148,157,170,176],expans:[8,100,108,134,135,156,157,158,159,168],expect:[5,11,26,86,99,101,115,119,151,153,155,156,159,166,173,178,179,187],expected_planner_frequ:[101,108],expected_update_r:[115,119,191],expend:177,expens:[27,119,157,158,173],experi:[1,2,3,4,5,6,7,9,10,12,25,147,148,149,153,157,176,182,184,186],experienc:172,expert:[4,14],expir:[22,69,168,191],explain:[11,18,19,22,149,151,171,182,183,189,194],explan:[18,90,106],explicitli:[4,26,149,188],explor:[134,174,175],exponenti:[86,96,99,113,168,174,177],expos:[19,27,107,156,158,187],exposur:7,express:[27,117,159,164,187,188,190],extend:[163,173,187],extens:[22,27,99,148,149,158,159,184],extent:[96,102],extern:[4,21,23,24,26,84,92,97,130,147,148,154,155,158,159,178,184,195],extra:[91,134,135,157,188],extract:[157,166,168],extrem:[2,18,84,96,114,156,174],face:187,facilit:[149,157],factor:[80,91,96,99,113,133,134,144,174,177],factori:162,fail:[18,19,21,23,24,26,27,92,97,110,133,134,135,154,156,157,158,161,166,168,182],failed_to_make_progress:[72,158],failed_to_smooth_path:[74,158],failur:[1,17,18,19,20,21,23,24,27,29,30,45,55,59,61,62,63,65,66,67,68,69,71,72,73,74,75,76,82,99,153,154,156,157,162,168,178,182,185],failure_toler:92,fair:8,fairli:182,faith:151,fake:27,fall:85,fallback:[21,23,24,85,192],fals:[25,26,29,53,66,84,85,86,87,88,91,92,93,94,96,97,99,100,102,108,109,110,111,113,115,116,117,118,119,120,123,125,133,134,135,136,139,152,156,157,158,159,161,163,165,166,173,174,177,181,182,184,186,187,188,191,192,193],familiar:[18,27,176],fanci:148,far:[84,85,94,99,134,135,152,157,159,174,177,185,194],farm:191,fashion:19,fast:[84,85,86,96,104,105,134,135,157,181,184],faster:[96,157,177],fault:[12,26,27],favor:157,favourit:[188,190],feasibl:[27,99,103,105,106,114,134,153,156,157,159,168,170,177,194],featur:[1,4,6,8,9,14,27,86,92,94,102,105,109,134,148,151,152,156,157,168,169,176,177,187,188],feaur:188,feed:178,feedback:[14,26,27,88,96,109,151,157,166],feedback_msg:166,feel:[6,146,149,176,177],ferguson:[14,153],fetch:[164,165],fetullah:168,few:[4,11,14,19,26,80,91,94,147,148,159,170,174,177,182],field:[4,26,41,62,84,85,86,94,117,133,155,156,157,158,159,161,163,165,166,173,174,176,178,180,182,184,187,188,190,191],field_filepath:41,fields2cov:[41,94,159],figur:[187,193],file:[1,2,17,27,41,85,87,88,97,98,108,131,135,146,148,149,151,152,153,155,156,157,162,163,168,171,175,176,177,178,179,180,184,185,186,187,188,189,190,191,192,193],file_field:41,file_field_id:41,filenam:[173,174,187],filepath:[41,135,166,177],filesystem:[149,182],fill:[4,151,155,162,180,188,190,193],filter:[6,13,29,86,92,104,173,177,184,187,191,192,195],filter_dur:83,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,final_rot:96,find:[14,27,57,87,88,92,94,96,99,101,102,107,109,110,134,135,148,149,151,152,155,156,158,159,164,166,170,176,177,179,181,182,183,185,186],find_if:164,find_packag:182,findchessboardcorn:180,finder:[156,174],findpackageshar:176,fine:[99,152,177,190],finish:[155,159,183,187],finit:[27,99,134,184,193],first:[19,27,41,75,76,84,85,99,113,118,147,148,151,153,157,158,159,164,168,169,171,173,174,175,176,177,178,179,181,182,184,185,186,187,188,189,190,191,192,193],first_map_onli:86,first_map_only_:86,firstli:22,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:27,flexibl:[14,88,99,161],flip:[111,156,158,170,176],flip_threshold:111,flood:18,flow:[1,18,19,21,23,24,76,77,151,162,193],fluidli:99,fly:[156,182,193],fn_tol:91,focal:180,focallength:174,focu:[12,18,26,176,192,193],focus:[108,181,184],focuscamera:176,folder:[19,148,149,174,180,187],folk:[151,157,182],folllow:173,follow:[1,2,3,9,10,17,18,21,23,24,26,28,46,53,79,85,87,91,92,93,96,98,101,102,109,117,130,131,132,134,135,147,149,151,152,153,154,155,156,157,158,161,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,188,189,190,191,192,194,195],follow_gps_waypoint:[27,159,187],follow_path_error_cod:[46,72,88],follow_path_error_code_id:178,followpath:[17,18,19,20,21,22,23,24,26,27,33,44,47,89,92,95,96,99,102,103,155,158,159,162,164,166,170,185,194],followpathact:[44,47,54],followpathrecoveryfallback:[18,21,23,89],followwaypoint:[26,158],fonction:157,fondli:14,fool:177,footprint:[2,84,85,87,93,99,107,114,115,119,134,135,139,157,158,159,163,170,172,176,192],footprint_clearing_en:[93,115,119],footprint_pad:93,footprint_top:[85,104,105,107,161,179],footprintapproach:85,footprintcost:26,footprintcostatpos:26,forc:[86,99,159,184],forcefulli:148,forese:155,forget:186,forgot:151,fork:[27,95],forklift:22,form:[5,41,85,108,163,174,175],formal:[27,153,181],format:[10,41,84,85,91,99,131,135,148,156,173,174,176,187,188,190,193],former:[14,84,85],formerli:[92,158,168],formul:159,formula:190,fortun:173,forward:[0,9,18,27,57,91,98,102,103,120,125,135,140,143,144,148,152,159,162,175,177,187,192,194],forward_point_dist:[95,137,141],forward_prune_dist:[120,158],forward_sampling_dist:[103,194],found:[3,8,19,22,26,27,71,85,90,99,103,106,120,133,134,135,148,149,153,154,156,157,158,159,161,162,163,164,165,166,168,169,170,171,173,174,176,178,183,186,187,188,189,190,191],foundat:166,four:[18,27],foxi:[11,27,160,165],fraction:157,fragment:181,frame:[2,27,41,52,57,60,62,71,78,84,85,86,87,88,91,93,94,98,107,110,111,114,115,117,119,123,146,154,164,165,171,173,174,175,176,180,184,187,192],frame_id:[26,62,98,115,119,159,164,165,173,188,189,190],frame_nam:174,framework:[0,2,8,14,27,106,133,153,158,173,177,178],francisco:[153,168,184],free:[10,27,93,98,99,116,133,146,149,154,168,173,174,176,177,181,184,186,187,188],free_spac:181,free_thresh:[188,190],free_thresh_default:98,freeli:176,freespac:[21,23,24,177],frequenc:[18,19,84,87,92,93,99,101,109,134,135,173,184,187],frequent:[135,177,187],fresh:148,friction:2,friendli:[99,176],from:[2,5,6,7,8,9,11,12,18,19,20,21,22,23,24,26,27,41,44,47,50,52,54,57,61,62,84,85,86,87,88,90,91,92,93,94,96,98,99,102,103,104,108,109,110,115,117,118,119,133,134,135,137,140,141,145,146,147,148,149,150,151,152,153,154,155,156,157,161,162,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,191,192,193,194],from_imag:147,from_msg:157,from_numb:161,from_second:164,front:[84,85,134,137,141,164,176,177,192],front_cast:176,frustrat:157,fsm:27,full:[5,7,12,19,27,86,93,99,114,120,134,146,151,155,156,157,169,170,171,172,173,175,176,177,181,184,185,187,188,190,192,193,194],fulli:[27,86,113,134,135,151,152,156,157,170,177,179,184,187,191],fun:[0,16],fundament:[166,182],further:[11,19,22,99,105,134,135,148,151,157,159,175,182,184],furthest:[99,134],fuse:[27,153,169,173,187],fusion:[15,27,173,175,184,187],futur:[1,4,8,11,21,27,84,85,86,111,114,117,155,157,159,185],gain:[8,99,102],galact:[86,88,160,161,163,165,174,191,193],game:[27,184],gamma:99,gap:176,gate:184,gather:[14,27],gaussian:[86,99,173,174,187],gazebo:[1,2,3,4,5,6,7,9,10,11,12,13,146,152,159,161,162,163,164,165,166,171,172,176,177,181,186,188,190,191],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:[0,3,5,10,18,22,27,41,80,85,91,94,96,100,106,108,109,120,133,134,135,148,149,150,153,154,156,157,158,159,168,170,171,173,174,175,177,178,181,182,183,184,189,192],general_goal_check:156,generate_headland:41,generate_launch_descript:[173,174,176,188,190],generate_path:41,generate_rout:41,generos:177,gentl:177,genuin:166,geodesi:187,geograph:[173,187],geometr:[176,177],geometri:[4,5,9,173,174,176],geometry_msg:[41,42,43,48,52,57,79,85,87,92,109,155,164,165,166,173,189],get:[1,4,10,18,19,26,27,69,88,92,99,104,108,115,119,134,138,147,148,150,153,155,156,157,158,161,162,163,164,165,166,168,169,172,173,175,176,178,179,180,181,183,184,185,186,187,188,190,191,192,194,195],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:26,getblackboard:166,getcostidx:26,getcostmap:165,getcostmaptimestamp:26,getcostxi:26,getcurrentbtfilenam:166,getdefaultbtfilenam:166,getdefaultbtfilepath:166,getfeedback:[26,157],getglobalcostmap:26,getglobalframeid:[26,165],getindex:[26,163],getinput:162,getlocalcostmap:26,getnam:166,getorigini:26,getoriginx:26,getpath:26,getpaththroughpos:26,getresolut:26,getresourceinfo:158,getresult:[26,157],getrout:26,getsizeincellsi:26,getsizeincellsx:26,getsizeinmetersi:26,getsizeinmetersx:26,gettoler:156,ghcr:147,gif:[22,187],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:[11,85,92,99,109,151,152,153,155,159,161,162,169,170,173,174,175,176,177,178,182,190,194],given:[3,6,22,26,27,30,33,34,45,53,55,85,87,94,99,104,105,111,155,156,157,158,159,162,163,164,165,168,170,173,177,179,183,187,193],global:[18,21,22,23,24,26,51,61,62,63,67,80,86,87,89,91,93,96,99,101,102,110,118,123,134,135,141,142,154,155,157,158,163,164,165,168,171,173,174,175,176,177,181,186,188,190,191],global_costmap:[18,21,22,23,24,87,89,93,104,105,107,111,114,117,161,162,163,171,174,179,181,187,188,190,191],global_costmap_top:[87,161],global_footprint_top:[87,161],global_fram:[60,78,87,88,93,158,161,162,163,166,174],global_frame_:165,global_frame_id:[86,110],global_path:165,global_plan_:164,global_plan_pos:164,global_planner_plugin:165,globallyupdatedgo:89,globalplann:165,globalupdatedgo:[24,61],gmail:2,gml:41,gmsl2:184,gnss:187,gnu:[182,191],goal:[11,17,18,19,20,21,23,24,26,27,33,34,42,43,46,48,49,52,56,61,62,63,68,79,80,87,88,89,91,92,94,96,100,101,102,107,110,120,126,127,128,129,133,134,135,137,138,144,145,152,154,155,161,162,164,165,166,173,176,177,178,179,185,187,189,190,192,194],goal_:162,goal_blackboard_id:[88,166],goal_blackboard_id_:166,goal_check:[47,92,95,96,102,103,156,164,194],goal_checker_id:[26,46,47],goal_checker_nam:120,goal_checker_plugin:[92,95,96,102,103,155,156,194],goal_checker_plugin_id:[127,129],goal_checker_selector:47,goal_distance_bia:120,goal_pos:[26,156,157,164,166,189],goal_reached_tol:62,goal_sub_:166,goal_upd:[79,185],goal_updater_top:79,goalalign:[95,120],goalaligncrit:95,goalanglecrit:99,goalcheck:[47,155,157,164],goalcheckerselector:[21,23,24,89,156],goalcomplet:166,goalcrit:99,goaldist:[95,120],goaldistcrit:95,goalreach:[19,78,81,83,89,159],goalreceiv:166,goals_blackboard_id:[88,166],goaltool:186,goalupd:[18,19,21,22,23,24,61,89,162],goalupdat:[20,89,185],goalupdatedcondit:155,goe:[9,19,22,117,157,161,164,165,166,179],going:[4,14,26,27,80,99,153,156,157,162,179,182,185,187,188,190,192],golai:[28,168],golden:184,gone:18,gonzalez:187,good:[1,6,27,86,99,108,109,134,151,153,159,161,163,164,165,166,171,172,176,177,180,182,184,187],googl:151,gothroughpos:26,gotopos:[26,157],gpal:91,gps:[169,187],gps_link:187,gps_waypoint:187,gps_waypoint_follow:[110,187],gps_waypoint_logg:187,gpss:187,gpu:[4,148],grab:[91,149,166,173],grace:[28,168],gracefulcontrol:96,grade:[27,153,173,187],gradient:[5,27,91,104,157,163],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:91,gradual:91,grai:[176,190],grant:148,granular:[91,125],graph:[3,10,108,135,158,169,183],graphic:[8,149,188,190],grasp:174,great:[7,14,18,151,157,182,184,187],greater:[3,96,99,108,148,164,178],green:[91,169,180,186,187,193],grei:190,grep:146,grid:[6,7,27,93,98,115,119,123,168,170,171,174,176,187,189,191],grid_map:5,gridbas:[18,20,21,22,23,24,42,43,50,89,100,101,108,133,134,135,156,162,165,170,179,185],groot:[88,89,195],ground:[171,173,176],group:[11,13,14,27,81,112,151,158,168,181],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:[17,18,19,147,149,155,157,158,159,163,165,169,170,171,173,174,175,176,178,184,191,192],guidelin:158,guillaum:168,gzclient:152,habit:177,hackbaselin:174,had:[12,14,157,158,159,174,187],haghighipanah:168,half:[18,102,134,135,174],hall:177,hallmark:6,hallwai:134,halt:[18,19,22,159],haltallact:159,hand:[27,99,103,109,157,159,171,175,176,177,184,194],handi:148,handl:[11,18,22,26,27,85,87,88,92,94,97,98,101,107,110,148,156,157,158,161,162,163,164,165,166,174,176,177,178,182],handler:159,hangout:151,hansen:14,happen:[14,18,151,164],happi:[151,187],hard:[10,14,21,53,85,92,109,154,156,159,166,177,187],hardcod:[21,23,24,158,162,166],hardwar:[85,109,148,170,174,176,184,191,193],harsh:[157,184],harshli:108,has:[2,3,4,6,8,11,12,14,18,19,21,22,23,24,26,52,60,61,63,69,70,84,85,87,88,89,90,91,92,99,101,102,107,110,116,126,127,128,129,133,134,135,146,148,149,151,152,153,155,156,157,158,159,161,162,163,164,166,168,171,173,174,175,176,177,182,183,184,186,187,188,190,192,193,194],has_paramet:166,have:[0,3,4,6,10,11,12,14,16,18,19,21,22,23,24,26,27,52,85,87,92,93,99,100,101,102,106,107,108,109,110,111,114,117,133,134,135,146,148,149,151,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],head:[26,35,45,96,99,102,103,133,135,151,157,168,172,173,175,177,185,187,194],header:[62,154,159,163,164,165,173,189],heading_deg:187,headland:[41,94],headless:[149,152,177,181,192],headlight:[111,158],hear:177,heart:[27,170],heavi:[85,91,134,135,187],heavili:177,height:[26,84,85,93,96,102,115,119,163,174,176,187],hello:161,help:[2,3,4,5,8,11,16,21,23,24,27,41,91,99,102,135,150,151,154,156,157,158,161,163,165,168,170,172,173,175,176,177,178,183,184,188,191,193,194],henc:[157,171,174,176,178],here:[0,3,14,19,21,22,23,27,75,76,77,78,79,80,81,82,83,84,85,99,103,148,149,151,152,154,155,156,157,158,159,162,163,164,165,166,168,173,176,178,179,180,182,184,186,187,189,192,193],heurist:[27,102,106,133,134,135,156,157,159,170],hfsm:27,hide:176,hierarch:[27,193],high:[2,3,4,5,6,8,27,85,96,99,102,105,108,109,119,133,134,135,151,153,154,156,170,173,177,181,184],higher:[4,6,9,12,18,27,85,91,92,93,94,96,99,109,111,134,135,153,156,157,158,159,166,177,178,185,188,190,193],highest:[27,158],highli:[27,91,99,106,143,152,153,159,168,170,175,177,179,186,187,189,191,194],highlight:[8,17,26,91,148,170,180,184,193],hint:177,his:184,histori:176,hit:[182,190],hold:[27,174,193],holder:[151,156],holom:[85,192],holonom:[85,91,92,99,100,102,133,145,153,168,177,192],home:[131,157,177,182,185,187],hood:[11,157],hooper:168,hope:157,hopefulli:[18,99],horizon:159,horizont:[112,174,187],horizontal_fov:174,horizontal_fov_angl:191,hospit:1,host:[27,87,92,98,101,107,110,148,149,154,161,170,183,187],hot:166,hotel:[188,190],hour:186,hous:111,how:[2,7,17,26,27,76,85,86,89,91,96,99,108,115,119,123,137,138,141,142,148,150,151,154,158,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,192,193,194],how_many_corn:108,howev:[4,6,9,14,20,21,23,24,27,84,85,99,104,134,148,152,155,156,157,161,166,171,173,176,177,179,182,184,187,188,190,191,192,194],hpp:[161,163,164,165,166],html:147,http:[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],huerist:156,huge:[99,187],human:[1,4,27,153,168],humbl:[84,85,86,87,92,95,96,99,102,103,152,159,160,161,192,193,194],hundr:[1,27],hurt:174,hybrid:[3,103,106,133,135,148,153,156,157,158,168,170,171,177,194],hypot:[164,165],hypothet:18,icon:193,icra:96,idea:[152,153,157,159,176,177],ideal:[7,12,157,158,161,164,165],identifi:[4,7,11,13,148,156,163,170,183],idl:19,ieee:153,ifcondit:[173,176],ifunspecifi:173,ignit:169,ignor:[86,96,146,147,162,173,181],illustr:[85,181],ilqr:3,imag:[16,22,27,91,104,131,135,154,156,176,179,180,181,187,188,190],image_format:131,image_pipelin:180,image_raw:[131,174,180],imagin:[18,27,161,168,187],immedi:[21,23,85,97,156,161,166,173,176,182],immin:[85,153],impact:[21,23,94,99,159,177,182],impass:188,impl:131,implement:[3,5,6,7,10,20,21,23,24,27,29,30,41,42,43,45,46,48,49,55,58,76,86,87,88,92,93,94,96,97,98,99,100,101,102,106,107,108,109,110,115,116,118,119,133,134,135,149,151,154,156,157,158,161,164,165,166,168,170,171,173,174,177,178,179,189,191,193],implementaion:168,impli:[96,131],implicit:26,implicitli:157,imposs:159,impract:187,improv:[1,7,9,11,12,25,27,91,104,106,134,135,148,152,154,155,156,158,159,169,183,184],imu0:[173,184,187],imu0_config:[173,187],imu:[27,173,174,175,184,187],imu_joint:173,imu_link:173,imu_plugin:173,imu_sensor:173,inact:[27,99,161,164,165,166,176,178],incentiv:[99,159],includ:[4,6,7,10,13,14,18,26,27,76,88,89,106,111,125,147,148,149,150,151,153,154,155,156,159,161,162,163,164,165,166,168,170,173,174,175,176,177,182,183,185,188,189,190,191,192,194],include_last_point:125,inclus:[148,159,174,177,182],incom:[85,90,111,114,117,155,188,190],incompat:148,incomplet:169,inconsist:156,incorpor:[86,148,156],incorrect:[156,168],incorrectli:156,increas:[12,27,91,96,99,108,113,134,157,158,175,177,178,180],increasingli:[27,184],incred:17,increment:[29,84,85,87,134,157],increment_recovery_count:162,inde:187,indefinit:[18,19,26,151,185],independ:[14,27,87,117,153,156,158,162,174,184,192],index:[26,131,147,161,163,164,165,166,168,193],indic:[53,84,85,86,111,114,117,130,151,153,155,156,162,163,174,190],individu:[11,27,84,85,90,106,151,154,157,158,177,189],indoor:[111,184],induc:[158,168,195],industri:[14,27,85,102,156,168,170,188],ineri:184,inerti:[174,176,184],inertia:[173,174,176],inf_is_valid:[93,115,119,191],infeas:[105,168],infer:176,infin:57,infinit:[20,92,115,119,134,135,184],inflat:[27,86,93,114,116,134,136,159,168,174,181,188,191],inflate_around_unknown:[93,113],inflate_con:116,inflate_unknown:[93,113],inflation_lay:[93,111,112,114,117,163,171,174,181,187,188,190],inflation_layer_nam:99,inflation_radiu:[93,99,113,174],inflationlay:[93,174,177],influenc:99,info:[10,14,91,95,111,114,117,149,153,156,163,173,180],inform:[1,2,4,10,19,20,27,84,85,90,93,96,98,99,102,103,106,109,111,114,115,117,119,120,133,134,135,147,151,154,155,157,158,159,161,162,163,164,165,166,168,173,174,175,176,177,178,179,181,182,183,184,186,187,188,189,190,191,192,193],infrar:174,infux:157,ing:19,ingest:187,inher:[148,149],inherit:[156,162,163,164,165,166],init:[26,157],init_pos:26,initalorientationasrefer:173,initi:[8,26,64,71,86,88,96,99,105,146,148,149,152,153,155,157,158,161,163,164,165,166,168,176,177,185,187,188,192],initial_cov_:86,initial_orientation_as_refer:173,initial_pos:[26,64,86,157],initial_pose_:86,initial_rot:96,initial_rotation_min_angl:96,initial_transform_timeout:[93,159],initializegoalpos:166,initialposereceiv:[19,89],inject:182,injuri:9,inlin:[163,165,191],inner:[11,192],inout_port:193,inproceed:153,input:[6,19,26,27,85,88,91,99,104,105,115,116,119,130,153,156,158,159,161,162,163,164,165,168,173,176,179,182,185,187,192,193],input_at_waypoint:130,input_go:[20,21,52,79,185],input_path:[20,56,57,185],input_port:193,input_sensor_typ:[116,174],input_top:130,inputatwaypoint:[110,156,168],inputport:162,inquiri:14,inscrib:[113,157,177],inscribed_inflated_obstacl:181,insert:[162,174,182],insid:[27,85,90,91,92,95,106,109,110,148,149,157,158,159,163,173,174,178,182,183,188,191,192],insight:[11,157,169,177],inspect:[26,148],instabl:157,instal:[146,148,149,150,161,163,164,165,166,171,173,174,175,176,179,180,181,182,183,184,186,187,188,189,190,192,194],instanc:[27,85,131,152,159,162,170,173,178,187,188,190],instantan:[92,158],instanti:[170,176,178],instead:[13,18,21,23,24,79,84,86,99,105,120,147,148,154,155,156,157,158,159,161,166,173,174,175,177,178,179,182,184,185,186,187,188,192],instruct:[27,110,152,161,163,164,165,166,173,174,182,183,189],instrument:99,int16:178,integ:188,integr:[0,1,7,12,17,28,57,85,94,96,102,149,156,157,159,172,173,174,175,178,182,184,193],intel:[4,14,99,157],intel_realsense_r200_depth:[84,85,93,191],intellig:[153,177],intellisens:148,intend:[88,152,155],intent:[22,99,177],intention:[14,91,188],interact:[27,88,89,99,153,156,157,176,178,179,182,195],interactive_waypoint_follow:187,intercorrel:181,interest:[7,10,11,14,17,26,27,148,151,166,175,177,179,182,183,185,186,189,193],interfac:[3,5,13,19,27,85,88,107,148,149,153,154,155,158,161,162,163,166,168,174,179,186,187,191],interfer:[93,188],interins:184,interior:180,intermediari:[21,135,153,156],intern:[18,21,23,24,103,153,158,163,166,173,178,184,187,194],interoper:174,interpol:[109,134,188],interpolation_resolut:165,interpolation_resolution_:165,interpret:[93,98,175,181],interprocess:148,intersect:[96,102],interti:176,interv:[84,85],interven:1,intervent:153,intial_pos:19,intoroduc:159,intrest:182,intrins:184,introduc:[27,84,102,149,151,154,156,157,172,174,176,178,181],introduct:[17,89,176],intuit:[177,194],inturn:22,invalid:[17,26,148,158,166],invers:[99,159,188],inversion_xy_toler:99,inversion_yaw_toler:99,invert:[24,99,156],investig:182,invilad_start:178,invok:[29,30,41,42,43,45,46,48,49,53,55,58,147,148,178,183],involv:[4,5,6,11,18,20,99,102,150,156,158,159,171,178,184],ipc:148,iro:153,iron:[88,98,160,166],irregular:[154,184],is_recoveri:[25,29,55],is_voltag:66,isbatterycharg:[89,158],isbatterylow:[18,19,89],isbatterylowcondit:155,ish:14,isn:[99,151,182,184],isol:[149,183],ispathvalid:[24,89,93],isstuck:89,issu:[0,2,3,5,6,8,14,21,23,24,26,27,87,88,92,99,101,107,110,151,155,156,157,169,170,175,177,181,182,184,187,188,190,191],istaskcomplet:[26,157],item:[2,11,18,26,27,169],iter:[21,23,24,26,27,41,52,85,88,91,95,99,105,109,133,134,135,158,163,184],iteration_count:99,its:[1,6,8,9,11,12,18,19,21,22,23,24,26,27,41,78,81,82,83,85,91,93,99,100,103,105,106,108,118,133,134,135,147,151,153,154,155,156,157,158,159,161,163,164,165,166,168,170,171,173,174,175,176,177,178,179,180,181,182,183,184,187,188,190,191,192,193,194],itself:[27,117,134,135,148,157,162,166,174,179,188,190,193],ixi:[174,176],ixx:[174,176],ixz:[174,176],iyi:[174,176],iyz:[174,176],izz:[174,176],jag:105,jaggedli:99,jazzi:[85,160],jerk:190,jerki:[99,109],jeronimo:168,jetbrain:149,jetson:[4,184],jin:96,jitter:99,job:[27,99],join:[151,171,173,174,176,188,190],joint:[173,174,176,187],joint_state_publish:[173,176],joint_state_publisher_gui:[173,176],joint_state_publisher_gui_nod:[173,176],joint_state_publisher_nod:[173,176],jonatan:153,jong:96,josh:153,joshua:[14,168],joshuawallac:14,journal:153,joystick:184,jpeg:156,jpg:156,json:[2,148,149],jump:[134,173,184,187],june:106,junior:151,just:[8,20,21,23,24,27,80,93,99,140,149,151,157,162,163,171,173,174,175,176,182,183,187,188],juzhenatpku:2,k_delta:96,k_phi:96,kalman:[173,187],kcachegrind:183,keep:[14,18,27,85,94,99,148,155,156,159,162,164,165,168,173,175,176,187,188,193],keep_goal_orient:91,keep_start_orient:91,keepout:[93,98,156,168,177,190,195],keepout_filt:[93,114,181,188],keepout_filter_mask:188,keepout_mask:188,keepout_param:188,keepoutfilt:[93,114,156,177,188],keeprunninguntilfailur:[20,185],kei:[19,86,94,147,148,151,152,166,177,178,181,184,187],kept:[14,112],kernel:181,key_nam:193,key_name2:193,keyboard:187,kick:[27,161],kidnap:51,kill:182,kind:[22,153,173,182],kinemat:[2,95,99,103,105,106,153,156,159,168,170,173,176,177,187,194],kinodynam:3,kiwibot:187,know:[11,14,27,94,102,106,146,151,155,156,162,163,168,175,176,184,187,190,193],knowledg:[4,7,11,151,182,191],known:[18,22,26,27,86,102,157,166,168,177,180,187,191],konolig:168,kuiper:96,kurt:168,label:148,lack:[177,184],laid:[188,190],lambda:[96,162],lambda_short:86,land:8,landmark:173,landscap:184,lane:[27,98,114,156,168,188],languag:179,larg:[19,27,85,91,96,99,102,134,135,153,155,169,173,176,177,180],larger:[27,80,85,97,99,102,104,133,151,156,168,182,192],largest:[170,171],laser:[6,9,84,85,86,115,119,168,174,175,192],laser_likelihood_max_dist:86,laser_link:176,laser_max_rang:86,laser_min_rang:86,laser_model_typ:86,laserscan:[85,93,115,119,158,189],last:[6,14,19,21,23,56,57,85,86,91,94,99,100,106,108,109,125,133,134,135,137,138,141,142,148,157,166,170,171,173,175,176,178,184,188,190,192],lastli:[151,158,170,171,173,174,175,176],lat:187,latenc:[109,154,155,184],later:[5,99,134,135,148,149,151,157,161,162,163,164,165,166,174,183,191,193],latest:[84,85,147,148,194],latitud:187,latitude_deg:187,latter:179,lattic:[3,103,106,133,134,153,157,158,168,169,170,177,194],lattice_filepath:135,launch:[26,27,87,97,98,149,152,161,163,164,165,166,170,171,175,178,180,181,184,185,187,188,190,192,193],launch_ro:[173,176,182,188,190],launchconfigur:[173,176,188,190],launchdescript:[173,176,188,190],law:[96,159,168],layer:[2,4,7,10,11,93,111,114,116,117,133,134,136,148,153,154,156,157,163,174,177,187,188,191],layeredcostmap:163,lazi:156,ld_preload:191,lead:[14,99,131,151,156,157,190],leader:14,leadership:14,lean:147,learn:[4,7,11,18,27,89,149,153,161,162,165,174,175,176],least:[20,85,148,151,156,173,192],leav:[96,99,102,134,155,159,182,184,192],led:[84,158,159],left:[6,27,42,43,96,102,108,118,134,135,148,152,157,164,165,171,173,174,176,180,181,183,186,187,190,193],left_joint:173,left_wheel_est_vel:173,leg:[106,149,153,168,170,177,184],legaci:120,length:[80,91,93,94,99,108,134,135,157,174,176,177,178,180],length_factor:[22,80],less:[9,62,85,87,88,92,99,101,102,107,109,110,112,134,154,157,173,181,184,187,188,194],let:[11,18,19,27,94,130,132,146,149,156,157,161,162,165,173,174,175,176,177,184,185,187,190,192],lethal:[93,99,113,168,174,177],lethal_cost_threshold:93,lethal_obstacl:[163,181],level:[5,9,18,21,23,24,27,85,90,105,151,153,156,157,158,178,183,184,188,190,192,193],leverag:[7,11,26,147,149,157,177,179,185,187],lib:[182,191],libgazebo_ros_camera:174,libgazebo_ros_diff_dr:173,libgazebo_ros_factori:[157,173,174],libgazebo_ros_gps_sensor:187,libgazebo_ros_imu_sensor:173,libgazebo_ros_init:[157,173,174],libgazebo_ros_ray_sensor:174,libjemalloc:191,libjmalloc:191,librari:[5,6,7,10,15,26,27,41,88,94,154,155,157,161,163,164,165,166,174,175,179,182,191,193],libstdc:182,licens:[1,2,3,4,5,6,7,8,9,10,11,12,13,150],lidar:[6,9,27,115,171,173,174,177,181,187,191],lidar_joint:174,lidar_link:[174,175],life:193,lifecycl:[26,28,109,146,153,155,156,166,170,172,177,183,188,190],lifecycle_manag:[97,178,188,190],lifecycle_manager_costmap_filt:[188,190],lifecycle_manager_navig:178,lifecycle_nod:[178,188,190],lifecyclemanag:157,lifecyclemanagercli:157,lifecyclenod:[27,157,164,166,182],lifecycleshutdown:26,lifecyclestartup:26,lifecyl:178,light:[111,157,159,180,188,190],lightli:99,like:[2,4,8,13,14,17,18,19,20,21,23,24,26,27,88,98,99,106,110,133,134,148,149,151,152,153,156,157,159,161,162,163,166,168,171,172,174,175,176,177,178,179,182,183,184,185,187,188,189,190,191,193,194],likelihood:86,likelihood_field:86,likelihood_field_prob:86,limit:[8,27,85,92,98,99,109,117,133,134,135,148,156,159,164,168,170,173,177,185,192,195],limitedaccelgener:95,line:[12,26,104,108,133,155,158,161,163,164,165,166,170,171,173,174,175,176,177,179,182,183,187,192],linear:[30,45,85,91,94,96,98,102,125,134,156,158,164,173,188,192],linear_acceler:173,linear_curv_chang:94,linear_granular:[95,125],linear_limit:[85,158],linear_max:[85,192],linear_min:[85,192],linear_solver_typ:91,linear_vel:164,linearli:[27,117,156,188,190],linecost:26,link:[1,2,3,4,5,6,7,8,9,10,11,12,13,16,19,108,151,157,173,174,175,176,187,192],links1:176,lint:151,linter:148,linux:[148,149,182,191],list:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,19,21,26,48,49,52,84,85,87,88,90,92,93,95,97,101,106,107,110,120,148,149,151,153,154,155,156,158,162,163,164,166,168,169,170,173,174,177,178,180,181,182,188,190,192,193,194],listen:[19,84,85,87,146,155],lit:180,littl:[177,182],live:[4,27,149,156,161,175,177,186,189,193],lld:147,load:[27,46,87,92,93,98,99,101,107,110,120,148,153,154,155,156,157,161,162,163,164,165,166,168,170,174,176,179,183,184,188,190,191,193],loadabl:[93,155,156,191],loadbehaviortre:166,loadlibrari:191,loadmap:86,local:[1,3,9,10,11,18,21,23,24,26,44,47,50,54,86,87,92,96,97,99,102,109,120,123,127,129,148,149,151,152,153,155,156,157,158,163,164,165,166,168,170,171,175,177,181,188,190,191,192,195],local_costmap:[18,21,22,23,24,38,39,40,85,87,89,93,112,114,161,162,163,171,174,181,188,190],local_costmap_top:[87,161],local_footprint_top:[87,161],local_fram:[87,158],local_or_glob:156,localization_lifecycle_manag:155,locat:[9,22,26,27,134,135,144,152,161,163,164,165,166,170,173,174,176,187],lock:[13,164,166],lockfil:148,locu:14,log:[149,151,157,161,162,173,174,182,192],log_level:192,logged_waypoint_follow:187,logger:157,logger_:[164,166],logic:[9,17,18,21,23,24,27,158,159,162,166,178,193],logininteractiveshel:148,logo:8,lon:187,longer:[8,22,80,94,133,157,158,159,161,182],longitud:187,longitude_deg:187,look:[0,2,11,18,52,87,102,137,141,144,151,152,153,155,159,162,170,173,174,175,176,177,178,183,187,188,190,191,192,193,194],lookahead:[96,102,156,164,194],lookahead_dist:[102,164],lookahead_dist_:164,lookahead_tim:[95,102,144],looker:[177,194],lookup:[57,157],lookup_table_s:[134,135],loop:[19,27,84,85,92,96,99,102,109,157,165,166,184],loop_rat:[110,156],loss:85,lot:[173,176,182],low:[5,18,19,66,99,104,109,134,154,168,177],lower:[14,18,66,85,87,99,111,134,157,158,174,177,178],lowest:[48,49,99,156,158,178],luckili:[175,182,193],luggag:185,macenski2020marathon2:153,macenski2023regul:153,macenski2023survei:153,macenski2024smac:153,macenski:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,102,153,168],machin:[4,27,148,149,173,174,175,178,193],macro:[134,135,161,162,163,164,165,166,176],made:[6,8,27,85,92,93,97,126,128,148,149,151,157,158,163,166,170,171,176,177,181,185,188,190,192],magnet:187,magnetic_declination_radian:187,magnetomet:187,mai:[0,3,4,5,6,10,14,21,23,24,26,27,41,80,84,85,87,88,92,96,99,101,102,104,106,107,110,112,114,134,135,140,147,148,151,153,155,156,157,158,159,162,163,166,169,170,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,190,193,194],main:[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],main_tree_to_execut:[17,18,19,20,21,22,23,24,25,89,162,185],mainli:[18,174,175,176],mainstai:[27,106],maintain:[0,8,14,15,94,148,151,153,157,158,166,168,169,174,177,178],maintre:[17,18,19,20,21,22,23,24,25,89,162,185],major:[10,13,27,106,153,156,159,161,166,169,171,176,182],make:[1,2,7,9,10,11,12,13,14,19,21,23,24,25,27,41,56,57,88,92,96,99,102,103,108,115,117,119,134,145,146,148,149,151,155,156,157,158,159,161,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,194],make_shar:166,make_uniqu:162,malfunct:84,malici:149,manag:[26,27,28,115,119,148,152,153,155,156,170,172,173,175,176,177,178,180,183,184],mandatori:[156,161,162,164,165,187,190],maneuv:[99,134,135,155,171],mani:[11,17,18,21,23,24,27,76,85,86,153,154,155,159,163,168,174,175,177,179,182,183,184,185,188,190,193,194],manipul:[10,26,27,93,171,176,184],manner:[27,153],manual:[0,57,97,147,148,152,173,178,183],manufactur:174,map:[26,27,28,41,42,43,46,60,78,86,87,88,92,93,101,110,111,114,115,117,118,119,133,134,135,146,152,153,154,156,159,162,163,164,165,166,168,170,171,173,175,177,181,184,186,187,188,190,192,193,195],map_filepath:26,map_fram:173,map_io:155,map_load:155,map_sav:[98,155],map_save_dur:191,map_saver_cli:[155,189],map_serv:[86,93,98,118,155,187,188,190],map_subscribe_transient_loc:[93,118,174],map_top:[86,93,118,174],mapped_name_of_plugin:[164,165],mapper_params_online_sync:182,mapping_mod:191,mapsav:157,mapserv:155,maptoworld:26,mapviz:187,marathon:153,march:27,marder:168,margin:[99,135],mark:[4,27,91,93,115,116,119,139,158,166,174,177,181,188,190,191,193],mark_threshold:[93,116,119,174,191],marker:[99,123,151,174,176],marker_lifetim:123,market:11,martin:[102,153],mask:[27,98,111,114,117,156,158,168,181],mask_top:[98,188,190],mask_valu:[98,111,117],mask_yaml_fil:[188,190],mass:[174,176,187,190],massiv:[134,161,174,181],master:[115,119,163,169,174],master_arrai:163,master_grid:[115,119,163],match:[6,41,59,72,73,74,86,87,88,99,107,134,135,158,162,164,171,177,178,187,192],matchsiz:163,matej:168,materi:176,matrix:[27,173],matt:14,matter:187,matthew:153,matur:[23,24],max:[91,96,99,102,115,116,119,133,134,135,159,164,174],max_accel:109,max_allowed_time_to_collis:102,max_allowed_time_to_collision_up_to_carrot:102,max_angl:174,max_angle_to_furthest:99,max_angular_accel:[102,103,194],max_angular_vel:164,max_angular_vel_:164,max_beam:86,max_decel:109,max_dur:26,max_height:[84,85],max_i:163,max_it:105,max_iter:[91,133,134,135],max_j:163,max_linear_accel:157,max_linear_decel:157,max_lookahead_dist:102,max_obstacle_height:[93,115,119,174,191],max_on_approach_iter:[133,134,135],max_particl:86,max_path_occupancy_ratio:99,max_planning_tim:[133,134,135,156],max_planning_time_m:156,max_point:[84,85,158,192],max_rat:83,max_robot_pose_search_dist:[57,96,99,102],max_rotational_vel:[87,161],max_scaling_factor:120,max_smoothing_dur:53,max_spe:[83,99],max_speed_xi:[95,122],max_vel_i:[95,122],max_vel_theta:[95,122],max_vel_x:[95,122,155],max_veloc:109,max_wheel_acceler:173,max_wheel_torqu:173,max_z:191,maxim:[91,99,177],maximum:[2,27,53,57,83,84,85,86,87,91,92,93,94,96,98,99,102,103,105,109,115,117,119,122,126,128,133,134,135,156,157,158,159,164,168,174,181,184,188,190],maxwithoutunknownoverwrit:[115,119,159],mayb:2,mcl:6,mean:[0,1,18,19,27,85,99,109,117,134,148,149,155,158,173,174,175,177,181,187,188,190],meaning:[157,166,178],meant:[84,85,108,157,158,172,177,184],meantim:13,measur:[9,25,92,99,115,119,134,135,156,158,168,173,174,175,176,181,184,187],mecanum:184,mechan:[5,11,85,163,182,184],medium:[1,7,8,9,11,12,13,169],meet:[85,92,99,109,127,129,144,151,159],member:[4,151,161,164,165,166],memori:[27,148,157,177,178,182,191],mention:[154,155,156,170,190,194],mentor:[0,1,2,3,4,5,6,7,8,9,10,11,12,13],menu:193,mere:148,merg:[5,13,148,151,155,163],meridian:187,merit:149,merzlyakov:[14,153,168],mesh:[27,176],messag:[11,26,27,29,30,41,42,43,44,45,47,50,54,55,84,85,86,87,90,92,93,101,115,117,119,148,151,156,158,159,161,162,164,166,173,178,184,187,188,190,192],message_success:161,messsag:151,met:[129,144,151,156,194],meta:[188,190],metadata:[27,148,166,188,190,193],metapackag:[5,159],meter:[17,25,26,27,86,93,94,100,103,133,134,135,180,181,187,194],method:[3,4,6,17,21,23,24,26,27,94,97,99,115,119,137,138,141,142,151,156,157,158,159,161,162,163,164,165,166,182,183,193],metric:[90,106,158,162],michael:168,micro:177,mid:27,middl:[104,170,177,190,193],middlewar:27,might:[27,86,99,109,134,135,156,159,166,171,173,174,182,183,188,190,193],migrat:[8,169],miguel:168,mike:14,millisecond:[88,132,156],mimic:[159,176],min:[116,164,169,174],min_angl:174,min_approach_linear_veloc:102,min_batteri:66,min_dist_to_obstacl:99,min_height:[84,85],min_i:163,min_j:163,min_lookahead_dist:102,min_obstacle_height:[93,115,119,174,191],min_particl:86,min_point:[84,85,158,159,192],min_r:[134,135],min_rat:83,min_rotational_vel:[87,161],min_spe:83,min_speed_theta:[95,122],min_speed_xi:[95,122],min_theta_velocity_threshold:[92,95,96,102,103,194],min_turning_r:99,min_turning_radiu:94,min_vel_i:[95,122],min_vel_x:[95,122],min_veloc:109,min_x_velocity_threshold:[92,95,96,102,103,194],min_y_velocity_threshold:[92,95,96,102,103,194],min_z:191,mind:[99,148,173,175,187],mini:184,minim:[2,11,99,152,157,158,166,170,173,177,184],minima:99,minimal_group_s:[112,181],minimum:[2,9,27,66,83,84,85,86,87,91,93,94,96,98,99,102,109,112,115,119,122,126,128,134,135,140,143,156,157,158,159,168,170,174,175],minimum_turning_radiu:[91,134],minor:[127,129,174],minut:[27,87,88,92,101,107,110,159,180],mirror:[99,135],misalign:181,misloc:181,miss:[13,85,92,109,147,156,159,176,177,183,193],mission:[153,161],mitig:187,mittal:168,mixin:[147,148],mixtur:86,mkdir:[147,188,190],mkhansen:14,mmethod:162,mnimum:126,mobil:[1,4,5,7,9,10,12,14,26,27,96,153,173,174,175,184],mock:184,modal:173,mode:[20,85,94,99,109,148,158,159,184,187,188,190,193],model:[4,27,28,84,85,86,91,106,115,119,134,148,152,153,155,156,168,170,173,174,176,177,186,187,191,192],model_dt:99,model_typ:191,modelplugin:173,moder:177,modern:[106,153,177,184],modest:99,modif:[27,148,151,156,157],modifi:[6,17,56,57,88,89,95,104,148,151,156,157,159,161,162,164,165,166,168,170,171,173,176,182,183,185,193],modu:194,modul:[29,30,41,42,43,45,46,48,49,55,58,88,97,110,159,163,184,187,192],modular:[6,149,153,168],mohammad:168,moment:158,monitor:[22,28,84,153,156,193,195],monitorandfollowpath:22,monocular:180,mont:[6,27,86,174],month:[151,184],moor:[15,153],more:[2,3,4,6,7,9,10,11,12,14,17,18,23,24,27,41,57,84,85,86,91,95,96,99,102,103,109,111,114,117,133,134,135,143,147,148,149,151,153,155,156,157,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],moreov:181,most:[9,18,21,23,24,85,86,87,88,92,99,101,103,106,107,110,152,157,162,168,173,174,175,177,179,182,183,184,187,194],mostli:174,mothership:161,motion:[3,4,27,86,91,96,134,135,143,144,156,168,170,173,175,184,187,192,193],motion_model:99,motion_model_for_search:134,motion_target:96,motion_target_dist:96,motiv:[10,157],motor:[109,153,187],mount:[148,149,175,187],move:[14,18,22,27,80,84,85,96,99,111,126,128,130,134,135,140,143,153,154,155,156,157,158,165,168,169,175,176,177,180,184,185,186,187,188,189,192],movecamera:176,moveit:[8,14],movement:[27,84,85,86,91,93,109,135,158,171,187,192],movement_time_allow:[92,95,96,102,103,126,128,158,194],mpc:[3,99,158,168,170],mppi:[158,168,169,177],mppicontrol:99,msg:[26,41,42,43,48,52,80,85,87,92,109,111,157,164,165,166,168,173],much:[27,91,96,102,109,134,151,153,155,156,158,175,176,177,187,188],multi:[7,10,11,26,27,156,157,168,170],multi_tb3_simulation_launch:159,multipl:[6,11,21,23,24,27,41,44,47,50,54,80,85,87,99,106,107,149,153,155,156,159,164,165,170,173,174,175,176,177,178,179,182,184,187,190,192],multipli:[98,111,117,133,134,188,190],multithread:0,multitud:[27,174],must:[4,14,19,26,27,60,86,93,94,96,98,102,105,109,112,115,119,126,128,134,135,136,147,151,155,157,158,161,162,164,165,166,168,170,173,174,175,178,179,180,183,186,189,191,192,193],my_camera:180,my_contain:178,my_gps_plugin:187,my_mark:174,my_nav_through_poses_bt:[88,166],my_nav_to_pose_bt:[88,159,166],my_packag:[88,159,166],my_world:174,myawesomenewnod:193,myplugin:[163,165,191],naiv:[106,133],name:[8,14,15,17,18,19,20,21,22,23,24,25,27,29,30,31,32,33,34,35,36,37,38,39,40,42,43,44,45,46,47,48,49,50,51,54,55,58,84,85,86,87,88,89,90,92,93,97,99,100,101,107,108,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,151,155,156,157,163,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,187,188,190,191,192,193,194],name_:[163,165],name_of_paramet:[164,165],namespac:[26,27,87,88,92,93,95,99,101,107,110,115,119,120,155,158,163,164,165,170,173,174,177,178,184,188,190,191,194],narrow:[99,134,148],narrowest:99,nasti:[106,157],nativ:[148,158],natur:[27,99,159,166,177,184],nav2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,18,20,21,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,147,148,149,150,151,152,154,155,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,179,180,184,187,189,191,193,194,195],nav2_amcl:[86,174,189],nav2_back_up_action_bt_nod:[88,162],nav2_behavior:[29,30,45,55,58,87,157,161],nav2_behavior_tre:[19,27,89,155,156,159,162,166,193],nav2_bringup:[152,155,156,157,158,161,163,164,165,166,171,174,177,181,182,183,185,186,188,189,190,192],nav2_bt_navig:[17,18,88,155,156,166,185,193],nav2_bt_waypoint_follow:27,nav2_ceres_costaware_smooth:[107,179],nav2_clear_costmap_service_bt_nod:88,nav2_collision_monitor:[90,192],nav2_common:[188,190],nav2_compute_path_to_pose_action_bt_nod:88,nav2_constrained_smooth:[91,157],nav2_control:[92,95,96,102,103,126,127,128,129,154,156,158,183,194],nav2_cor:[88,154,156,158,161,164,165,166],nav2_costmap_2d:[93,111,112,114,117,155,156,157,158,163,164,171,181,188,190],nav2_costmap_2d_mark:174,nav2_costmap_filters_demo:[188,190],nav2_default_view:186,nav2_depend_w:146,nav2_distance_controller_bt_nod:88,nav2_distance_traveled_condition_bt_nod:88,nav2_follow_path_action_bt_nod:88,nav2_gazebo_spawn:157,nav2_goal_reached_condition_bt_nod:88,nav2_goal_updated_condition_bt_nod:88,nav2_gps_waypoint_follower_demo:187,nav2_graceful_control:96,nav2_gradient_costmap_plugin:163,nav2_gradient_costmap_plugin_cor:163,nav2_hfsm_navig:27,nav2_initial_pose_received_condition_bt_nod:88,nav2_is_stuck_condition_bt_nod:88,nav2_lifecycle_manag:[178,188,190],nav2_map_serv:[188,189,190],nav2_mppi_control:99,nav2_msg:[26,27,92,155,156,162,188,190],nav2_multirobot_param_al:159,nav2_multirobot_params_:159,nav2_navfn_plann:[100,101,165,170],nav2_param:[156,157,158,161,163,164,165,166,171,177,178,179,181,183,188,190,191],nav2_pipeline_sequence_bt_nod:88,nav2_plann:[42,43,154],nav2_pure_pursuit_control:164,nav2_rate_controller_bt_nod:88,nav2_recoveri:[154,157],nav2_recovery_node_bt_nod:88,nav2_regulated_pure_pursuit_control:[102,103,156],nav2_reinitialize_global_localization_service_bt_nod:88,nav2_rotation_shim_control:[103,157,194],nav2_round_robin_node_bt_nod:88,nav2_route_serv:178,nav2_sensor_driv:178,nav2_simple_command:[26,157,187],nav2_simulation_launch:152,nav2_single_trigger_bt_nod:88,nav2_smac_plann:[91,106,133,134,135,156],nav2_smooth:[91,104,105,107,179],nav2_sms_bahavior:161,nav2_sms_behavior:161,nav2_sms_behavior_plugin:161,nav2_speed_controller_bt_nod:88,nav2_spin_action_bt_nod:88,nav2_straightline_plann:165,nav2_straightline_planner_plugin:165,nav2_test_util:185,nav2_theta_star_plann:[108,156],nav2_time_expired_condition_bt_nod:88,nav2_transform_available_condition_bt_nod:88,nav2_tree_nod:193,nav2_util:[27,155,157,165,166],nav2_velocity_smooth:[109,157,192],nav2_w:[147,148,182],nav2_wait_action_bt_nod:[88,162],nav2_waypoint_follow:[27,110,130,131,132,154,156,158,159],nav2_world_model:154,nav:[14,26,94,156,157],nav_msg:[26,41,42,43,56,57,80,164,165,166,173,178,184],nav_path:41,navfn:[3,28,99,103,104,106,154,168,170,171,177,179,194],navfnplann:[100,101,165,170],navig:[0,1,2,3,5,6,10,13,14,15,16,17,20,26,28,41,60,61,62,63,78,81,83,89,99,106,110,148,151,153,154,156,159,161,162,164,167,169,171,172,173,174,175,176,177,178,179,183,184,185,191,193,194,195],navigate_through_pos:[88,166],navigate_through_poses_error_cod:[48,88],navigate_through_poses_w_replanning_and_recoveri:[48,49],navigate_to_pos:[88,166],navigate_to_pose_error_cod:[49,88],navigate_to_pose_w_replanning_and_recoveri:[18,166],navigate_to_pose_w_replanning_goal_patience_and_recoveri:157,navigate_w_replanning_and_recoveri:[156,162,193],navigate_w_replanning_and_round_robin_recoveri:156,navigaterecoveri:[18,21,22,23,24,89,162],navigatethroughpos:[88,89,166],navigatethroughposesnavig:[88,166,168],navigatetopos:[27,88,89,110,155,162,166,185],navigatetoposeact:27,navigatetoposenavig:[88,166,168],navigatewithreplan:[17,18,20,21,22,23,24,89,162,185],navigation2:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,150,151,152,153,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,190,192,193,194,195],navigation2_dynam:15,navigation2_tutori:[15,159,163,171,173,176,188,190],navigation_dur:26,navigation_launch:[157,171,174,183,189,192],navigation_lifecycle_manag:155,navigation_tim:[157,166],navigation_tutori:[161,164,165],navigatior:158,navigaton2:152,navigator_plugin:166,navigatorbas:166,navsat_transform:[27,187],navsat_transform_nod:[173,187],navsatfix:187,navthroughpos:[157,168],navtopos:157,ncancel:166,ndt:6,near_goal_dist:99,nearbi:[84,85,102,156,181],nearest:[96,99,102,188],nearli:[153,157,177],neccessari:[161,164,165,166,175],necess:[163,164,166],necessari:[11,22,26,96,99,102,134,135,148,156,158,159,161,163,166,171,173,174,175,176,177,178,181,183,190,194],necessarili:19,need:[2,4,11,13,21,22,23,24,26,27,41,44,47,50,54,80,85,87,88,91,92,93,94,99,101,102,107,110,134,147,148,149,151,153,156,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,190,192,193],need_recalculation_:163,neg:[109,134,135,156,162,173],negat:188,neglig:157,negoti:93,neigh:108,neighbor:[112,181],neighborhood:[99,168,170],neither:27,nest:[148,149,182],network:[11,27,148,154,157,162],neutral:191,never:[18,27,99,134,135,157,188,190],nevertheless:173,newer:[148,161,174],newest:[20,177],newli:[80,103,156,157,171,174,177,178,188,192,193,194],next:[4,5,18,19,21,22,23,24,27,41,99,109,110,130,132,148,152,154,155,161,163,164,165,166,168,170,171,173,174,175,176,181,190,193],next_target:193,nice:[27,161],no_inform:[115,119,181],no_readings_timeout:116,no_valid_control:[72,73,158],no_valid_rout:178,node:[0,17,18,20,21,22,23,24,26,28,44,47,50,52,54,56,57,59,60,61,64,70,72,73,74,76,77,78,79,80,81,82,83,88,91,97,106,108,109,131,134,135,146,148,154,155,161,162,164,165,166,169,170,172,173,175,176,177,180,184,185,186,187,188,189,190,192],node_:[157,161,162,163,164,165],node_nam:[97,178,182,188,190],nodebuild:162,nodeconfigur:162,nodeid:26,nodestatu:157,nois:[86,99,104,112,155,158,168,173,174,177,187,195],noisi:[156,173,181,187],nolint:166,nomenclatur:27,nomin:[21,23,24],non:[7,10,26,27,85,88,92,97,99,103,106,111,113,114,117,133,134,135,148,153,157,159,162,166,168,170,171,175,176,177,182,183,184,188,192,194],non_straight_penalti:[134,135],none:[26,44,47,48,49,50,54,84,158,159,166,177,178],nor:[99,183],normal:[99,134,148,157,182],north:187,notabl:149,note:[2,17,19,20,21,22,23,26,27,41,85,86,87,91,92,93,94,97,98,101,102,107,109,110,114,117,135,151,153,157,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,186,187,188,190,191,193,194],noteworthi:99,noth:[156,184],notic:[99,134,163,173,174,176,182,193],notif:149,notifi:[97,162,166],notion:178,notori:184,novel:[156,157],novelti:6,now:[11,18,19,21,22,85,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,179,182,183,184,185,186,187,191,193],nowher:159,nudg:168,num_attempt:22,num_coeff:180,num_cycl:25,number:[3,11,26,27,41,76,84,85,86,91,93,94,99,104,105,112,119,121,133,134,135,154,155,156,157,158,159,161,162,165,168,173,174,175,176,177,180,181,182,190,193],number_of_recoveri:166,number_of_retri:[18,19,21,22,23,24,76,89,162],number_recoveri:166,numer:158,numeric_limit:156,nutshel:27,nvidia:[4,184],nxm:180,object:[5,10,11,26,27,41,79,94,99,153,156,157,158,159,161,163,166,172,174,176,177,187,191,195],observ:[115,119,149,161,164,165,166,173,174,175,194],observation_persist:[115,119,191],observation_sourc:[84,85,93,115,119,174,191,192],obsolet:156,obstacl:[0,1,3,9,15,17,20,27,67,80,84,85,86,91,93,102,112,113,118,119,133,134,135,136,139,153,154,157,158,168,170,171,174,175,176,185,186,187,191,192,195],obstacle_clearance_tim:157,obstacle_lay:[93,111,114,117,156,163,174,181,187,188,190,191],obstacle_max_rang:[93,115,119,156,174],obstacle_min_rang:[93,115,119,156,174],obstacle_rang:191,obstaclecrit:159,obstaclefootprint:120,obstaclefootprintcrit:95,obstaclelay:[93,174,177],obstacles_angl:[84,85],obstaclescrit:[99,159],obstruct:180,obtain:[7,27,28,85,94,155,158,173,174,180,184],obvious:[154,177],occasion:[27,106],occdist_scal:120,occgridload:155,occup:[6,93,98,114,115,119,168,174,189],occupancygrid:[98,117,155,158,159,188,190],occupancygridupd:159,occupi:[20,27,93,98,99,115,116,119,158,174,188],occupied_thresh:[188,190],occupied_thresh_default:98,occur:[27,104,163,184,192],odd:104,odom0:[173,184,187],odom0_config:[173,187],odom1:[184,187],odom1_config:[184,187],odom1_differenti:184,odom1_pose_rejection_threshold:184,odom1_queue_s:184,odom1_rel:184,odom:[27,71,84,85,86,87,88,92,93,109,146,161,162,171,173,174,175,184,187,189,192],odom_dur:109,odom_fram:173,odom_frame_id:[84,85,86,192],odom_r:[84,85],odom_smooth:166,odom_smoother_:166,odom_top:[88,92,109,162],odometr:[25,27,184],odometri:[15,17,84,85,86,88,92,109,123,166,172,174,175,195],odometry_fram:173,odomsmooth:166,off:[20,99,103,109,111,151,157,158,159,161,176,182,194],offer:[27,96,170,187,191,193],offic:1,offici:[15,147,152,171,173,174,175,176],offlin:[135,157],offset:[94,175,176,178,187],offset_from_furthest:99,ofodom_fram:173,often:[19,27,91,157,173,187],old:[80,120,158,166,168],older:[92,95,96,102,103,152,194],omit:148,omni:[86,99,106,156,168,177,192],omnidirect:[86,99,103,106,135,157,168,170,173,177,184,194],omnimotionmodel:86,ompl:3,on_abort:162,on_activ:[27,161,164,165,166],on_cancel:162,on_cleanup:[161,164,165,166],on_complet:157,on_configur:[27,161,164,165,166],on_deactiv:[161,164,165,166],on_parameter_event_callback:157,on_success:162,on_tick:162,on_wait_for_result:[157,162],on_xyz:166,onactioncomplet:161,onc:[13,18,19,22,71,82,85,86,94,97,99,103,133,134,135,147,148,149,151,152,155,156,157,159,166,174,175,176,182,183,186,187,192,194],oncleanup:161,onconfigur:161,oncreatecommand:148,oncycleupd:161,one:[3,5,7,8,11,14,18,26,27,41,75,79,85,91,97,99,104,135,148,149,155,156,157,159,162,163,166,170,173,174,175,176,177,178,180,181,182,183,184,185,186,187,188,190,192,193,194],ones:[17,134,135,157,170,174,187],onfootprintchang:163,ongo:26,ongoalposereceiv:166,oniniti:163,onli:[0,3,9,11,18,19,20,27,42,43,52,76,82,84,85,86,90,91,93,94,99,105,110,114,134,135,144,148,153,154,155,156,158,159,161,162,163,165,168,169,171,172,173,174,175,176,177,179,181,182,183,184,187,188,189,193,194],onlin:[26,157],online_async_launch:[174,189],onloop:166,onpreempt:166,onrun:161,onto:[18,21,23,99,103,157,166,168,173,175,194],open:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,134,135,146,148,149,151,153,159,163,171,173,174,175,176,177,180,182,183,184,185,186,188,189,190,191,193],open_loop:109,opencl:7,openmp:7,opennav:[14,153],opennav_coverag:[41,94],opennav_row_coverag:94,openvdb:191,oper:[4,5,21,23,24,27,85,91,94,99,102,109,111,149,152,153,156,157,158,159,161,163,164,165,166,170,173,174,175,177,178,180,184,187,192,193],operandi:194,operation_width:94,opinion:177,opportun:[21,23,24,159,162,166],oppos:[27,135],opposit:[97,135,159,175,188],opt:[147,152,173,176,186,189],optim:[3,17,22,27,91,94,99,106,113,114,133,134,148,153,156,157,158,168,170,171,177,178,180,184,194],optimi:177,option:[2,3,6,9,42,43,84,85,86,91,94,99,134,149,156,157,158,163,174,176,179,180,181,182,183,184,185,191,193],options1:176,orang:193,orbit:[176,187],orchestr:[153,182,193],order:[1,11,27,41,93,94,97,99,110,113,117,153,154,156,157,159,162,163,164,166,171,173,174,176,177,178,179,180,184,188,190,193],order_id:94,ordinari:93,org:[14,15,151,153,155,176,177],organ:[14,147,148,164,165,193],organiz:22,orient:[56,57,91,96,99,100,102,104,108,127,129,133,134,135,144,152,159,163,165,170,173,174,184,186,187,188,189,190],orientaton:157,origin:[2,5,6,8,14,26,56,57,79,85,91,93,133,134,135,150,155,156,159,171,173,174,176,179,187,188,190],origin_i:[93,187],origin_x:[93,187],origin_z:[93,119,174,191],oscil:[95,104,105,140],oscillation_reset_angl:140,oscillation_reset_dist:140,oscillation_reset_tim:140,oscillationcrit:95,osrf:[87,88,92,101,107,110,187],ost:180,other:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,18,19,22,60,62,85,88,93,94,99,102,104,109,114,115,116,118,119,135,148,149,151,152,153,156,157,158,159,161,162,164,165,166,168,170,171,172,173,174,175,176,178,179,180,181,182,183,184,185,187,188,190,191,192,193,194],otherwis:[4,19,59,62,65,66,67,68,69,72,73,74,86,99,104,116,134,135,156,157,159,168,173,177,178,190],our:[0,11,14,16,27,98,135,148,149,151,157,161,162,163,164,165,166,170,173,174,175,176,178,181,182,183,184,185,187,188,190,191,192,193],ourselv:175,out:[0,1,9,13,14,19,20,21,26,27,80,85,88,89,99,104,109,133,134,135,148,151,153,155,156,157,158,159,161,164,165,166,168,173,174,175,177,182,183,187,188,192,193,194],outcom:99,outdat:91,outdoor:[111,184,187],outermost:[41,84,85],outlandish:184,outlin:[18,20,156,171,175],output:[1,2,3,4,5,6,7,8,9,10,11,12,13,27,85,93,94,99,133,134,135,153,156,157,162,163,170,173,174,175,176,178,179,182,183,184,187,188,190,192,193],output_go:[20,21,52,79,185],output_path:[20,56,57,185],output_port:193,output_typ:174,outsid:[85,99,103,157,158,185,194],over:[5,6,8,11,14,18,20,26,27,52,83,85,93,99,136,151,153,156,157,158,159,166,170,171,173,174,177,178,180,184,187,188,191,192,194],overal:[7,18,75,94,134,159,170,174,184,187],overcam:157,overcom:99,overhead:[11,177],overlai:[148,149,187],overlaid:27,overlap:94,overlay_mixin:147,overli:99,overrid:[84,85,93,98,120,134,135,148,157,159,161,162,163,164,165,166],overridden:[87,92,93,98,101,155,156,159,162,163],overriden:[84,85,158],overrod:85,overshoot:[99,102,156],overview:[106,149,173,175],overwhelm:18,overwrit:[98,115,119],overwritten:[88,94,115,119,157],owen:168,own:[11,17,27,85,86,106,148,151,154,155,156,161,162,163,164,165,166,168,170,173,174,175,176,177,178,183,184,187,188,189,190,192],ownership:151,pablo:168,packag:[5,8,17,26,27,84,85,89,90,93,96,99,102,103,106,109,135,146,147,148,151,152,156,157,158,161,162,163,164,165,166,172,173,174,175,176,177,178,179,180,181,182,183,184,185,187,188,190,192,194],pad:93,padmanabhan:168,page:[0,2,3,8,27,88,90,92,106,111,114,117,156,158,179,181,184,188,190],pai:177,pain:[175,182],pair:[18,19,99,105,117,156,159,177,180,184,187,188,190,194],palett:[148,149,193],pallet:[27,93,171],pan:157,pancak:193,pane:[176,190],panel:[2,106,176,193],paper:[102,153,164],par:177,parabol:108,parallel:[7,13,187,192],param:[27,103,156,163,173,176,177,182,183,187,188,190,192],param_rewrit:[159,188,190],param_substitut:[188,190],param_tol:91,paramet:[2,13,18,19,25,27,28,41,48,49,66,78,81,83,95,148,154,155,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,186,187,188,190,192,193,194],parameter:[157,191,193],parameter_ev:173,parameterev:[157,173],parameteriz:193,parametervalu:[163,164,165],paramlog:157,params_fil:[161,164,165,166,171,177,188,190],paremet:158,parent:[18,19,71,148,156,161,163,164,165,173,174,175,176,182,187],parent_nod:166,park:[96,184],parma:165,pars:[2,27,94,148],parser:180,part:[27,31,32,35,36,37,56,57,85,86,106,114,134,135,151,155,157,163,170,171,174,176,179,184,192],partial:157,particip:[11,151],particl:[6,7,27,86,152,168,177,181],particlecloud:155,particular:[6,19,22,27,84,99,155,157,166,177,179,182,183,184,187],particularli:[27,104,148,174,188],pass:[20,21,23,24,44,47,50,52,70,93,97,99,103,120,136,147,157,168,183,185,188,194],passabl:156,passag:[134,135],passibl:188,passthrough:149,past:[14,171,173,174,176,187,191],patch:[149,151],path:[3,4,17,18,19,20,21,22,23,26,27,28,41,42,43,46,48,49,53,56,57,67,69,78,80,88,89,91,92,94,96,98,100,101,102,103,104,105,106,107,108,120,131,133,134,135,136,141,142,146,147,148,153,155,156,161,162,163,164,165,166,168,170,171,173,174,176,177,179,181,182,183,184,185,186,187,188,190,193,194],path_blackboard_id:[88,166],path_blackboard_id_:166,path_distance_bia:120,path_downsampling_factor:91,path_loc:57,path_max_count:184,path_resolut:99,path_upsampling_factor:91,pathalign:[95,120],pathaligncrit:[95,99],pathanglecrit:99,pathcompon:41,pathcomponentsiter:41,pathdist:[95,120],pathdistcrit:95,pathexpiringtim:[24,89,157],pathfind:171,pathfollowcrit:99,pathlongeronapproach:[22,89,168],patienc:158,patience_exceed:[72,158],patrol:[26,27],pattern:[18,19,94,180],paus:[17,132,152,154,156,157,158],payload:190,pdf:174,pedro:187,penal:[99,159],penalis:108,penalti:[99,134,135,143,157,159,177],pencil:188,pend:[27,166],peopl:[4,9,21,23,24,85,172],pepper:[158,177,181],per:[84,85,99,151,159,163,164,165,168,169,170,171,183,187],perceiv:[27,174],percent:[117,188,190],percentag:[66,86,116,117,164,168,183,188],percept:[10,27,153,168,172,174,180,191],perf:148,perfectli:[99,194],perform:[1,3,4,7,9,11,17,22,26,28,30,45,55,84,85,86,90,91,99,106,110,134,135,148,153,156,157,158,161,162,163,164,165,171,174,177,178,181,182,184,185,187,193],perhap:193,period:[18,89,91,148,154,157,163,166,168],perman:187,permiss:[27,85,92,109,159],permit:[4,151,188],perpetu:177,persist:[148,168],person:[20,22,26,148,151,185],perspect:85,perturb:[99,177],pf_err:86,pf_z:86,pgm:[188,190],phase:[3,6,135],phi:[96,116],phone:161,photo:[131,156,168],photoatwaypoint:[110,156,168],physic:[103,172,173,174,177,182,183,189,191,194,195],pick:[5,26,27,93,110,171,186,187],pictur:[26,27,110,163,187,188,190,192],pid:[148,183],piec:175,pipe:[19,158],pipelin:[168,180],pipelinesequ:[17,18,20,21,22,23,24,89,162,185],pitch:[173,177,184],pivot:177,pixel:[27,93,181,188],pkg:[88,157,159,166,173,176,182,183,186],pkg_share:[173,174,176],pkg_share_dir:166,place:[13,26,27,55,93,96,102,103,113,115,118,119,133,135,151,156,157,158,159,161,163,164,165,166,168,170,176,179,180,181,188,190,192,194],placehold:166,plai:[27,171,184],plan:[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],planar:[173,174,177,187],plane:[157,173,176,187],planned_footprint:[134,135],planner:[1,2,4,9,10,17,18,19,21,22,23,24,28,42,43,50,73,85,90,91,93,94,99,102,103,104,105,109,114,123,141,142,153,154,155,161,163,167,169,171,172,178,179,185,188,191,194],planner_id:[18,20,21,22,23,24,26,42,43,50,89,162,179,185],planner_plugin:[100,101,108,133,134,135,155,170],planner_selector:50,planner_serv:[97,100,101,108,133,134,135,156,165,170,178],plannerselector:[21,23,24,89,156],plannerserv:157,plant:94,plate:161,platform:[7,99,106,153,156,172,175,177,184,193,194],playlist:184,pleas:[0,2,3,14,19,26,27,85,92,94,102,111,114,117,151,153,155,159,161,163,168,170,171,174,175,177,179,181,182,186,188,189,190,191,192,193],plot:186,plu:[173,174],plugin:[1,5,11,12,13,17,19,26,27,41,42,43,46,53,86,88,91,96,99,100,102,103,104,105,107,108,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,152,153,169,171,172,176,178,181,183,185,187,188,190,192,193,194,195],plugin_id:[164,165,166],plugin_lib_nam:[88,162],plugin_nam:[163,165,191],plugin_name_:164,plugin_specific_paramet:[164,165,166],plugin_typ:[163,165,191],pluginlib:[3,27,154,161,163,164,165,166,179,191],pluginlib_export_class:[161,163,164,165,166],pluginlib_export_plugin_description_fil:[161,163,164,165,166],pluse:156,png:[131,156,188,190],pocket:99,point:[4,9,10,14,17,18,19,21,22,23,24,26,27,52,84,85,91,93,94,96,99,100,102,103,104,105,108,110,111,114,120,133,134,135,137,139,141,151,153,155,156,157,158,163,164,165,166,168,171,173,174,175,176,177,178,180,182,184,186,187,191,192,193,194],pointcloud2:[85,93,115,119,191,192],pointcloud:[84,85,93,158,174,187,191],pointcloudcutoff:174,pointcloudcutoffmax:174,pointcost:26,pointer:[156,157,161,162,163,164,165],pointstamp:187,polici:[99,174,176],poll:26,polygon:[26,27,41,90,93,158,171,192],polygon_front:[84,159],polygon_limit:85,polygon_nam:[84,85],polygon_pub_top:[84,85,159,192],polygon_slowdown:[85,192],polygon_stop:[85,192],polygon_sub_top:[84,85],polygonfront:[84,159],polygonlimit:85,polygons_frame_id:41,polygonslow:[85,192],polygonstop:[85,192],pool:99,poor:[27,184],pop:182,popul:[7,86,88,156,157,161,166,174,178,179,187],popular:[27,177,182],port:[19,88,151,155,156,157,162,174,179,185,193],portion:[18,85,92,109,159,179],portslist:162,pos_track:184,pos_tracking_en:184,pose2d:86,pose:[17,19,20,26,27,42,43,48,56,57,62,64,79,86,91,96,99,100,102,108,125,127,129,133,134,135,137,138,146,152,153,154,155,156,157,159,163,164,165,166,168,173,174,176,177,184,185,187,189,192],posearrai:155,poseprogresscheck:[92,168],posestamp:[26,42,43,48,49,52,57,79,156,157,164,165,166,178,189],posewhen:99,posewithcovari:173,posewithcovariancestamp:173,posit:[1,4,57,84,85,92,96,127,128,129,152,154,156,157,159,162,163,164,165,166,173,174,175,176,177,181,184,185,186,187,189],position_sens:187,possibl:[2,14,27,87,96,99,102,148,153,156,157,158,164,166,170,171,177,181,182,184,187,188,190,192],post:[0,14,84,85,86,111,114,117,134,135,151,179,192],postcreatecommand:148,potenti:[0,1,6,7,9,10,27,85,90,102,133,134,135,153,156,157,158,159,168,174,181,182,183,184,187,192],power:[4,18,91,99,149,153,157,177],power_supply_statu:65,power_supply_status_charg:65,pr2441:157,pr2454:157,pr2456:157,pr2459:157,pr2469:157,pr2479:157,pr2480:157,pr2483:157,pr2489:157,pr2993:157,practic:[85,99,148,151,156,161,163,164,165,166,175,177,184,187,188,192],pradheep:168,pre:[10,62,85,87,88,89,98,99,102,135,148,153,168,177,186,187,188,194],prebuild:148,precis:[27,156,171],precise_goal_check:[46,47,156],precompil:148,precomput:[94,135,157],predefin:[27,187],predict:[28,85,156,159,168,184],prediction_horizon_:99,predomin:151,preeemption:166,preempt:[18,20,26,155,162,166,168],preemption:[21,23,159,162,166],preemptiv:[148,159],prefer:[0,27,98,103,109,114,134,135,148,149,152,156,157,159,168,176,177,183,188,194],preferenti:99,preferforwardcrit:[95,99],preferr:176,prefix:[94,161,163,164,165,166,176,182,183,186],prepar:[173,176,178],prerequisit:[22,150,174],presenc:[4,99,177,188],present:[22,85,109,115,119,148,155,157,158,159,163,164,166,168,174,177,192],preset:192,press:180,presum:97,pretti:[174,175,177],prevent:[9,18,27,29,85,86,90,91,96,99,102,109,115,119,134,135,140,145,148,156,157,158,159,168,177,178,181,188],preview:2,previou:[19,24,85,99,134,151,156,158,159,163,166,168,171,173,174,176,177,187,190,191],previous:[13,156,157,158,159,164,166,174,182,183,187,192],primari:[1,6,18,103,104,157,174,176,178],primarili:[18,157,171,177],primary_control:[103,194],prime:177,primit:[25,27,134,135,157,159,176],princip:[163,180,190],principl:188,print:[26,91,157,182],printenv:146,prior:[19,80,86,154,157],priorit:[85,92,109,157,159],prioriti:[84,85,92,109,151,158,159,166,178],prioriz:[85,92,109,159],privat:14,privileg:[148,149],probabalist:168,probabilist:155,probabl:[20,98,116,134,135,158,174,179],probe:[19,148],problem:[22,51,97,157,165,166,168,177,182],problemat:[91,102,182],proccess:182,proce:[166,176,184],proceed:98,process:[5,7,8,11,22,26,27,28,53,86,88,92,93,99,101,102,104,116,134,135,147,148,150,152,155,156,158,159,161,162,166,168,172,176,177,178,181,182,183,184,187,191,192,193,194],processor:[7,99,177],produc:[4,27,84,85,87,88,92,96,99,101,107,110,157,158,159,161,165,170,174,177,184,187,192],product:[9,27,137,138,141,142,148,149,153,184],profession:[21,23,24,153],profil:[1,2,3,4,5,6,7,8,9,10,11,12,13,99,182,195],program:[2,26,27,91,106,134,135,148,153,157,182,183,185],progress:[4,68,92,99,102,126,128,148,151,158,169,177,194],progress_check:[92,95,96,102,103,194],progress_checker_id:158,progress_checker_plugin:[92,95,96,102,103,155,194],progress_checker_plugin_id:[126,128],progresscheck:155,project:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,17,27,84,85,87,94,99,102,125,147,148,149,151,157,163,169,171,173,174,175,176,178,181,187,188,190,192,193,194],project_nam:[173,174,176],projection_tim:87,promis:157,promot:19,prompt:[2,149,182],prone:27,proof:27,proper:[91,175,176],properli:[9,26,136,153,157,171,172,173,174,175,176,181,187,188,190],properti:[19,85,148,173,174,192],propig:178,proport:[19,99,134,135,188,191],proportion:[109,134,164],propos:[0,6,155,156,157,187],proprtion:99,protect:151,provenli:27,provid:[2,4,7,11,17,18,19,21,23,24,26,27,28,41,44,47,50,54,59,85,86,88,89,93,98,99,104,109,115,119,141,142,147,148,149,151,152,153,157,158,159,161,162,163,164,165,166,169,170,172,173,174,175,176,177,178,179,181,182,184,185,186,187,189,193],providedbasicport:162,providedport:162,prox_len:[22,80],proxim:[22,52,80,99,102,156,157,159,192],prudent:149,prune:[99,120,134,148,159],prune_dist:[99,120,158,159],prune_plan:120,psutil:157,pub:189,publish:[20,44,47,50,54,84,85,86,88,92,93,95,98,99,109,110,111,114,117,119,120,130,134,135,152,154,155,156,157,159,161,164,166,168,171,173,174,177,179,180,184,185,186,187,189,192],publish_acceler:173,publish_cost_grid_pc:123,publish_evalu:123,publish_filtered_gp:187,publish_frequ:[93,174],publish_global_plan:123,publish_local_plan:123,publish_map_tf:184,publish_odom:173,publish_odom_tf:173,publish_tf:[173,184,187],publish_trajectori:123,publish_transformed_plan:123,publish_voxel_map:[93,119,174,191],publish_wheel_tf:173,published_footprint:[85,87,104,105,107,161,171,179],publishfeedback:166,pull:[14,147,148,149,151,155,156,157,168,177,182,193],pure:[28,96,99,153,156,157,158,161,163,165,166,168,170,177,184,194],pure_pursuit_controller_plugin:164,purepursuitcontrol:164,purpl:91,purpos:[10,27,84,151,153,158,162,166,170,176,184,185,187,189,190],pursuit:[28,153,156,157,168,170,177,194],push:[91,148,151,169],push_back:165,put:[11,91,157,163,168,176,178,187,192],pycostmap2d:26,python3:[2,12,13,26,153,156,157,158],python:[4,10,135,153,156,173,187,188,190],qos_depth:184,quadrat:134,quadrup:184,qualifi:86,qualiti:[3,8,25,27,91,99,105,106,134,135,151,153,157,159,173,184,187],quantiz:134,quaternion:[156,173,175],queri:[156,157,168,170],question:[0,151],queue:151,quick:[18,134,135,175,188],quickli:[7,148,151,157,175,177,193],quirk:[157,177,194],quit:[19,149,157,182,184,187],r8g8b8:174,race:148,racewai:187,rad:[87,92,94,96,99,102,103,122,126,127,129,134,140,144,192,194],radar:[27,173,174,191],radar_msg:174,radial:180,radian:[55,84,85,86,99,102,103,194],radii:[99,102],radio:187,radiu:[21,27,52,84,85,91,93,94,96,99,102,113,126,128,134,135,136,157,168,170,171,174,176],ragged:27,rai:[7,174],rais:[87,88,92,101,107,110,182],random:[86,158],randomli:[99,177],rang:[4,7,66,84,85,86,93,102,115,117,119,148,155,156,159,168,169,176,177,178,181,182,184,188,190,192],rangelay:177,ranger:174,rangesensorlay:155,rare:[155,157],raster:[177,188,190],rate:[9,12,18,19,78,81,83,84,85,86,92,96,109,110,115,119,154,156,159,161,168,176,184,185],ratecontrol:[18,20,21,22,23,24,89,162,185],rather:[19,21,23,24,27,86,91,93,99,134,148,154,155,156,157,159,166,168,175,177,182,189],ratio:[96,134,135,176,180],raw:[87,107,153,179,182,187,188,190],raycast:[112,115,119,168,177],raytrac:[115,119,156,174],raytrace_max_rang:[93,115,119,156,174],raytrace_min_rang:[93,115,119,156,174],raytrace_rang:156,rcl:[87,88,92,101,107,110,159],rcl_interfac:[157,173],rclcpp:[11,94,163,164,165,166],rclcpp_action:166,rclcpp_compon:178,rclcpp_error:[165,166],rclcpp_info:[161,165,166],rclcpp_lifecycl:[164,166],rclcpp_node:157,rclcpp_node_:157,rclcpp_warn:[162,166],rclpy:[26,157],reach:[0,14,18,19,22,92,99,127,129,132,133,163,164,168],react:[157,176],reaction:18,reactiv:[21,23,185],reactivefallback:[18,19,21,22,23,24,89,162],reactivesequ:[21,22,24],read:[6,8,18,27,84,85,116,149,156,157,168,174,182,187,188,190],readabl:176,reader:[172,194],readi:[22,147,148,151,152,157,163,176,177,182,184,188,190,192],readili:147,readm:[84,85,90,96,99,102,103,106,108,109,135,155,156,157,158,177],real:[4,9,12,27,85,92,109,151,173,174,175,176,180,185,187],realist:12,realiti:27,realli:[27,91,177,188],realtim:159,reason:[6,27,84,85,99,133,134,135,151,157,163,166,171,175,177,182,187,192],reattempt:[21,23,24],rebuild:182,rebuilt:148,recal:[19,174],recalcul:163,receiv:[18,19,26,27,44,47,50,54,79,84,85,92,103,106,109,116,118,155,157,158,159,161,164,166,168,173,174,175,177,185,187,194],recent:[9,52,152,177,184],recharg:[18,27],reckon:27,recogn:181,recomend:157,recommend:[1,2,3,4,5,6,7,9,10,12,27,84,85,97,99,102,104,105,148,151,152,159,164,170,171,173,174,175,176,177,179,184,186,187,189,191,192,193,194],recompil:[163,182],recomput:18,reconfigur:[13,17,156,157,170,178,187],reconnect:97,record:[151,187],recov:[18,86,97],recoveri:[2,17,21,22,23,24,29,30,55,58,76,87,88,89,153,154,155,158,161,162,166,168,179],recoveries_serv:[157,161],recovery_alpha_fast:86,recovery_alpha_slow:86,recovery_count:166,recovery_plugin:[155,157,161],recovery_serv:157,recoveryact:[18,21,22,23,24,89,162],recoveryfallback:[18,21,22,23,24,89,162],recoverynod:[18,19,21,22,23,24,89,162],recreat:148,rectangular:[91,171],rectifi:27,recurs:[104,105,134,135],red:179,redd:134,redesign:14,redistribut:151,reduc:[0,27,96,99,102,104,105,109,134,135,148,151,154,155,156,158,177,178,187],reduct:155,redund:155,reed:[91,134,135,156,157,168,170],reeds_shepp:[94,134],reedshepp:157,ref:[1,2,3,4,5,6,7,8,9,10,11,12,13],refactor:[151,154],refer:[3,18,27,60,62,78,85,87,88,92,93,96,102,104,106,111,114,117,147,148,149,154,155,157,158,161,162,163,164,165,166,170,171,172,173,174,175,176,181,185,187,188,190,192,193],referenc:[163,173,174,192],refin:[27,91,105,134,135,152,157],refinement_num:[104,105,134,135,158],reflect:[148,156,159,174,176],refus:99,regard:[0,19,157,166,176,177],regardless:[84,85,109,149,163,173,183],regener:99,regenerate_nois:99,regim:[99,177],region:[39,41,84,99,168],regist:[27,89,161,162,163,164,165,166,174,191],registerbuild:162,registr:191,registri:[147,148],regul:[28,153,156,157,164,168,170,177,194],regular:[27,29],regularli:170,regulated_linear_scaling_min_radiu:102,regulated_linear_scaling_min_spe:102,regulatedpurepursuitcontrol:[102,103],rehash:158,reimplement:[5,6],reinit:168,reiniti:168,reinitialize_global_loc:51,reinitializegloballoc:89,reject:[134,135,157,166,184,187],rel:[8,27,57,84,85,93,99,109,155,159,170,171,173,175,177,183,184,187],relat:[4,11,13,14,25,27,85,90,111,112,114,117,147,148,156,157,159,172,175,176,187],relationship:[99,175],relav:161,relax:148,releas:[26,154,155,169,191],relev:[1,2,3,4,5,6,7,8,9,10,11,12,13,18,94,99,153,154,162,166,184,187],reli:[182,187],reliabl:[6,12,44,47,50,54,149,153,174,176],reloc:51,relwithdebinfo:183,remain:[13,18,19,20,27,91,99,123,148,149,154,155,156,157,159,161,162,163,164,165,181,194],remaind:27,remap:[31,32,33,34,35,36,37,41,42,43,46,156,157,173,174,178,179,182,183,184,185,187,192],remark:27,rememb:[14,102,146,148,175,176,187],remot:[148,149,161,162,182],remote_containers_ipc:148,remote_containers_socket:148,remov:[11,20,21,52,56,57,94,98,104,112,115,119,134,135,148,154,155,168,173,174,177,179,181,182,183,184,187,191,192,193,194],removepassedgo:[21,89,156,159],renam:[87,148,155,156,157],renavig:18,render:149,reopen:149,reorder:94,rep145:173,rep:[27,153,156,169,173,175,187],repeat:[25,99,147,163,175,176],repeatedli:[188,190],repetit:[158,176],replac:[4,5,10,11,88,91,154,157,158,159,161,163,165,166,177,179,181,184,187,189,191,192],replan:[17,19,20,21,23,52,78,83,89,120,134,135,155,156,177,185],replic:148,repo:[12,27,108,147,149,185,187,191],report:[12,86,99,151,156,158,162,174],repositori:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,102,147,148,149,153,161,163,164,165,169,171,173,174,176,177,188,190,191],repres:[10,12,18,27,99,102,134,153,156,164,169,173,174,176,182,184,187],represent:[10,93,134,170,174,175,187],reproduc:[147,148],repuls:99,repulsion_weight:99,reput:8,request:[11,14,18,20,26,27,87,88,92,94,98,99,100,101,103,107,133,134,135,148,149,151,155,156,157,158,159,161,162,166,168,177,178,179,182,189,190,193,194],requir:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,27,86,91,97,99,103,108,109,117,134,135,148,151,156,157,158,170,173,174,175,176,177,178,182,184,185,191,194],required_movement_angl:[126,158],required_movement_radiu:[92,95,96,102,103,126,128,194],rerun:148,resampl:[86,99],resample_interv:86,research:[9,14,27],resembl:19,reserv:[21,23,24,158,178,184],reset:[69,86,99,140,152,155,156,157,162,163,166,168],reset_dist:[38,39,156],reset_period:99,resiz:118,resolut:[26,93,99,119,133,134,135,156,163,168,170,171,174,186,188,190],resolv:[21,23,24,97,155,157,179,191],resour:165,resourc:[26,27,85,87,92,99,107,109,148,157,158,161,164,166,171,172,173,175,177,178,183,188,191],respawn:[97,177,192],respawn_delai:192,respect:[4,27,103,114,156,157,162,169,170,173,174,176,177,187,191,194],respond:[0,178],respons:[19,21,23,24,27,38,39,40,85,97,157,161,166,170,178],rest:[18,38,39,85,92,99,109,131,149,159,173,174,175,178,183,187],restart:148,restrict:[27,85,117,156,158,159,168,177,187,190],result:[9,19,26,27,56,57,79,85,87,88,91,92,94,99,101,102,104,105,107,108,110,151,153,155,156,161,162,163,166,168,177,178,180,181,184,192,193,194],resultstatu:161,resum:158,retain:[19,61,104,105,133,134,135],retick:19,retrain:4,retransit:157,retreiv:10,retri:[17,21,23,24,76,168],retriev:[164,165,166],retrofit:184,retrospect:157,retrospective_penalti:[134,135],retry_attempt_limit:99,retryuntilsuccesful:22,retryuntilsuccess:22,retryuntilsucessful:22,retun:[99,157,177],reus:[27,148,161,176,178],revers:[91,99,102,106,109,134,135,157,159,178,190],reverse_penalti:[134,135],reversing_en:91,revert:182,review:[0,13,88,148,149,151,166,177],revisit:[149,158],rework:153,rewrit:159,rewrittenyaml:[156,188,190],rfid:26,rgb:174,rgba:176,rgbd:9,rich:27,right:[27,99,108,109,134,135,151,152,157,173,175,180,181,183,187],right_joint:173,right_wheel_est_vel:173,righthand:131,rigid:[176,177],rise:91,roam:171,robbin:77,robin:[19,168],robocup:185,robot:[1,2,4,5,6,7,8,9,10,12,13,14,18,19,20,21,22,23,24,25,26,30,38,39,45,51,52,56,57,60,62,68,78,80,83,84,85,86,87,88,90,91,92,93,94,96,99,102,103,106,107,109,110,111,113,114,115,117,119,126,127,128,129,130,132,133,134,135,136,137,138,139,140,141,143,144,145,149,152,153,154,155,156,158,163,164,165,166,168,170,174,175,178,179,181,182,183,185,186,187,188,190,191,192,193,194,195],robot_base_fram:[52,60,62,78,87,88,93,104,105,107,161,162,163,166,173,174,179],robot_descript:[173,176],robot_fram:57,robot_loc:[15,27,110,173,175,184,187],robot_localization_nod:173,robot_model_typ:[86,157],robot_nam:177,robot_navig:26,robot_radiu:[27,93,163,171,174,177],robot_sdf:177,robot_state_publish:[174,175,176],robot_state_publisher_nod:[173,176],robot_width:94,robotech:91,roboticist:27,robotmodel1:176,robotmodel:176,robust:[4,6,27,193],rocker:149,role:[14,27,162,166,170,171,182],roll:[87,93,98,99,146,148,169,173,177,184,187,193],rolling_window:[93,174,187],room:[10,99,177,186,188,190],root:[17,18,19,20,21,22,23,24,25,89,147,148,149,157,161,162,164,165,166,173,174,176,185,193],root_kei:[188,190],ros1:[153,155,156,174],ros2:[146,152,157,161,163,164,165,166,171,173,174,175,176,180,181,182,183,184,185,186,187,188,189,190,191,192],ros2_control:173,ros:[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],ros__paramet:[60,62,84,85,86,87,88,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,155,156,159,161,162,164,165,166,170,173,174,179,181,187,188,190,191,192,194],ros_distro:147,ros_w:147,roscon:[1,189,191],rosdep:[146,147,148],rosdistro:146,rosout:173,rot_stopped_veloc:129,rotat:[26,27,28,55,85,86,87,91,96,99,102,109,122,126,127,129,133,135,144,158,159,164,168,169,170,173,175,176,187,192,195],rotate_to_heading_angular_vel:[102,103,194],rotate_to_heading_min_angl:102,rotatetogo:95,rotatetogoalcrit:95,rotation_penalti:135,rotation_scaling_factor:96,rotational_acc_lim:[87,161],rotationshimcontrol:[103,194],rough:[102,103,157,176,177,194],roughli:[99,106,152],round:[19,77,85,168,172],roundrobin:[18,21,22,23,24,89],rout:[3,10,26,27,41,94,99,134,166,169,177,178],route_error_code_id:178,route_id:178,route_msg:178,route_serv:178,route_tim:178,routeserv:178,row:94,rowsareswath:94,rpp:[170,177,194],rpy:[174,176,187],rsj:153,rst:168,rtk:187,rtprio:[85,92,109,159],ruffin:[14,148,153],ruffsl:14,rule:[10,27,164,165,175],run:[0,3,4,7,9,14,19,26,27,75,78,81,83,86,87,88,92,94,97,98,99,101,106,107,110,131,134,135,146,147,148,149,151,155,156,157,159,168,170,172,175,177,178,180,182,183,184,186,187,189,192,193],runarg:148,runtim:[27,156,157,161,162,163,164,165,166,187,191],rviz2:[166,176,186],rviz:[152,163,164,165,166,172,173,177,181,184,187,189,190,193],rviz_common:176,rviz_config_fil:177,rviz_default_plugin:176,rviz_nod:[173,176],rvizconfig:176,ryzhikov:168,safe:[9,13,27,102,147,156,161,162,170,174,175,177],safer:9,safeti:[0,1,27,85,90,97,154,155,156,168,169,177,188,189,192],sai:[11,18,19,27,151,182],said:[170,187],sake:18,salt:[158,177,181],sam_bot:[171,173,174,176],sam_bot_descript:[171,173,174,176],sambot:171,same:[11,18,26,27,41,61,63,84,85,86,88,91,99,102,109,133,134,135,148,149,151,152,153,154,155,157,158,159,161,163,166,174,176,177,178,182,183,184,187,188,190,191,192,194],sampl:[6,27,99,103,121,131,158,159,170,171,173,174,177,185,187],samsung:14,san:[14,184],sandbox:189,saniti:187,sarthak:168,satellit:187,satisfact:99,satisfi:173,sausag:149,save:[86,98,131,134,135,155,156,157,168,171,176,177,180,185,187,188,189,190,193],save_images_dir:131,save_map:155,save_map_timeout:[98,156],save_pose_r:86,saver:[28,111,114,117,156,188,190],savitzki:[28,168],savitzky_golay_smooth:104,savitzkygolaysmooth:104,scalabl:27,scale:[9,27,95,96,99,102,104,120,134,136,137,138,139,140,141,142,143,144,145,156,168,175,176,177,188,190,192],scale_veloc:109,scaling_spe:120,scan:[6,9,26,84,85,86,93,168,174,175,192],scan_top:[86,174],scanner:[6,84,85,115,119,174,192],scenario:[18,22,96,170,192],scene:[27,99,154],schedul:[85,92,109,159],schema:[147,148],scheme:[8,174],school:27,scope:[4,148,159,173,174,184,185,192],score:[94,99,120,136,137,138,139,141,142,143,159,170,177],scratch:148,screen:[157,161,173,174,176,178,182,183,188,190,192,193],script:[98,148,158,159,168,188,190,192],sdf:[157,173,174],sdk:184,sdl:154,se2:[99,114,134,135,153,157,168,177],search:[27,57,96,99,102,103,106,120,133,134,135,146,156,157,159,170,177,194],sec:[83,162,189],secant:187,seccomp:148,second:[9,18,19,21,23,24,27,29,30,45,53,55,69,70,75,76,80,85,87,88,92,97,98,99,101,103,107,110,130,131,133,134,135,156,157,159,162,168,173,174,175,178,180,181,187,188,190],section:[17,18,27,85,91,99,150,151,153,157,159,163,168,170,171,172,173,174,175,176,177,178,181,182,184,190],secur:[26,27,85,92,109,148,150,159],see:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,18,19,22,27,29,30,41,42,43,45,46,53,55,67,84,85,88,90,91,95,96,99,102,103,106,108,109,115,119,135,146,147,151,152,153,155,156,157,158,159,163,164,165,166,168,169,170,171,173,174,175,176,177,178,179,180,182,183,184,185,186,187,188,189,190,191,193,194],seek:7,seem:99,seen:[17,22,106,135,157,162,163,173,178,193],segment:[91,99,104,108,148,170,171,174,179,181],select:[2,3,5,7,17,27,44,47,50,54,84,85,86,99,100,103,108,111,112,113,114,115,116,117,118,119,133,134,135,148,149,156,158,162,163,168,171,172,174,176,179,181,182,183,185,188,190,193,194],selected_control:44,selected_goal_check:47,selected_plann:50,selected_smooth:54,selector:[21,23,24,168],self:[147,149],self_client_:166,semant:[0,26,93,153,156,175,178,187],semi:[87,88,92,101,107,110],send:[0,9,26,92,93,94,102,109,157,159,161,162,166,185,187],send_goal:161,send_messag:161,send_sm:161,sendsm:161,senior:151,sens:[175,184,187,191,193],sensibl:114,sensit:[6,85,92,109,111,134,158,159],sensor:[1,5,7,9,21,23,24,27,84,85,90,93,112,115,119,148,153,155,156,158,168,170,171,172,173,175,176,177,178,181,184,187,191,192],sensor_driv:178,sensor_fram:[115,119,176],sensor_msg:[65,66,85,173],sensorplugin:173,sent:[64,109,157,158,159,161,166,185],sentin:166,separ:[27,84,85,93,99,114,148,153,156,157,159,163,173,175,178,182,183,188,189,193],separet:159,seper:[179,182],septemb:[26,184],sequenc:[18,19,20,21,22,23,24,25,89,99,148,158,168,173,178,179,185],sequencestar:[22,162],sequenti:153,seri:[171,173,182],serial:184,seriou:[177,182],serious:151,serv:[18,22,153,157,174],server:[10,11,13,17,18,19,22,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,53,54,55,58,72,73,74,80,85,86,88,93,95,97,99,104,105,109,110,111,114,117,120,121,122,123,124,125,126,127,128,129,136,137,138,139,140,143,144,145,146,152,153,154,156,161,162,163,164,165,166,168,169,173,177,179,182,183,187,191,192,193,194,195],server_nam:[29,30,31,32,33,34,35,36,37,41,42,43,45,46,48,49,55,58,156],server_timeout:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,48,49,51,55,58,67,88,156],servic:[19,27,31,32,33,34,35,36,37,38,39,40,51,86,88,98,102,148,149,155,156,158,161,168,170,173,180,187],service_nam:[18,21,22,23,24,31,32,33,34,35,36,37,38,39,40,51,89,162],servicet:157,session:[133,134,135,148,182],set:[1,2,3,9,10,13,17,21,23,24,26,27,29,30,41,42,43,45,46,53,55,57,59,66,84,85,86,91,92,93,94,96,97,98,99,100,102,106,108,109,110,111,115,117,118,119,120,133,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,162,163,164,165,166,168,172,177,178,179,180,182,183,185,186,187,188,189,190,191,192,194],set_angl:94,set_camera_info:180,set_initial_pos:86,set_pos:173,setcost:26,setcostmap:26,setinitialpos:[26,157],setplan:164,setspeedlimit:164,setup:[2,27,146,147,148,149,152,159,163,171,174,175,176,177,178,182,184,188,189,190,192],sever:[51,85,89,90,99,106,148,151,156,187],shadow:186,shape:[27,84,85,93,106,153,158,170,171,172,176,177,188,190,192],share:[11,27,85,87,88,107,133,148,152,157,161,163,164,165,166,173,174,176,177,186,194],shared_ptr:[157,161,164,166],sharedptr:[157,166],sharp:[96,99,159,177],sharper:[96,102],sheep:[134,135,157],shelf:26,shell:148,shelv:26,shepp:[91,134,156,168,170],shift:[148,149],shim:[28,168,169,177,195],ship:[16,26],shoot:27,shop:184,short_circuit_trajectory_evalu:[95,120],shortcut:[96,102,134,135,157,161,163,164,165,166],shorten:158,shorten_transformed_plan:[120,158],shorter:[22,56,57,134,135,168,176,185],shortest:[27,170],should:[1,2,3,6,9,11,17,18,22,27,41,72,73,74,76,83,84,85,87,88,91,92,93,96,98,99,101,102,107,109,110,112,115,117,119,134,135,149,151,152,154,155,156,157,158,159,161,162,163,164,165,166,171,173,174,175,176,177,178,179,181,182,183,184,185,186,187,188,189,190,192,193,194],shouldn:99,shovel:27,show:[2,26,117,135,149,152,157,161,162,163,164,165,166,170,171,173,174,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192],showcas:187,shown:[13,18,26,99,151,152,156,162,166,170,171,173,174,178,179,185,187,190,192,193],shrijit:153,shut:[26,27,178],shutdown:[27,157,178],shutter:184,shuttingdown:178,sid:161,side:[25,38,39,93,99,131,148,174,176,178,181,183,193],sidebar:[151,180,183],siemen:193,sig:182,sight:[104,170,187],sigma_hit:86,sign:[0,109,151],signal:[9,104,168,183,187],signatur:[162,166],signific:[8,9,99,177,187],significantli:[7,9,17,22,23,24,80,99,103,134,157,159,168,177,187,194],silent:156,sim_tim:[95,124,125],simiar:175,similar:[7,9,10,19,21,23,26,27,84,96,98,99,106,147,149,156,157,162,170,173,174,176,177,179,182,184,187,191,193,194],similarli:[21,23,84,90,159,173],simpl:[3,27,28,104,112,134,135,149,151,154,161,162,163,165,168,170,171,175,176,177,179,182,185,187,189,193,194],simple_smooth:[53,105,107,179],simplegoalcheck:[46,92,95,96,102,103,120,156,168,194],simpleprogresscheck:[92,95,96,102,103,158,168,194],simpler:[134,175,176],simplesmooth:[54,105,107,179],simplest:162,simpli:[17,99,134,148,151,156,157,161,162,173,176,177,182,188,190,191,193],simplic:188,simplifi:[6,152,155,162,164,166,182],simul:[1,2,3,4,5,6,7,9,10,11,12,13,85,88,99,103,124,125,146,152,159,161,163,164,165,166,171,172,176,177,182,183,186,187,188,189,190,191],simulate_ahead_tim:[87,103,161,194],simulation_time_step:[85,87],simultan:[148,163,174,188,190],sinc:[6,27,41,91,94,99,102,103,105,114,134,135,156,157,159,163,166,170,171,172,173,174,175,176,177,178,179,182,184,187,188,190,192,193,194],singh:[102,153,168],singl:[11,19,21,23,24,26,27,92,98,99,110,134,135,151,154,155,156,157,162,163,165,168,173,174,175,176,177,178,179,182,183,184,187,191],singletrigg:[89,156],singular:177,sister:156,sit:9,situat:[1,10,18,21,23,24,27,85,102,152,153,156,157,168,171,174,177,179,182,183,184],size:[26,27,38,39,94,118,134,135,157,163,169,170,171,173,174,176,177,180,181,184,187,188,190,191],skew:180,skid:[156,170,184],skill:[1,2,3,4,5,6,7,8,9,10,11,12,13,182],skillset:7,skinni:177,skip:[86,94,99,161,173],skirt:157,slack:[0,14,27,151],slam:[6,15,93,118,153,154,155,174,175,177,182,184,186,195],slam_toolbox:[15,147,182,189],sleep:[85,132,162],slide:176,slider:[176,188],slight:104,slightli:[99,104,109,133,134],slop:180,slow:[85,86,96,99,102,117,144,156,158,159,177,182,190,192],slowdown:[85,192],slowdown_radiu:96,slowdown_ratio:[85,192],slower:[84,85,181],slowing_factor:[95,144],slowli:99,smac:[28,91,99,102,103,114,153,156,169,170,171,194],smac_plann:102,smacplann:168,smacplanner2d:[106,133,156,168],smacplannerhybrid:[106,134,157,168],smacplannerlattic:[106,135,168],small:[99,109,134,155,158,166,168,169,171,173,176,177,181,184,186,187,194],smaller:[13,18,27,96,102,112,134,135,157,184,188,190],smart:[27,111],smooth:[20,26,27,53,83,91,96,99,103,104,105,107,109,133,134,135,153,156,157,158,159,168,173,177,179,187,192,194],smooth_path:[134,135],smoothed_path:[26,53,179],smoothed_path_in_collis:[74,158],smoother:[28,53,54,74,133,134,135,153,159,166,169,170,178,192,195],smoother_error_cod:[74,88,179],smoother_id:[26,53,179],smoother_plugin:[91,104,105,107,179],smoother_selector:54,smoother_serv:[91,104,105,107,178,179],smootherselector:89,smoothing_complet:53,smoothing_dur:53,smoothing_duration_us:53,smoothing_frequ:109,smoothing_path_error_cod:53,smoothli:[99,177],smoothpath:[26,89,91,157,179],sms:161,snake:94,snippet:[18,161,164,165,166,171,173,174,176,178,182],snuff:159,soc:4,soccer:[27,187],socket:149,soft:[22,85,92,99,109],soften:104,softwar:[1,2,3,4,5,6,7,8,9,10,11,12,13,15,16,102,151,158,174,177,178,182],sole:[159,193],solut:[27,87,88,92,99,101,107,110,134,135,177,181,184],solv:[22,146,165,182],solver:[91,168],some:[4,7,11,13,17,18,19,21,26,27,44,47,48,49,50,54,84,87,88,92,99,101,104,106,107,109,110,114,134,148,151,154,156,157,159,162,164,165,166,170,171,173,174,175,176,177,181,182,184,185,187,188,192,193],someon:[11,14],someth:[0,18,19,26,151,157,173,175,182,187,188],sometim:[18,151,177,193],somewhat:[134,177,194],somewher:190,sonar:[27,85,116,158,174,177,191,192],sonoma:187,soon:27,sooner:188,sound:[84,159],sourc:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,27,86,87,88,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,109,110,115,119,146,148,150,151,152,153,157,161,162,163,164,165,166,171,172,173,174,175,176,180,182,184,186,187,188,189,190,191,192],source_fil:[188,190],source_timeout:[84,85,192],south:187,space:[1,4,10,20,27,84,85,86,93,98,99,100,102,108,111,115,118,119,133,134,135,148,149,156,157,168,170,173,177,181,186,188],span:[14,153,187,192],sparingli:99,spars:[26,27,168,177,191],sparse_normal_choleski:91,spatial:[27,99,156],spatio:[168,191],spatio_temporal_voxel_lay:191,spatiotemporalvoxellay:[177,191],spawn:[148,171,173,174],spawn_ent:[157,173],speak:[134,183],special:[27,80,84,85,92,94,151,158,162,163,193],specif:[2,3,6,11,17,18,21,22,23,24,26,27,30,45,89,93,99,102,135,148,149,154,155,156,157,158,159,162,164,165,166,170,173,174,175,177,179,180,182,188,189,193,194],specifi:[18,21,22,23,24,26,41,48,49,57,66,76,84,85,88,93,98,99,115,119,131,132,134,135,147,148,149,155,156,157,158,159,162,163,164,165,168,170,173,174,175,177,180,183,187,192],speed:[2,7,9,19,25,26,27,30,45,83,85,87,91,92,93,98,99,102,109,114,122,133,134,135,147,148,156,157,159,164,166,168,170,177,184,187,192,195],speed_filt:[93,117,190],speed_filter_mask:190,speed_limit:[92,117,190],speed_limit_top:[92,117,190],speed_mask:190,speed_param:190,speedcontrol:[18,89,155],speedfilt:[93,117,156,177,190],spend:18,spent:183,sphere:[171,174,176],sphere_inertia:176,spheric:[176,187],spherical_coordin:187,sphinx_doc:168,spike:[134,135,157],spin:[11,18,19,21,22,23,24,25,26,27,36,89,145,155,156,157,158,161,162,168],spin_dist:[18,21,22,23,24,25,26,55,89,162],spin_error_cod:55,spinner:11,spiral:[94,157,177],spite:173,spline:3,split:[155,187],splitter:176,sponsor:14,spot:[21,23,24,135,152,161],squar:[25,38,39,84,85,93,159,180],squash:119,src:[146,147,148,163,173,174,176,182,188,190],ssh:[148,149,182],stabil:[154,155,156,157,158,159],stabl:[96,102,147,148,156],stabliti:152,stack:[0,3,4,6,7,8,9,11,12,14,15,26,27,78,81,83,92,97,98,101,151,153,154,157,158,164,169,170,174,177,178,182,183,187,193],stage:[27,93,148,164],stai:[99,114,134,170,177,185],stale:[148,156],stall:109,stamp:[131,164,165,189],stand:[85,157],standalon:[112,158,168,181,187,188,190],standard:[2,6,10,86,99,151,174,175,180,187,188,190,193],standardtrajectorygener:[95,120],star:[28,170,177],start:[4,5,12,19,20,21,23,24,26,27,42,43,57,84,85,91,96,99,102,103,119,134,150,151,153,155,156,157,161,163,164,165,166,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190,191,192,193,194],start_controller_server_nod:183,start_costmap_filter_info_server_cmd:[188,190],start_lifecycle_manager_cmd:[188,190],start_map_server_cmd:[188,190],start_sync_slam_toolbox_nod:182,start_time_:166,startup:[5,27,97,146,148,152,155,178,180,188,190],state:[3,15,19,21,23,24,26,61,85,91,92,93,95,96,97,99,102,103,106,109,111,127,129,133,152,153,155,156,157,161,162,164,165,166,168,170,171,173,174,175,177,178,187,189,190,193,194],state_top:[85,158],statement:151,static_lay:[93,111,114,117,163,174,181,187,188,190,191],static_transform_publish:[171,175],staticlay:[93,174,177],station:[27,170],statist:[4,9,183],statu:[17,27,151,153,157,161,162,188],status1:176,status:[26,166],std:[59,155,157,161,162,164,165,166,182],std_msg:[111,130,173],stddev:[173,174,187],stdin:182,steadi:159,steep:108,steeper:108,steer:[91,133,157,174,177,184],step:[19,27,85,87,94,99,135,174,176,182,183,184,192],step_siz:26,stereo:[85,180,184],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:[18,19,26,97,102,109,114,146,148,149,156,157,158,159,173,174,176,177,182,184,187,188],stl:182,stl_vector:182,stochast:99,stop:[9,20,27,75,85,90,97,99,109,110,120,129,144,155,156,158,159,176,184,192],stop_on_failur:[110,154,156],stop_pub_timeout:[85,192],stoppedgoalcheck:[92,168],storag:[148,166],store:[86,93,115,119,148,153,158,163,164,166,174,175,183,187],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:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,57,58,60,62,71,78,79,84,85,86,87,88,91,92,93,94,97,98,99,101,103,107,109,110,111,114,115,116,117,118,119,120,130,131,134,135,137,138,141,142,155,158,159,161,162,163,164,165,166,173,178,191],strive:[14,151],stroke:[2,172],strongli:27,structur:[6,8,18,27,153,158,159,166,170,175,176,178,187,190,191,193],stuck:[1,18,21,23,24,27,29,30,45,55,68,157,168,177],student:[7,151],studio:149,stutter:177,stvl:195,stvl_layer:[93,191],style:[21,23,24,177,191],sub:[0,21,23,24,85,157,159,192],subcommand:148,subfield:184,subject:[27,99,173],submit:[13,151,168],suboptim:[99,177,184],subpoli:85,subproject:13,subscrib:[27,44,47,50,54,65,66,79,85,86,92,116,118,156,159,173,174,185,187],subscribe_to_upd:[93,118],subscript:[79,84,85,156,159,166,168,173,178],subsect:[148,174],subsequ:[19,27,86,148,168],subset:183,subsiqu:[134,135,184],substanti:[1,99,134,151,154,177],substitut:[88,176,185,188,190],subsystem:96,subtleti:166,subtli:157,subtre:[17,19,21,22,23,24,27,38,39,40,89,162,168],succe:[18,19,75,76,168],succeed:[26,82,157,161,165],success:[14,18,19,22,27,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,76,99,156,157,158,159,161,162,168,176,181,187,194],successfulli:[1,18,27,157,161,166,173,175,176,178,185],successor:[99,153,158],sucessfulli:175,sudo:[147,152,173,174,176,180,183,187,189,191],suffici:[4,18,27,99,135,144,166,181,183,184],suffix:183,suggest:[19,91,99,170,175,176],suit:[0,148],suitabl:[91,103,157,168,170,175,177,194],sum:[86,136,137,138,139,141,142,170,176],sum_scor:[136,139],summar:[170,175,177],summer:[5,11],superior:158,suppli:[11,27,78,81,83,88],support:[2,6,13,14,26,27,44,47,50,54,84,102,106,146,148,149,153,154,155,158,168,170,174,176,177,181,188,190,191,193],suppos:175,sure:[1,2,7,12,26,88,99,115,119,146,148,151,156,159,163,166,168,171,173,174,177,180,181,182,184,186,187,188,189,190,191,192],surfac:[27,153,187],surface_model:187,surpris:194,surround:170,survei:153,susbcrib:131,sustain:27,swap:[157,158],swath:[41,94],sweep:[96,176,177],symbol:182,symlink:[147,163,188,190],symmetr:159,symmetri:157,sync:193,sync_slam_toolbox_nod:182,synchron:[27,184],syntax:[148,159,176,182],sysdep:182,system:[1,6,7,8,10,11,12,18,19,21,23,24,27,85,86,92,97,99,109,147,148,149,151,152,153,154,157,159,166,170,174,175,176,177,178,179,180,182,183,184,186,192],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:[1,9,12,17,21,22,26,27,41,42,43,46,48,49,62,80,84,85,86,87,88,92,94,97,99,101,103,104,105,107,110,118,131,133,134,148,151,152,154,156,157,158,159,161,162,164,165,166,168,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,190,194],taken:[4,62,76,84,85,91,99,117,131,156,163,166,188,190],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:[1,2,3,4,5,6,7,8,9,10,11,12,13,17,21,22,23,24,26,27,52,79,85,88,90,94,99,103,110,151,153,154,156,158,161,162,166,170,171,172,174,177,179,184,185,187,193,194,195],taskexecutor:26,taskresult:[26,157],tb3:159,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:[27,170],teb:[3,99,154,158,168,170,177,194],teb_local_plann:155,teblocalplann:155,technic:[8,21,23,24,151,161,163,164,165,166,188],techniqu:[3,4,6,27,85,104,105,106,156,174,177,184,187],technolog:[8,14,153,184,187],tediou:176,teleop:[0,26,29,87,168,187],teleop_twist_keyboard:187,teleoper:187,telepres:1,tell:[27,151,159,161,162,163,173,182,187],temperatur:99,templat:[106,147,151,156,162,166,172,176,182],tempor:[168,177,191],temporari:[21,22,23,24,87,88,92,101,107,110,184,188,190],tend:194,term:[94,99,151,159,166,174,175,184,188],termin:[91,105,133,134,135,146,152,155,161,171,173,174,180,182,183,185,186,187,189],terminatependinggo:166,test:[0,3,4,6,87,99,135,148,151,159,169,173,180,185,189,191,193],text:[161,163,191],tf1:176,tf2:[27,155,172,173,175,176,177],tf2_echo:[173,175],tf2_msg:173,tf2_ro:[164,171,173,175],tf2_tool:174,tf_:[164,165],tf_broadcast:86,tf_static:157,tfmessag:173,than:[19,21,23,24,27,56,57,62,66,80,85,86,87,88,92,93,94,96,97,99,101,102,103,107,109,110,111,112,134,135,148,155,156,157,158,159,164,166,168,175,177,181,182,183,184,185,187,188,189,192,194],thank:14,thei:[0,7,18,19,21,23,24,27,84,85,88,94,97,99,106,145,148,149,151,153,155,156,157,158,159,161,162,164,165,166,170,172,173,174,175,176,177,178,182,183,187,188,192,193],theinput:173,them:[4,7,21,26,27,84,92,94,99,110,114,115,119,135,148,149,151,153,154,156,157,158,159,161,162,163,164,165,171,174,175,176,177,178,179,182,183,184,186,187,188,189,190,192,193,194],themselv:[166,193],theoret:99,theori:99,therebi:151,therefor:[19,22,84,99,176,177,178,182,187,188,190,192,193],theta:[26,28,96,103,104,109,156,168,170,177,194],theta_max:[85,192],theta_min:[85,192],theta_scal:143,thetastarplann:[108,168],thi:[0,1,2,4,5,6,7,9,10,11,13,14,15,17,18,19,20,21,22,23,24,25,26,27,28,29,30,41,44,47,50,52,54,55,58,61,72,73,74,80,82,84,85,86,87,88,89,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,133,134,135,136,148,149,150,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],thing:[13,27,149,157,158,163,164,165,173,176,177,182,183,190],think:[0,8,27,177],third:[75,164,188,190],those:[9,14,27,104,148,157,170,174,176,177,178,179,182],though:[19,21,99,135,177,178,184,187,188,190,192],thought:[27,157,162],thrash:184,thread:[7,11,13,26,27,85,92,99,109,159,182],three:[25,27,106,158,175,177,178,187],threshhold:98,threshold:[62,85,92,98,99,102,103,111,140,157,168,184,186,188,190,194],threshold_to_consid:[99,159],throttl:[81,155,168],through:[1,9,17,18,19,22,23,24,26,27,28,41,42,97,99,108,115,119,134,135,148,151,152,153,155,156,157,158,159,163,168,170,172,173,174,175,176,177,178,182,183,184,187,188,189,190,191,194],throughout:[2,61,148,154,157,176,178,184],thrown:157,thu:[84,85,91,99,108,109,170,173,174,183,184,187],thusli:[171,177,194],tick:[18,19,21,22,23,24,27,61,75,78,81,82,83,157,162,168],ticket2:[10,11,13],ticket:[1,4,7,9,10,11,13,14,27,146,151,155,156,157,177,182,193],tie:4,tied:[27,135],tight:[103,135,170,177,194],tighter:177,tightli:184,tile:187,till:75,tilt:180,time:[0,1,3,4,6,7,8,9,11,14,18,19,20,21,22,23,24,25,26,27,29,30,41,45,53,55,57,58,70,75,76,84,85,86,87,88,92,93,99,102,103,104,105,106,109,111,114,116,117,124,125,126,128,130,131,132,133,134,135,144,147,148,149,151,154,155,157,162,163,166,168,169,170,171,173,175,177,178,179,181,182,183,184,185,186,187,188,190,191,192,193,194],time_allow:[25,26,29,30,45,55,87,157],time_before_collis:85,time_granular:125,time_step:99,timedbehavior:161,timeexpir:89,timeexpiredcondit:155,timelin:151,timeout:[29,30,31,32,33,34,35,36,37,38,39,40,42,43,45,46,48,49,51,55,58,73,74,85,87,88,92,94,97,98,101,107,109,110,130,155,161,162,192],timer:[69,159,168,174],timestamp:[26,131,159,173],timestep:99,timezon:151,tini:104,tip:[172,177,188],tireless:14,titl:153,tmp:[131,148,180],to_entri:148,to_numb:161,togeth:[19,27,94,173,175,184,187],toggle_filt:158,token:161,tol:168,toler:[18,27,57,62,87,88,91,93,96,99,100,102,103,105,107,118,120,127,129,133,134,135,144,156,157,159,165,168,179,186,194],tom:15,ton:182,too:[18,99,108,134,135,156,157,159,177,179],took:108,tool:[2,4,15,27,146,147,148,149,151,153,155,156,166,172,174,175,176,182,183,187,188],toolbar:185,toolbox:[27,153,154,174,177,182,189],top:[5,7,11,18,93,161,163,164,165,166,175,179,180,181,183,188,190,193],topic:[0,19,20,21,23,24,27,44,47,50,54,65,66,79,84,85,86,87,88,90,92,93,98,107,109,111,114,115,116,117,118,119,120,130,131,134,135,151,154,155,156,157,158,159,166,168,171,172,173,174,175,176,177,178,179,180,183,184,185,186,187,188,189,190,191,192],topic_nam:[44,47,50,54,98,188,190],torqu:109,total:[27,30,99,133,134,135,181],total_number_of_loop:165,touch:139,toward:[20,68,84,85,91,99,103,134,135,157,159,165,168,177,180,186,187,194],trace:182,track:[6,26,27,93,99,102,103,151,153,157,158,159,164,166,168,177,179,182,184,194],track_unknown_spac:[93,174,191],tracker:[0,99],trackingrout:26,tractabl:155,tractor:187,trade:[99,194],tradeoff:133,traffic:[154,168],trait:[159,177],trajectori:[3,4,10,85,90,96,109,120,123,125,136,137,138,139,141,142,143,156,158,159,165,168,170,171,177],trajectory_generator_nam:120,trajectory_point_step:99,trajectory_step:99,trajectoryvisu:99,tranform:174,trans_stopped_veloc:[95,129,144],transfer:5,transform:[5,15,27,71,84,85,86,87,88,93,96,99,102,107,111,114,117,120,146,152,153,155,156,157,164,168,171,172,173,174,176,177,184,188,189],transform_timeout:[87,104,105,107,161,179],transform_toler:[57,60,62,84,85,86,87,88,93,95,96,99,102,107,111,114,117,118,120,164,166,191,192],transform_tolerance_:164,transformavail:89,transformglobalplan:164,transit:[27,97,104,155,157,166,177,178,179,183,194],translat:[30,45,86,102,122,126,156,158,168,173,175,177],translation_backward:[85,192],translation_forward:[85,192],transpar:151,transport:148,transvers:175,travel:[19,27,45,60,78,99,133,134,135,157,168,173,174],travers:[25,27,99,113,133,134,135,157,159,175],treat:[93,191],tree:[1,2,11,20,21,22,23,24,25,28,29,30,48,49,55,58,60,62,75,76,77,78,79,80,81,82,83,146,152,153,154,157,159,163,166,167,170,174,175,176,178,179,184,187,195],treenod:193,treenodesmodel:193,trend:[134,135],tri:[27,155,164],triangl:[84,85],triangular:116,trick:[172,182],trig:157,trigger:[11,18,19,21,23,24,27,51,78,80,82,84,85,96,99,102,103,111,148,155,156,157,158,168,178,179,192,194],trilater:187,trim:57,trinari:[188,190],trinary_costmap:93,trivial:[7,27,151,158,161,192,193],troubleshoot:147,truli:[11,177],truncat:[20,56,57,91,168],truncated_path:[20,56,185],truncatepath:[20,89,155,185],truncatepathloc:[89,91],trust:[11,149,153,184,187],trustworthi:187,trytoresolvesmoothererrorcod:179,tsc:151,tudela:168,tunabl:28,tune:[1,9,25,98,99,103,108,134,157,172,184,187,188,190,192,194],tunnel:149,turn:[25,41,91,94,99,102,109,111,134,135,148,156,157,158,159,168,170,176,177,179,181,182,187,194],turtl:98,turtlebot3:[147,152,161,162,163,164,165,166,179,181,186,188,189,190],turtlebot3_bringup:[186,189],turtlebot3_gazebo:152,turtlebot3_model:[152,186,189],turtlebot3_world:[98,152,188,190],turtlebot:[152,187,195],tutori:[3,8,15,18,84,85,88,89,156,158,159,168,169,170,171,172,173,174,175,176,177,178,182,183,184,192,193,194],tutorials_w:[188,190],tweak:148,twilio:161,twirling_cost_pow:99,twirling_cost_weight:99,twirlingcrit:[95,99],twist:[0,29,85,87,92,99,109,159,164,173,187],twistamp:169,twiststamp:[0,85,87,92,109,164],twistwithcovari:173,twistwithcovariancestamp:173,two:[3,18,19,27,76,84,85,91,100,106,108,133,148,156,157,158,161,164,165,166,170,173,174,175,176,178,181,183,184,187,190,191,192],two_d_mod:[173,184,187],txt:[161,163,164,165,166,173,174,176,180,182,183],type:[8,17,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,70,71,72,73,74,76,78,79,80,81,83,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,148,149,152,153,155,156,157,161,162,163,164,165,166,168,170,173,174,176,177,178,179,181,182,184,185,187,188,190,191,192,193,194],typenam:[157,166],typic:[9,18,19,27,84,85,134,135,151,157,164,171,173,175,177,181,184,188,189,190,194],uav:184,ubuntu:191,udrf:2,uint16:[29,30,41,42,43,45,46,48,49,53,55,178],uint8:26,ukf:184,ukf_localization_nod:173,ukf_nod:173,ultim:22,unabl:[0,133,157],unaccept:[84,85,181],unaffect:148,unchang:148,unclear:27,uncom:[91,148],unconfigur:[27,178],undeclar:187,under:[1,2,3,4,5,6,7,8,9,10,11,12,13,20,88,115,119,148,149,151,155,156,157,158,161,162,168,170,171,173,174,176,179,182,184,187,191],underlai:148,underli:[27,191],understand:[11,21,23,24,27,108,151,166,181,182,183,187,188,191],understood:188,undesir:188,unfair:8,unfamiliar:[11,27,184],unfilt:177,unfold:190,unid:184,unifi:176,uniform:159,unintend:148,uniqu:[21,23,24,27,85,148,153,155,156,159,161,162,166],unique_tb3_simulation_launch:159,unit:[27,87,88,92,94,97,101,107,110,151,169,175],univers:[5,175],unix:182,unknown:[27,72,73,74,93,100,108,113,119,133,134,135,158,178,188],unknown_cost_valu:93,unknown_threshold:[93,119,191],unless:[18,19,96,97,102,135,151],unlesscondit:[173,176],unlik:[18,84,161,181],unmodifi:148,unnecessari:[99,181],unord:158,unpredict:190,unreach:[133,134,135],unrespons:178,unsaf:[134,135,157],unscent:173,unsign:[59,72,73,74,163],unsmooth:179,unsmoothed_path:[53,179],unspecifi:[85,173],unsuit:151,unsynchron:180,untick:19,until:[18,19,20,26,27,75,85,103,120,134,135,146,148,156,164,166,168,173,182,185,187,191],untouch:[155,164,192],unus:99,unwant:[157,190],unzip:180,updat:[6,7,11,12,18,19,20,27,61,69,79,86,93,106,114,118,148,151,154,157,158,159,161,162,163,164,166,168,171,173,175,177,181,184,185,187,189,190,193],update_footprint_en:191,update_frequ:[93,174],update_min_a:86,update_min_d:86,update_r:[173,174,187],updatebound:163,updatecontentcommand:148,updatecost:163,updated_go:[20,79,185],updatego:155,updater:174,updatewithaddit:163,updatewithmax:163,updatewithoverwrit:163,updatewithtrueoverwrit:163,upgrad:[148,155],upon:[0,3,18,19,76,151,157,165,176],upper:[96,102],ups:99,upsampl:91,urdf:[2,27,152,171,172,175,177,184,189],urdf_config:176,usag:[11,26,111,148,175,176,178,187,192],usb:[148,184],use:[0,1,3,4,8,9,10,11,13,17,19,20,21,22,23,24,26,27,41,42,43,46,53,66,79,84,85,86,87,88,91,92,93,94,96,99,100,101,102,103,104,105,107,109,114,115,119,120,134,135,136,146,148,150,151,152,153,154,155,156,157,158,161,162,163,164,165,166,170,171,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],use_approach_linear_velocity_sc:157,use_astar:[100,156,165],use_collision_detect:102,use_composit:[157,177,182,183],use_cost_regulated_linear_velocity_sc:102,use_final_approach_orient:[100,108,133],use_fixed_curvature_lookahead:[102,158],use_maximum:93,use_namespac:177,use_odometry_yaw:187,use_path_orient:[99,159],use_quadratic_cost_penalti:[134,159],use_rclcpp_nod:157,use_realtime_prior:[85,92,109,159],use_regulated_linear_velocity_sc:102,use_respawn:[157,177,192],use_robot_state_pub:177,use_rotate_to_head:102,use_rviz:[177,187],use_sim:186,use_sim_tim:[88,91,92,93,95,96,102,103,108,133,134,135,159,161,162,163,165,166,171,173,174,177,182,183,186,188,190,191,192,194],use_simul:177,use_start:[26,156],use_velocity_scaled_lookahead_dist:102,used:[0,1,5,13,14,15,17,18,19,21,22,23,24,25,26,27,29,30,42,43,44,47,50,52,53,54,55,57,58,66,77,78,81,83,85,86,87,88,91,92,93,98,99,101,106,107,110,115,117,119,134,135,147,148,149,153,154,155,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,188,190,192,193],useful:[0,17,19,20,21,23,24,27,79,85,86,99,104,148,149,156,157,159,162,171,173,174,175,176,177,178,183,184,185,188,190,191,193],useless:18,user:[1,2,3,7,9,14,17,21,22,23,24,26,27,28,41,76,80,84,85,86,105,110,116,130,134,148,149,151,153,155,156,157,158,159,166,168,172,174,177,178,182,183,184,187,189,191,192,194],userenvprob:148,usernam:[85,92,109,159],userspac:[85,92,109,159],uses:[5,6,19,27,48,49,84,85,86,87,91,92,93,99,100,104,106,109,115,119,146,153,154,155,158,159,161,162,168,170,173,174,175,176,177,180,186,187,191],usign:94,using:[4,5,6,7,8,9,10,13,14,16,17,18,20,21,23,24,25,26,27,31,32,33,34,35,36,37,41,42,43,46,51,85,86,88,89,90,91,93,94,95,98,99,102,104,105,106,108,110,114,131,134,135,146,147,148,149,152,153,155,156,157,158,159,161,162,163,164,165,166,168,170,171,175,177,178,179,180,182,183,184,185,186,187,189,190,191,192,193,194],usr:[182,191],usual:[19,27,44,47,50,106,148,156,163,173,175,178,182,183,187,188],util:[21,22,23,24,27,41,94,99,135,148,153,156,157,158,159,162,170,171,173,176,183,188,190,191],utm:[94,187],v_angular_max:96,v_linear_max:96,v_linear_min:96,valgrind:[182,183],valid:[27,67,84,85,86,91,94,111,114,115,117,119,134,135,153,158,166,168,174,177,187],valu:[44,47,50,54,66,84,85,86,87,88,91,92,93,96,98,99,101,102,105,107,108,110,111,115,116,117,119,133,134,135,148,151,156,157,158,159,161,162,163,164,165,166,168,171,173,174,175,176,177,179,181,182,186,187,188,190,192,193,194],valuabl:[7,11,151],vargovcik:168,vari:[99,102],variabl:[13,17,41,42,43,46,48,49,53,62,80,86,88,116,146,147,148,152,159,161,162,164,165,174,179,188,190,191,193],variant:[3,6,27,99,102,156,168,170],variat:[102,156,166,168,170,173],varient:156,varieti:[27,161],variou:[5,27,87,99,107,147,148,157,158,168,169,173,175,176],vast:[157,161],vcstool:147,vector:[21,27,41,42,48,52,84,85,87,88,92,93,94,97,99,100,101,104,107,108,109,114,115,116,119,120,133,157,158,159,163,165,166,171,177,182,188,190,191],vectorcrash:182,vectorobject:177,vehicl:[1,4,99,106,134,135,153,156,168,170],vel_poli:85,veloc:[1,4,9,13,28,83,84,85,87,90,92,96,99,102,103,117,121,122,129,140,143,144,153,156,159,161,164,168,169,170,173,177,192,194],velocity_polygon:[85,192],velocity_polygon_stop:[85,192],velocity_smooth:[109,192],velocity_timeout:109,velocitypolgon:159,velocitypolygonstop:[85,192],velocitysmooth:[158,192],vendor:174,verb:148,verbos:[173,174,177],veri:[6,7,11,14,16,17,21,23,27,99,104,134,151,157,159,169,171,175,176,177,184,194],verifi:[4,27,139,149,173,174,176,187],version:[23,24,27,91,120,146,147,149,152,156,164,174,176],vertex:[84,85,180],vertic:[112,187,192],vertical_fov_angl:191,via:[13,19,20,21,23,24,27,41,44,47,50,64,84,85,86,90,106,147,148,149,151,153,157,158,159,161,166,168,175,177,178,179,183,189,191,193],viabl:166,viapoint:[52,168],vicin:173,video:[22,148,163,184,185,186,191,193],view:[84,85,152,157,176,180,184,191,192,193],view_fram:174,vigil:149,vio:[27,169,173,175,195],violat:19,virtual:[20,85,99,157,161,162,163,164,165,166,173,176],visibl:[161,162,164,165,166,176],vision:[27,91,174,184],vision_msg:174,visit:[1,27,134,135,151,187],visual:[2,84,85,88,89,148,149,153,157,159,173,177,179,183,184,187,189,190,191,192],visualis:158,visualization_mark:174,viz_expans:159,vocabulari:19,volatil:176,voltag:66,volum:148,volumet:191,volumetr:168,vornoi:3,voxel:[7,93,158,168,174,181,191],voxel_decai:191,voxel_grid:[174,191],voxel_lay:[93,112,114,156,163,171,174,181,188],voxel_marked_cloud:156,voxel_min_point:191,voxel_s:191,voxel_unknown_cloud:156,voxellay:[93,174,177],vpitch:[173,184],vroll:[173,184],vscode:148,vslam:153,vslamcomparison2021:153,vtheta_sampl:[95,121],vx_max:99,vx_min:99,vx_sampl:[95,121],vx_std:99,vy_max:99,vy_sampl:[95,121],vy_std:99,vyaw:[173,184],w_cost:91,w_cost_cusp_multipli:91,w_curv:91,w_data:[105,133,134,135],w_dist:91,w_euc_cost:108,w_heuristic_cost:108,w_smooth:[91,105,133,134,135],w_traversal_cost:108,waffl:[152,186,187,189],wai:[2,9,18,21,23,24,27,80,88,97,99,110,112,134,135,145,147,156,157,158,159,171,175,177,178,179,182,187,189,191,194],wait:[13,18,19,21,22,23,24,26,27,37,86,87,88,89,93,110,130,132,149,152,154,157,161,162,168,174,178],wait_act:162,wait_at_waypoint:[110,156],wait_dur:[18,21,22,23,24,58,89,162],wait_for_action_serv:88,wait_for_datum:187,wait_for_service_timeout:88,wait_serv:58,waitact:162,waitatwaypoint:[110,156,168],waituntilnav2act:[26,157],wake:99,walk:[18,19,27,148,184,187],walkthrough:17,wall:[159,177],wallac:[14,153,168],want:[21,23,24,26,27,84,99,148,156,159,161,162,163,164,165,166,173,175,176,177,178,179,182,183,184,186,187,189,193],warehous:[26,27,171,177,188],warn:[84,101,116,134,135,155,192],was_complet:53,watch:152,watchdog:[9,97,140,153,155],water:19,wavefront:[100,157],waypoint:[26,28,96,130,131,132,153,154,156,157,178],waypoint_follow:[97,110,156,159,178],waypoint_imag:131,waypoint_pause_dur:[110,132,156],waypoint_task_executor:[130,131,132],waypoint_task_executor_plugin:[110,156],waypoint_task_executor_plugin_id:[130,131,132],waypointfollow:157,waypointtaskexecutor:156,weak:164,weakptr:[164,166],wear:109,web:[8,149],websit:[15,18,159],weigh:[136,137,138,139,140,141,142,143,144,145],weight1:91,weight2:91,weight:[27,57,86,91,99,105,108,133,134,135,143,155,157,159,177,184,188],welcom:151,well:[0,1,4,6,14,18,19,21,23,24,26,92,98,99,137,141,142,148,155,156,157,159,170,174,175,177,179,180,181,182,184,187,188,190,191,193],went:[177,187],were:[11,14,18,27,87,154,155,156,157,158,159,175,176,177,178,188,190,192],wgs84:187,what:[2,6,19,27,99,120,150,151,157,169,173,174,175,176,178,179,186,187],whatev:163,wheel:[27,96,173,175,176,184,187],wheel_diamet:173,wheel_radiu:[173,176],wheel_separ:173,wheel_width:176,wheel_xoff:176,wheel_ygap:[173,176],wheel_zoff:176,when:[11,18,19,20,21,23,27,41,57,60,64,66,70,78,80,81,83,84,85,86,87,92,93,94,96,97,99,101,102,103,108,109,110,111,114,117,131,134,135,140,144,146,148,149,151,153,155,156,157,161,162,163,164,165,166,168,170,171,173,174,175,176,177,178,180,181,182,183,184,185,187,188,190,192,193,194],whenev:[148,149,157,186,189],where:[1,6,10,13,17,19,22,26,27,84,85,96,99,105,111,117,119,131,135,136,147,148,151,152,155,156,157,159,162,163,164,165,166,168,171,173,174,175,176,177,178,183,186,187,188,190,192],wherea:[9,41,99,134,158,177,178],wherein:[170,171],whether:[41,53,84,85,86,87,91,92,93,94,96,97,99,100,102,104,105,108,109,110,111,112,113,114,115,116,117,118,119,120,123,125,126,127,128,129,130,131,132,133,134,135,136,139,151,154,156,161,163,164,168,173,174,176,177],which:[3,9,18,19,22,24,26,27,28,29,30,41,42,43,45,46,48,49,55,56,57,58,78,79,81,83,84,85,86,87,88,91,92,93,96,97,98,99,101,102,106,107,109,110,111,112,114,116,117,148,154,156,157,158,159,161,162,163,164,165,166,170,171,172,173,174,175,176,177,178,179,180,181,184,185,186,187,188,189,190,192,193],whilst:176,whip:[177,194],white:[14,148,153,181,188],whiter:188,whitespac:176,who:[99,151,159,166,177,185],whole:[18,57,151,159,163,174,180,190,192],whose:[91,174],why:[150,182],wide:[4,18,27,134,159,161,177,184],wider:177,widest:148,widget:176,width:[26,93,94,96,99,102,163,174,177,187],wiki:176,wilcox:[14,168],wild:14,willing:177,window:[95,134,135,157,163,170,171,173,174,175,176,177,180,181,182,183,187,193],wisdom:177,wise:[27,99,166,177],wish:[0,22,59,85,94,114,156,157,178,179],within:[10,18,19,21,27,59,84,85,86,87,88,90,92,94,99,101,103,107,110,113,115,119,133,134,135,148,149,151,157,158,159,163,166,168,173,174,176,177,178,183,191,192,193,194],withing:157,without:[1,4,14,27,57,84,85,91,92,99,104,112,114,134,148,149,155,156,157,159,163,166,171,172,174,177,182,184,185,187,188,189,194],wizard:14,wobbl:[99,134],won:[38,99,156,159,161,162,164,165,166,171,176,181,187,188],word:[149,158,164,165,175,181,188],work:[0,1,4,5,6,7,8,9,11,12,13,14,15,16,27,84,89,90,96,99,102,148,151,152,153,157,158,159,161,162,163,164,165,166,170,171,173,174,175,176,177,179,182,183,184,187,188,190,191,192],workaround:[87,88,92,101,107,110],workflow:[27,148,149],workspac:[146,147,148,149,163,176,180,182,183,185,187,189,191,193],world:[8,9,26,27,148,152,153,161,173,174,175,177,181,185,188,189,190,191],world_fram:[173,184,187],world_path:174,worldtomapvalid:26,worldwid:153,worri:[21,23,24,27,149,177,182],worst:12,worth:[21,23,27,99,177,181],would:[0,1,6,8,14,19,22,27,85,98,102,108,133,134,135,148,149,151,156,157,159,161,162,164,165,166,168,173,175,176,177,179,182,183,184,187,188,189,190,191,194],wouldacontrollerrecoveryhelp:[89,158],wouldaplannerrecoveryhelp:[89,158],wouldasmootherrecoveryhelp:[89,158,179],wouldn:[9,177],wrap:[18,26,27],wrapper:[27,161,162,182,184],write:[155,158,159,167,168,170,173,177,178,193],written:[6,27,159,161,163,164,165,166,174,181,187,188,190,192,193],wrong:187,wz_max:99,wz_std:99,x11:[148,149],x86_64:[182,191],x_increment:165,x_only_threshold:140,x_pose:177,x_reflect:176,xacro:[173,176],xml:[1,2,17,18,27,28,48,49,88,153,155,157,159,161,162,163,164,165,166,173,176,178,185,193],xml_tag_nam:162,xmln:176,xterm:[182,183],xvf:180,xxx:183,xy_goal_toler:[92,95,96,102,103,127,129,144,156,194],xytheta:95,xyz:[173,174,176,187],y_increment:165,y_pose:177,y_reflect:176,yai:184,yaml:[26,84,85,98,156,157,161,162,163,164,165,166,170,171,173,177,178,179,180,181,182,183,184,186,187,188,190,191,192,194],yaml_filenam:[98,158,188,190],yaw:[86,173,177,184,187,188,190],yaw_goal_toler:[92,95,96,102,103,127,129,156,194],yaw_offset:187,yeah:184,year:[6,14,153],yes:182,yet:[6,19,26,99,148,157,159,175,177,187],yolact:4,yolo3d:4,you:[0,4,5,6,10,11,12,13,14,17,20,26,27,41,59,85,86,88,91,92,94,98,99,102,106,108,109,114,134,135,136,146,147,148,149,151,152,153,156,157,158,159,161,162,163,164,165,166,168,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],your:[3,4,5,6,8,9,10,11,12,13,14,17,18,26,27,85,97,98,99,102,103,106,108,109,134,135,146,147,148,149,151,152,153,155,156,157,158,159,161,163,164,165,166,168,170,171,172,174,175,176,177,178,180,182,183,184,185,187,188,189,190,191,192,193,194],your_map:186,your_params_fil:[161,164,165,166],yourself:[151,157,179],youtub:184,yuk:13,z_hit:86,z_max:86,z_pose:177,z_rand:86,z_resolut:[93,119,174],z_short:86,z_voxel:[93,119,174],zag:[134,184],zed2:184,zed2i:184,zed_wrapp:184,zedx:184,zedxm:184,zero:[85,96,109,116,117,132,157,162,180,187,188,190],zero_altitud:187,zig:[134,184],zmq:157,zone:[9,27,84,85,91,94,98,114,134,135,156,157,168,174,177,187,190,192,195],zurich:5},titles:["Projects 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","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 Detector Node","Collision Monitor Node","AMCL","Behavior Server","Behavior-Tree Navigator","Behavior Tree XML Nodes","Collision Monitor","Constrained smoother","Controller Server","Costmap 2D","Coverage Server","DWB Controller","Graceful Controller","Lifecycle Manager","Map Server / Saver","Model Predictive Path Integral Controller","NavFn Planner","Planner Server","Regulated Pure Pursuit","Rotation Shim Controller","Savitzky-Golay Smoother","Simple Smoother","Smac Planner","Smoother Server","Theta Star Planner","Velocity Smoother","Waypoint Follower","Binary Filter Parameters","Denoise Layer Parameters","Inflation Layer Parameters","Keepout Filter Parameters","Obstacle Layer Parameters","Range Sensor Parameters","Speed Filter Parameters","Static Layer Parameters","Voxel Layer Parameters","DWB Controller","XYTheta Iterator","Kinematic 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":[87,92,93,101,110,156,158,159],"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:24,For:159,GPS:[159,187],Into:184,Near:22,ROS:[5,11,27,93,158,182,183,184],The:[159,176],Use:157,Uses:[158,159],Using:[16,148,184,187,191,192,194],With:[18,24],about:14,academ:27,access:[158,159],ackermann:99,action:[19,27,89,155,156,157,159],activ:159,add:[159,162],added:159,addit:159,advanc:12,algorithm:170,align:99,allow:[158,159],amcl:[86,157],analog:2,angl:[99,159],api:[26,157,158,159],appli:158,approach:[157,159],architectur:154,areerrorcodespres:59,assist:[1,2,157],assistedteleop:[29,87],attribut:156,augment:184,automat:182,avail:159,backtrac:182,backup:[30,87,156],base:159,baseobstaclecrit:136,becom:24,behavior:[17,18,27,87,88,89,155,156,157,158,159,161,162,168,177,185,193],being:157,benchmark:158,binari:[111,147],block:159,bond:27,both:158,brand:8,bringup:[159,182,183],btactionserv:159,btservicenod:157,build:[146,147,148,171,173,174,176],cach:177,calibr:[25,180],camera:[180,184],cancel:157,cancelassistedteleop:31,cancelbackup:32,cancelcontrol:33,cancelcoverag:34,canceldriveonhead:35,cancelspin:36,cancelwait:37,capabl:155,certif:151,chang:[154,156,157,158,159],check:158,checker:[26,156,157,158,168],citat:153,cleararea:157,clearcostmaparoundrobot:[38,156],clearcostmapexceptregion:[39,156],clearentirecostmap:40,click:185,clock:159,code:[158,159,178],collis:[26,84,85,90,158,159,192],command:[26,157,158,159],common:[146,174],composit:[157,178],computecoveragepath:41,computepaththroughpos:[42,156],computepathtopos:[43,156],concept:27,conclus:[170,171,173,174,175,176,178,187],condit:[19,89],config:162,configur:[2,13,28,156,170,171,173,174,188,190,192,194],consist:24,constant:157,constrain:[91,157],constraint:99,constructor:158,contact:14,contain:[147,148,149],control:[3,19,27,89,92,95,96,99,103,120,156,157,158,159,164,168,170,177,194],controllerselector:44,controllerserv:156,convert:13,corner:157,cost:[99,159],costmap2d:[93,156,163,177,191],costmap:[26,27,93,98,99,155,156,158,159,168,174,188,190,191],costmap_2d_nod:158,costmaplay:157,costmapupd:159,could:159,coverag:94,crash:182,creat:[2,3,148,161,162,164,165,166,185],critic:[95,99,159],current_:156,curv:158,custom:[162,193],dash:154,dco:151,debug:159,deceler:158,decor:[19,89],demo:[26,173,175,192,194],denois:[112,158,181],depend:146,depreci:159,descript:[106,174],detail:18,detect:157,detector:[84,159],determin:11,dev:[148,149],develop:[147,150,151],direction:159,disabl:159,distanc:[157,158],distancecontrol:78,distancetravel:60,distribut:147,docker:147,doxygen:147,driveonhead:[45,87],drop:157,durat:159,dwb:[95,120,158],dynam:[4,20,157,159,185],each:155,ecosystem:13,edit:193,eloqu:[154,155],enabl:[159,163,181,188,190],enumer:159,enviro:186,environ:176,environment:[5,27],error:[158,159,178],estim:[27,184],euclidean:157,exampl:[26,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,114,117,133,134,135,152,170],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:[84,85,159],feedback:[156,158],field:177,file:[158,159,161,164,165,166,173,174,182,183],filter:[27,93,98,111,114,117,155,156,158,168,181,188,190],first:172,fix:157,follow:[20,27,99,110,159,185,187],followpath:[46,156],followpoint:155,footprint:[26,27,171,177],form:27,format:159,forward:[99,158],foxi:[155,156],frame:159,framework:12,from:[158,159,182,183],full:159,fuse:184,galact:[156,157],gazebo:[157,173,174,187],gener:[99,147,155,195],get:[149,151,152,182,189],give:158,global:[27,159,184,187],globallyupdatedgo:61,goal:[22,99,156,157,158,159,168,186],goal_checker_id:156,goalaligncrit:137,goalcheckerselector:47,goaldistcrit:138,goalreach:62,goalupd:63,goalupdat:79,golai:[104,158],grace:[96,159],gradientlay:163,grid:5,groot:[156,157,193],guid:[28,146,148,150,160,172,177],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:64,input:[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],inputatwaypoint:130,instal:[147,152,191],integr:[4,10,99,158],interact:[187,193],interfac:[156,189],interpret:183,introduc:159,introduct:[19,159,171,173,174,175],invalid:[24,157],invert:157,involv:151,iron:[158,159,169],isbatterycharg:65,isbatterychargingcondit:158,isbatterylow:66,ispathvalid:67,isstuck:68,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:[27,99,112,113,115,118,119,155,158,159,168,181],librari:[159,162],licens:151,lifecycl:[27,97,148,157,178],limit:[157,158,190],limitedaccelgener:124,live:157,load:158,local:[6,27,173,174,184,187],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:[85,90,157,158,159,192],more:158,motion:[99,157,159],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:[17,19,27,146,153,156,157,158,174,177,178,181,182,183,185,186,188,190,192],nav2_collision_monitor:159,nav2_cor:157,nav2_costmap_2d:174,navfn:[100,156,157],navig:[4,7,8,9,12,18,21,22,23,24,27,88,152,155,157,158,166,168,170,186,187,188,189,190],navigatethroughpos:[48,156],navigatetopos:[49,156],navigation2:[154,175,189,191],navsat:187,node:[9,11,19,27,84,85,89,90,156,157,158,159,168,174,178,179,182,183,193],nois:181,note:99,object:185,observ:[84,85],obstacl:[4,22,99,115,156,159,177,181],obstaclefootprintcrit:139,obtain:159,odometri:[25,27,173,184,187],offer:177,offset:99,onli:157,opennav_coverag:159,option:[159,177],orient:157,origin:151,oscillationcrit:140,other:[27,177],ouput:[56,57],our:153,out:184,output:[30,41,42,43,44,45,46,47,48,49,50,52,53,54,55],overview:[18,26,27,153,161,162,163,164,165,166,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194],packag:154,page:177,panel:[156,158],param:[157,159,161,164,165,166],paramet:[60,62,79,84,85,86,87,88,91,92,93,94,96,97,98,99,100,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,156,157,158,159,191],parameteriz:158,particl:155,pass:[161,164,165,166],path:[24,99,157,158,159],pathaligncrit:141,pathdistcrit:142,pathexpiringtim:69,pathlongeronapproach:[80,157],paus:22,photoatwaypoint:131,physic:[176,186],pipelinesequ:[19,75],place:177,planner:[3,27,100,101,106,108,133,134,135,156,157,158,159,162,165,168,170,177],plannerselector:50,plugin:[3,87,89,92,93,95,101,106,110,154,155,156,157,158,159,161,162,163,164,165,166,167,168,170,173,174,177,179,191],point:[20,159,185],pointcloud2:[156,174],pointcloud:156,polygon:[84,85,159],port:[5,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,71,72,73,74,76,78,79,80,81,83],pose:[18,21,22,23,24,158,186],poseprogresscheck:[126,158],posit:27,potenti:177,predict:[99,158],prefer:99,preferforwardcrit:143,preliminari:[182,183],prepar:[188,190,192],prerequisit:[18,149,173],primari:194,process:[151,157],profil:183,program:0,progress:168,progress_checker_plugin:158,project:[0,15,153,159,182],properti:176,provid:[90,92,106,110],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:81,real:159,rebuild:148,recoveri:[18,19,27,156,157],recoverynod:76,recurs:158,reduc:[11,157],refactor:157,refin:158,regul:[102,158],regulatedpurepursuitcontrol:156,reinitializegloballoc:51,relat:[15,153],releas:147,remov:[156,157,158,159],removepassedgo:52,renam:158,replan:[18,24,157],report:146,represent:27,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:[16,27,157,159,171,172,173,176,177,184,189],roll:147,rotat:[103,157,177,194],rotatetogoalcrit:144,roundrobin:[19,77],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:[27,87,91,92,94,98,101,107,155,157,158,159,170,178,188,190],servic:[153,157],set:[170,171,173,174,175,176,184],setup:[172,173,185,186,187,191],share:159,shim:[103,157,194],shortcut:159,simpl:[26,105,157,158,159],simplegoalcheck:127,simpleprogresscheck:128,simplif:189,simul:[173,174,185],singletrigg:82,size:99,slam:[27,189],slam_toolbox:174,smac:[106,133,134,135,157,158,159,177],smacplann:156,smacplanner2d:157,smacplannerhybrid:158,small:157,smoother:[27,91,104,105,107,109,157,158,168,179],smootherselector:[54,158],smoothpath:53,soft:159,solut:159,sourc:[84,85,147,159],source_timeout:159,spawn:157,specif:19,specifi:179,speed:[117,158,190],speedcontrol:83,spin:[55,87],sponsor:153,stabl:158,stack:[159,181,188,190,192],standard:[27,156],standardtrajectorygener:125,star:108,start:[148,149,152,158,189],state:[27,135,158,176,184],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:[18,159],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],thetastarplann:156,through:[21,161,164,165,166],time:[13,156,158,159,172],timeexpir:70,timeout:[157,158,159],toler:158,trace:156,trajectori:[95,99],transform:[159,175,187],transformavail:71,tree:[17,18,27,88,89,155,156,158,162,168,185,193],troubleshoot:146,truncatepath:56,truncatepathloc:[57,157],tune:177,turtlebot:186,tutori:[161,162,163,164,165,166,167,179,180,181,185,186,187,188,189,190,191,195],twirl:99,twirlingcrit:145,twist:13,twiststamp:[13,159],type:[158,159],unit:156,updat:[155,156],urdf:[173,174,176],usag:156,use:[149,159],use_final_approach_orient:157,use_interpol:159,use_sim_tim:158,user:99,using:[173,174,176],variabl:186,veloc:[109,157,158],velocitypolygon:[85,159,192],verif:[171,173,174],vio:184,visual:[99,171,174,176,193],viz_expans:158,voxel:[119,159],vslam:184,wait:58,wait_act:159,waitatwaypoint:132,walkthrough:18,watchdog:159,waypoint:[27,110,158,159,168,187],websit:8,what:[149,194],when:[158,159],why:149,wisdom:99,word:99,work:[149,155,181,189],world:187,wouldacontrollerrecoveryhelp:72,wouldaplannerrecoveryhelp:73,wouldasmootherrecoveryhelp:74,write:[161,162,163,164,165,166,176],xml:[89,156,179],xytheta:121,yaml:[158,159],your:[162,173,179,186],zed:184,zone:188}}) \ No newline at end of file diff --git a/setup_guides/algorithm/select_algorithm.html b/setup_guides/algorithm/select_algorithm.html index abc43a732..a17c76d5a 100644 --- a/setup_guides/algorithm/select_algorithm.html +++ b/setup_guides/algorithm/select_algorithm.html @@ -680,8 +680,8 @@
    • Example
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller
    • -
  • Graceful Motion Controller