diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html index ef8c44cc2..067bfcde9 100644 --- a/2021summerOfCode/Summer_2021_Student_Program.html +++ b/2021summerOfCode/Summer_2021_Student_Program.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html index de19d7ef5..ac1dc271e 100644 --- a/2021summerOfCode/projects/assisted_teleop.html +++ b/2021summerOfCode/projects/assisted_teleop.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html index 3e1511747..463fa6e84 100644 --- a/2021summerOfCode/projects/create_configuration_assistant.html +++ b/2021summerOfCode/projects/create_configuration_assistant.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html index 7b36fe55e..0db941649 100644 --- a/2021summerOfCode/projects/create_plugins.html +++ b/2021summerOfCode/projects/create_plugins.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html index 4ab841ee5..a9b31a0f0 100644 --- a/2021summerOfCode/projects/dynamic.html +++ b/2021summerOfCode/projects/dynamic.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html index a4f77c456..6cf13cf78 100644 --- a/2021summerOfCode/projects/grid_maps.html +++ b/2021summerOfCode/projects/grid_maps.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html index a37aea157..fd6f7079d 100644 --- a/2021summerOfCode/projects/localization.html +++ b/2021summerOfCode/projects/localization.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html index 46bfc741b..2470faef7 100644 --- a/2021summerOfCode/projects/multithreading.html +++ b/2021summerOfCode/projects/multithreading.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html index 9f09545e8..725b184cf 100644 --- a/2021summerOfCode/projects/navigation_rebranding.html +++ b/2021summerOfCode/projects/navigation_rebranding.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html index fa1212e46..954e77acb 100644 --- a/2021summerOfCode/projects/safety_node.html +++ b/2021summerOfCode/projects/safety_node.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html index f73abd239..8e757fe07 100644 --- a/2021summerOfCode/projects/semantics.html +++ b/2021summerOfCode/projects/semantics.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
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    • diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html index 93e770a74..194a5923c 100644 --- a/2021summerOfCode/projects/spinners.html +++ b/2021summerOfCode/projects/spinners.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
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    • diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html index 7f52f285f..8d29b0229 100644 --- a/2021summerOfCode/projects/testing.html +++ b/2021summerOfCode/projects/testing.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html index cb96a93f4..9f8452993 100644 --- a/2021summerOfCode/projects/twist_n_config.html +++ b/2021summerOfCode/projects/twist_n_config.html @@ -1044,6 +1044,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/_sources/configuration/packages/configuring-docking-server.rst.txt b/_sources/configuration/packages/configuring-docking-server.rst.txt index 8708deb65..36415bb6c 100644 --- a/_sources/configuration/packages/configuring-docking-server.rst.txt +++ b/_sources/configuration/packages/configuring-docking-server.rst.txt @@ -272,6 +272,83 @@ Parameters Description Radius to end goal to commense slow down. +:controller.use_collision_detection: + + ============== ============== + Type Default + -------------- -------------- + bool true + ============== ============== + + Description + Whether to use collision detection to avoid obstacles. + +:controller.costmap_topic: + + ============== =========================== + Type Default + -------------- --------------------------- + string "local_costmap/costmap_raw" + ============== =========================== + + Description + Raw costmap topic for collision checking. + +:controller.footprint_topic: + + ============== =================================== + Type Default + -------------- ----------------------------------- + string "local_costmap/published_footprint" + ============== =================================== + + Description + Topic for footprint in the costmap frame. + +:controller.transform_tolerance: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.1 + ============== ============================= + + Description + Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. + +:controller.projection_time: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 1.0 + ============== ============================= + + Description + Time to look ahead for collisions (s). + +:controller.simulation_time_step: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.1 + ============== ============================= + + Description + Time step for projections (s). + +:controller.dock_collision_threshold: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.3 + ============== ============================= + + Description + Distance (m) from the dock pose to ignore collisions, i.e. the robot will not check for collisions within this distance from the dock pose, as the robot will make contact with the dock. Set to ``0.0`` when physical contact is not made with a dock. + Note: ``dock_plugins`` and either ``docks`` or ``dock_database`` are required. diff --git a/_sources/migration/Jazzy.rst.txt b/_sources/migration/Jazzy.rst.txt index 978a3fa68..2feb2a59a 100644 --- a/_sources/migration/Jazzy.rst.txt +++ b/_sources/migration/Jazzy.rst.txt @@ -99,3 +99,12 @@ In `PR #4675 `_ a ``pub Default value: - true + +Added optional collision checking for the Docking Server +******************************************************** + +In `PR #4752 `_ an optional collision checking feature was added to the `Docking server `_ to check for collisions between the robot and the dock. + +Default value: + +- true \ No newline at end of file diff --git a/about/index.html b/about/index.html index 71dea289b..a333578ad 100644 --- a/about/index.html +++ b/about/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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  • Added optional collision checking for the Docking Server
    • diff --git a/about/related_projects.html b/about/related_projects.html index b7bc9aa3a..6521d555a 100644 --- a/about/related_projects.html +++ b/about/related_projects.html @@ -1045,6 +1045,7 @@
  • Fix flickering visualization
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    • diff --git a/about/robots.html b/about/robots.html index 4399bae17..c5e82d71a 100644 --- a/about/robots.html +++ b/about/robots.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/behavior_trees/index.html b/behavior_trees/index.html index 6ed9f2bb2..d8fe82e9f 100644 --- a/behavior_trees/index.html +++ b/behavior_trees/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html index 1efeae20d..e4325807b 100644 --- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html +++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html index 5d3d4c3f7..ab42b65ec 100644 --- a/behavior_trees/overview/nav2_specific_nodes.html +++ b/behavior_trees/overview/nav2_specific_nodes.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html index 8336bdfb2..125ab9679 100644 --- a/behavior_trees/trees/follow_point.html +++ b/behavior_trees/trees/follow_point.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html index 45f3ee153..341345279 100644 --- a/behavior_trees/trees/nav_through_poses_recovery.html +++ b/behavior_trees/trees/nav_through_poses_recovery.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html index b1df473ea..27e28f4f4 100644 --- a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html +++ b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html index 063678c3e..1b89b9fef 100644 --- a/behavior_trees/trees/nav_to_pose_recovery.html +++ b/behavior_trees/trees/nav_to_pose_recovery.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html index 62fba7e14..62734e1cf 100644 --- a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html +++ b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html index cd32eac5a..6ba38c8df 100644 --- a/behavior_trees/trees/odometry_calibration.html +++ b/behavior_trees/trees/odometry_calibration.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/commander_api/index.html b/commander_api/index.html index 2706181af..012b406cc 100644 --- a/commander_api/index.html +++ b/commander_api/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/concepts/index.html b/concepts/index.html index e6a00ee9e..ca1acfc7b 100644 --- a/concepts/index.html +++ b/concepts/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/index.html b/configuration/index.html index 330bef3df..0363ec81d 100644 --- a/configuration/index.html +++ b/configuration/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html index 8c785ccd6..ebfc277d8 100644 --- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html +++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html index ccf6e0d1a..4f7c9629c 100644 --- a/configuration/packages/bt-plugins/actions/BackUp.html +++ b/configuration/packages/bt-plugins/actions/BackUp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html index af47163eb..0221a7435 100644 --- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html +++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html index 9d6180ec6..be8ad6b1a 100644 --- a/configuration/packages/bt-plugins/actions/CancelBackUp.html +++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html index c69fe0d93..23bc71280 100644 --- a/configuration/packages/bt-plugins/actions/CancelControl.html +++ b/configuration/packages/bt-plugins/actions/CancelControl.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelCoverage.html b/configuration/packages/bt-plugins/actions/CancelCoverage.html index e147237e2..5a2625168 100644 --- a/configuration/packages/bt-plugins/actions/CancelCoverage.html +++ b/configuration/packages/bt-plugins/actions/CancelCoverage.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html index abf27c05e..bc744b3b1 100644 --- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html index b44b0d097..757ef5cfb 100644 --- a/configuration/packages/bt-plugins/actions/CancelSpin.html +++ b/configuration/packages/bt-plugins/actions/CancelSpin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html index 35b7406aa..acd89e058 100644 --- a/configuration/packages/bt-plugins/actions/CancelWait.html +++ b/configuration/packages/bt-plugins/actions/CancelWait.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html index 7fca1d333..91f62bc07 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html index 7c05e3d83..d313a46b4 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html index 2a24b1a8d..dbb4cc991 100644 --- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html +++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html index 3254a96a3..6de10c0b7 100644 --- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html +++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html index 8816ff954..341fd5899 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html index 4713e39d7..b1e99de88 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html +++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html index ecfbfe8a0..5fc60711c 100644 --- a/configuration/packages/bt-plugins/actions/ControllerSelector.html +++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html @@ -1046,6 +1046,7 @@
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    • diff --git a/configuration/packages/bt-plugins/actions/DockRobot.html b/configuration/packages/bt-plugins/actions/DockRobot.html index 99c876ec9..5df91649d 100644 --- a/configuration/packages/bt-plugins/actions/DockRobot.html +++ b/configuration/packages/bt-plugins/actions/DockRobot.html @@ -1046,6 +1046,7 @@
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    • diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html index 20baaa606..333e85edd 100644 --- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html index ecca4e2b2..7780b97ba 100644 --- a/configuration/packages/bt-plugins/actions/FollowPath.html +++ b/configuration/packages/bt-plugins/actions/FollowPath.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • diff --git a/configuration/packages/bt-plugins/actions/GetPoseFromPath.html b/configuration/packages/bt-plugins/actions/GetPoseFromPath.html index bea424540..6db1a4503 100644 --- a/configuration/packages/bt-plugins/actions/GetPoseFromPath.html +++ b/configuration/packages/bt-plugins/actions/GetPoseFromPath.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html index f6d81ba08..1a056b3fb 100644 --- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html index 7c523966f..fb961f1f1 100644 --- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html index 80eed8e19..9c402ea01 100644 --- a/configuration/packages/bt-plugins/actions/NavigateToPose.html +++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html index 838c8bdf4..002f22ecb 100644 --- a/configuration/packages/bt-plugins/actions/PlannerSelector.html +++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html index dc6e8706e..669d1d94d 100644 --- a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html index 1f2bde8a5..531a436fa 100644 --- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html +++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html index ec5ca6f7e..922e1e1ca 100644 --- a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html +++ b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html index a20cd027e..42d38ef00 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html index 5de0c3b94..98ffe85fa 100644 --- a/configuration/packages/bt-plugins/actions/Smooth.html +++ b/configuration/packages/bt-plugins/actions/Smooth.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html index 85627fe14..e4a2d1960 100644 --- a/configuration/packages/bt-plugins/actions/SmootherSelector.html +++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html index e65e46801..24852b33b 100644 --- a/configuration/packages/bt-plugins/actions/Spin.html +++ b/configuration/packages/bt-plugins/actions/Spin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html index 84a60ad00..c3eaca9c2 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePath.html +++ b/configuration/packages/bt-plugins/actions/TruncatePath.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html index 0f6991d6b..f67ba953a 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html +++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/UndockRobot.html b/configuration/packages/bt-plugins/actions/UndockRobot.html index 933eecbd5..27d6df238 100644 --- a/configuration/packages/bt-plugins/actions/UndockRobot.html +++ b/configuration/packages/bt-plugins/actions/UndockRobot.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html index f06f2efed..6e1afcab2 100644 --- a/configuration/packages/bt-plugins/actions/Wait.html +++ b/configuration/packages/bt-plugins/actions/Wait.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html index 39d4a1b58..0cab6d76d 100644 --- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html +++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html index 2752aebf5..ca27eecdd 100644 --- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html +++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html index b53735dc0..9ae1a9622 100644 --- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html +++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html index cd4a538ea..e4e11f611 100644 --- a/configuration/packages/bt-plugins/conditions/GoalReached.html +++ b/configuration/packages/bt-plugins/conditions/GoalReached.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html index 473523ea2..1bfaec826 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html index ebbcdac51..24cb71d4a 100644 --- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html +++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html index 76f93448f..8aa2dc983 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html index aca7eecfc..923e682fa 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html index ba6508c2f..5c0998a5c 100644 --- a/configuration/packages/bt-plugins/conditions/IsPathValid.html +++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html index 7f4178322..46aa7c116 100644 --- a/configuration/packages/bt-plugins/conditions/IsStuck.html +++ b/configuration/packages/bt-plugins/conditions/IsStuck.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html index 845149945..3563422a3 100644 --- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html +++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html index 3991a4e8b..b833afa05 100644 --- a/configuration/packages/bt-plugins/conditions/TimeExpired.html +++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html index 5c4881a66..ffca771b3 100644 --- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html +++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html index e24a95c5c..b1bce01fe 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html index 525522e00..95306a550 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html index 5e0048f00..b33e51799 100644 --- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html index 6fca47df5..74ebf64a0 100644 --- a/configuration/packages/bt-plugins/controls/PipelineSequence.html +++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html index b7afe17d6..ecf1c473d 100644 --- a/configuration/packages/bt-plugins/controls/RecoveryNode.html +++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html index 26f5605df..db401ac3e 100644 --- a/configuration/packages/bt-plugins/controls/RoundRobin.html +++ b/configuration/packages/bt-plugins/controls/RoundRobin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html index ba70887d0..e8ad58291 100644 --- a/configuration/packages/bt-plugins/decorators/DistanceController.html +++ b/configuration/packages/bt-plugins/decorators/DistanceController.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html index 4ed17195b..9433b36aa 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html +++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html index 9f3374fc8..7d412ef9e 100644 --- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html +++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html index 8fb8b10ab..875f4ee57 100644 --- a/configuration/packages/bt-plugins/decorators/RateController.html +++ b/configuration/packages/bt-plugins/decorators/RateController.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html index 500da0870..89ff51d77 100644 --- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html +++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html index 023c355c8..0ab4898e0 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.html +++ b/configuration/packages/bt-plugins/decorators/SpeedController.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html index 6b54d380d..7228dcf5f 100644 --- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html index 463754cfa..d5dc9c64c 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html index 0354a475d..73ce59346 100644 --- a/configuration/packages/configuring-amcl.html +++ b/configuration/packages/configuring-amcl.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html index 16d16627d..d3a8ff224 100644 --- a/configuration/packages/configuring-behavior-server.html +++ b/configuration/packages/configuring-behavior-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html index 3f1f8d2dc..6430e417c 100644 --- a/configuration/packages/configuring-bt-navigator.html +++ b/configuration/packages/configuring-bt-navigator.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html index 5df59a12f..5eafc1184 100644 --- a/configuration/packages/configuring-bt-xml.html +++ b/configuration/packages/configuring-bt-xml.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html index b3f1e8d69..b4a169b37 100644 --- a/configuration/packages/configuring-collision-monitor.html +++ b/configuration/packages/configuring-collision-monitor.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html index 12b8260fe..827ba9bf9 100644 --- a/configuration/packages/configuring-constrained-smoother.html +++ b/configuration/packages/configuring-constrained-smoother.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html index b790f19f0..d618a7c37 100644 --- a/configuration/packages/configuring-controller-server.html +++ b/configuration/packages/configuring-controller-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html index 7b2647281..efa82018a 100644 --- a/configuration/packages/configuring-costmaps.html +++ b/configuration/packages/configuring-costmaps.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html index 2f9c6a836..50a8faa44 100644 --- a/configuration/packages/configuring-coverage-server.html +++ b/configuration/packages/configuring-coverage-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-docking-server.html b/configuration/packages/configuring-docking-server.html index b2aaf913a..41e6f30f2 100644 --- a/configuration/packages/configuring-docking-server.html +++ b/configuration/packages/configuring-docking-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • @@ -1574,6 +1575,146 @@

    Parameterscontroller.use_collision_detection +
    ++++ + + + + + + + + +

    Type

    Default

    bool

    true

    +
    +
    Description

    Whether to use collision detection to avoid obstacles.

    +
    +
    +
    +
    controller.costmap_topic
    +
    ++++ + + + + + + + + +

    Type

    Default

    string

    “local_costmap/costmap_raw”

    +
    +
    Description

    Raw costmap topic for collision checking.

    +
    +
    +
    +
    controller.footprint_topic
    +
    ++++ + + + + + + + + +

    Type

    Default

    string

    “local_costmap/published_footprint”

    +
    +
    Description

    Topic for footprint in the costmap frame.

    +
    +
    +
    +
    controller.transform_tolerance
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    0.1

    +
    +
    Description

    Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.

    +
    +
    +
    +
    controller.projection_time
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    1.0

    +
    +
    Description

    Time to look ahead for collisions (s).

    +
    +
    +
    +
    controller.simulation_time_step
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    0.1

    +
    +
    Description

    Time step for projections (s).

    +
    +
    +
    +
    controller.dock_collision_threshold
    +
    ++++ + + + + + + + + +

    Type

    Default

    double

    0.3

    +
    +
    Description

    Distance (m) from the dock pose to ignore collisions, i.e. the robot will not check for collisions within this distance from the dock pose, as the robot will make contact with the dock. Set to 0.0 when physical contact is not made with a dock.

    +
    +
    +

    Note: dock_plugins and either docks or dock_database are required.

    diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html index 2725147c3..77665bf1d 100644 --- a/configuration/packages/configuring-dwb-controller.html +++ b/configuration/packages/configuring-dwb-controller.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html index 626310b86..3320fbd80 100644 --- a/configuration/packages/configuring-graceful-motion-controller.html +++ b/configuration/packages/configuring-graceful-motion-controller.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html index 724226616..14c8f11f5 100644 --- a/configuration/packages/configuring-lifecycle.html +++ b/configuration/packages/configuring-lifecycle.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-loopback-sim.html b/configuration/packages/configuring-loopback-sim.html index 6d1bf83c9..60a323980 100644 --- a/configuration/packages/configuring-loopback-sim.html +++ b/configuration/packages/configuring-loopback-sim.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html index f2896c4a8..7a2bb2860 100644 --- a/configuration/packages/configuring-map-server.html +++ b/configuration/packages/configuring-map-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html index 69554c315..955361799 100644 --- a/configuration/packages/configuring-mppic.html +++ b/configuration/packages/configuring-mppic.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html index e00155b8e..3575723de 100644 --- a/configuration/packages/configuring-navfn.html +++ b/configuration/packages/configuring-navfn.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html index afa57129a..4cf3c6d47 100644 --- a/configuration/packages/configuring-planner-server.html +++ b/configuration/packages/configuring-planner-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html index 64d5761f7..3ae785549 100644 --- a/configuration/packages/configuring-regulated-pp.html +++ b/configuration/packages/configuring-regulated-pp.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html index 463f90c17..ef379a508 100644 --- a/configuration/packages/configuring-rotation-shim-controller.html +++ b/configuration/packages/configuring-rotation-shim-controller.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html index 7b1e157c7..3b2f9b821 100644 --- a/configuration/packages/configuring-savitzky-golay-smoother.html +++ b/configuration/packages/configuring-savitzky-golay-smoother.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html index 4aded182b..9f7db90bc 100644 --- a/configuration/packages/configuring-simple-smoother.html +++ b/configuration/packages/configuring-simple-smoother.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html index 9fbc149df..2f03177ef 100644 --- a/configuration/packages/configuring-smac-planner.html +++ b/configuration/packages/configuring-smac-planner.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html index 679452f7f..cdd7dd961 100644 --- a/configuration/packages/configuring-smoother-server.html +++ b/configuration/packages/configuring-smoother-server.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html index 53c85fade..152bb2c3c 100644 --- a/configuration/packages/configuring-thetastar.html +++ b/configuration/packages/configuring-thetastar.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html index 95ecd2482..53d644268 100644 --- a/configuration/packages/configuring-velocity-smoother.html +++ b/configuration/packages/configuring-velocity-smoother.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html index e69f78382..ac5392b90 100644 --- a/configuration/packages/configuring-waypoint-follower.html +++ b/configuration/packages/configuring-waypoint-follower.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html index 5b4a878f5..3a40548b9 100644 --- a/configuration/packages/costmap-plugins/binary_filter.html +++ b/configuration/packages/costmap-plugins/binary_filter.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html index b876b3875..d2f625421 100644 --- a/configuration/packages/costmap-plugins/denoise.html +++ b/configuration/packages/costmap-plugins/denoise.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html index 627842def..1ab0deb8f 100644 --- a/configuration/packages/costmap-plugins/inflation.html +++ b/configuration/packages/costmap-plugins/inflation.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html index 56116ceb5..580028353 100644 --- a/configuration/packages/costmap-plugins/keepout_filter.html +++ b/configuration/packages/costmap-plugins/keepout_filter.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html index 988bcd3fc..bfe1189a4 100644 --- a/configuration/packages/costmap-plugins/obstacle.html +++ b/configuration/packages/costmap-plugins/obstacle.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html index 3c22368e2..8d6ec785f 100644 --- a/configuration/packages/costmap-plugins/range.html +++ b/configuration/packages/costmap-plugins/range.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html index c135f94aa..a5694b323 100644 --- a/configuration/packages/costmap-plugins/speed_filter.html +++ b/configuration/packages/costmap-plugins/speed_filter.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html index 6e87bfeb7..0c4cc5380 100644 --- a/configuration/packages/costmap-plugins/static.html +++ b/configuration/packages/costmap-plugins/static.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html index 453ed9c45..d97a9a5fe 100644 --- a/configuration/packages/costmap-plugins/voxel.html +++ b/configuration/packages/costmap-plugins/voxel.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html index 41a5739a9..ad98bab73 100644 --- a/configuration/packages/dwb-params/controller.html +++ b/configuration/packages/dwb-params/controller.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html index e7f8d6f4b..f3ecd3149 100644 --- a/configuration/packages/dwb-params/iterator.html +++ b/configuration/packages/dwb-params/iterator.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html index 419f01ed7..bbedcb552 100644 --- a/configuration/packages/dwb-params/kinematic.html +++ b/configuration/packages/dwb-params/kinematic.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html index 6ee74ec3a..8d6faddc4 100644 --- a/configuration/packages/dwb-params/visualization.html +++ b/configuration/packages/dwb-params/visualization.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html index 9d4290455..647d92334 100644 --- a/configuration/packages/dwb-plugins/limited_accel_generator.html +++ b/configuration/packages/dwb-plugins/limited_accel_generator.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html index 644f04cab..f104fe693 100644 --- a/configuration/packages/dwb-plugins/standard_traj_generator.html +++ b/configuration/packages/dwb-plugins/standard_traj_generator.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html index ae077980a..b8a3cac77 100644 --- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html index d418cf79e..d163b6e87 100644 --- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html index 1017fe96e..2081f0780 100644 --- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html index 41adedbec..fcbbbbef0 100644 --- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html index d9d65f1c3..5bd6d6f8e 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html index ac9533641..6373db950 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html index bf8a660af..0eb7cd2aa 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html index 7f374c87d..9f702e80a 100644 --- a/configuration/packages/smac/configuring-smac-2d.html +++ b/configuration/packages/smac/configuring-smac-2d.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html index 737158790..2d52f130c 100644 --- a/configuration/packages/smac/configuring-smac-hybrid.html +++ b/configuration/packages/smac/configuring-smac-hybrid.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html index b63a6faad..b7df8becc 100644 --- a/configuration/packages/smac/configuring-smac-lattice.html +++ b/configuration/packages/smac/configuring-smac-lattice.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html index b0d206020..86d996eee 100644 --- a/configuration/packages/trajectory_critics/base_obstacle.html +++ b/configuration/packages/trajectory_critics/base_obstacle.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html index 06e2590f0..f83aa04ab 100644 --- a/configuration/packages/trajectory_critics/goal_align.html +++ b/configuration/packages/trajectory_critics/goal_align.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html index b6444513d..c237af7b5 100644 --- a/configuration/packages/trajectory_critics/goal_dist.html +++ b/configuration/packages/trajectory_critics/goal_dist.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html index e8b135682..60a4b36ad 100644 --- a/configuration/packages/trajectory_critics/obstacle_footprint.html +++ b/configuration/packages/trajectory_critics/obstacle_footprint.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html index fc2698517..4e8dec993 100644 --- a/configuration/packages/trajectory_critics/oscillation.html +++ b/configuration/packages/trajectory_critics/oscillation.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/path_align.html b/configuration/packages/trajectory_critics/path_align.html index 84b731a77..6b94ec1f0 100644 --- a/configuration/packages/trajectory_critics/path_align.html +++ b/configuration/packages/trajectory_critics/path_align.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
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  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/rotate_to_goal.html b/configuration/packages/trajectory_critics/rotate_to_goal.html index d84c2b896..77f046814 100644 --- a/configuration/packages/trajectory_critics/rotate_to_goal.html +++ b/configuration/packages/trajectory_critics/rotate_to_goal.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/configuration/packages/trajectory_critics/twirling.html b/configuration/packages/trajectory_critics/twirling.html index b2ef20e68..046ebf256 100644 --- a/configuration/packages/trajectory_critics/twirling.html +++ b/configuration/packages/trajectory_critics/twirling.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/development_guides/build_docs/build_troubleshooting_guide.html b/development_guides/build_docs/build_troubleshooting_guide.html index 0e5db4de8..fe2a0b5c9 100644 --- a/development_guides/build_docs/build_troubleshooting_guide.html +++ b/development_guides/build_docs/build_troubleshooting_guide.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/development_guides/build_docs/index.html b/development_guides/build_docs/index.html index 64583f45c..6840aa929 100644 --- a/development_guides/build_docs/index.html +++ b/development_guides/build_docs/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/development_guides/devcontainer_docs/devcontainer_guide.html b/development_guides/devcontainer_docs/devcontainer_guide.html index b06b368f3..b62742d2a 100644 --- a/development_guides/devcontainer_docs/devcontainer_guide.html +++ b/development_guides/devcontainer_docs/devcontainer_guide.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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  • Option to disable zero velocity publishing on goal exit
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  • Fix flickering visualization
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  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/development_guides/index.html b/development_guides/index.html index f48e71aef..c112ffcea 100644 --- a/development_guides/index.html +++ b/development_guides/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/development_guides/involvement_docs/index.html b/development_guides/involvement_docs/index.html index be69ed665..4425002d8 100644 --- a/development_guides/involvement_docs/index.html +++ b/development_guides/involvement_docs/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/genindex.html b/genindex.html index 18f104c64..d3cec75ee 100644 --- a/genindex.html +++ b/genindex.html @@ -1044,6 +1044,7 @@
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  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/getting_started/index.html b/getting_started/index.html index f633f0d6e..686e03ded 100644 --- a/getting_started/index.html +++ b/getting_started/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/index.html b/index.html index d0fb5aaef..1e9d3fbd8 100644 --- a/index.html +++ b/index.html @@ -1045,6 +1045,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Dashing.html b/migration/Dashing.html index b1e594284..e0e84bf2b 100644 --- a/migration/Dashing.html +++ b/migration/Dashing.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Eloquent.html b/migration/Eloquent.html index 3de08777e..6694d0626 100644 --- a/migration/Eloquent.html +++ b/migration/Eloquent.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Foxy.html b/migration/Foxy.html index e92bd0626..545fc1ffa 100644 --- a/migration/Foxy.html +++ b/migration/Foxy.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Galactic.html b/migration/Galactic.html index eacdf19eb..4068c405e 100644 --- a/migration/Galactic.html +++ b/migration/Galactic.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Humble.html b/migration/Humble.html index 639e8ac25..96ef93a4c 100644 --- a/migration/Humble.html +++ b/migration/Humble.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Iron.html b/migration/Iron.html index 9dd74c9a1..4840c4e56 100644 --- a/migration/Iron.html +++ b/migration/Iron.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/migration/Jazzy.html b/migration/Jazzy.html index 39ae22ea6..d0f1968a1 100644 --- a/migration/Jazzy.html +++ b/migration/Jazzy.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • @@ -1187,6 +1188,14 @@

    Option to disable zero velocity publishing on goal exit

    true

    +
    +

    Added optional collision checking for the Docking Server

    +

    In PR #4752 an optional collision checking feature was added to the Docking server to check for collisions between the robot and the dock.

    +

    Default value:

    +
      +

    • true

      • +
    +
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  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.html b/plugin_tutorials/docs/writing_new_behavior_plugin.html index e479a13f0..57ec5fc36 100644 --- a/plugin_tutorials/docs/writing_new_behavior_plugin.html +++ b/plugin_tutorials/docs/writing_new_behavior_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugin_tutorials/docs/writing_new_bt_plugin.html b/plugin_tutorials/docs/writing_new_bt_plugin.html index ced60151c..b3cfe2ddb 100644 --- a/plugin_tutorials/docs/writing_new_bt_plugin.html +++ b/plugin_tutorials/docs/writing_new_bt_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html index 8599b4cb3..6b8583c54 100644 --- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.html +++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
  • Option to disable zero velocity publishing on goal exit
    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html index 840974003..ba18fae78 100644 --- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.html +++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html index 3e0e65a61..17328e037 100644 --- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.html +++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
  • Option to limit velocity through DWB trajectory
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    • +
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    • diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.html b/plugin_tutorials/docs/writing_new_navigator_plugin.html index 8f2cc854d..7885d28ae 100644 --- a/plugin_tutorials/docs/writing_new_navigator_plugin.html +++ b/plugin_tutorials/docs/writing_new_navigator_plugin.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
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    • diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html index d5239e75f..5405a4088 100644 --- a/plugin_tutorials/index.html +++ b/plugin_tutorials/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/plugins/index.html b/plugins/index.html index be01eff87..89eaaec29 100644 --- a/plugins/index.html +++ b/plugins/index.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/roadmap/roadmap.html b/roadmap/roadmap.html index be26017fe..bd3d7931a 100644 --- a/roadmap/roadmap.html +++ b/roadmap/roadmap.html @@ -1046,6 +1046,7 @@
  • Fix flickering visualization
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/search.html b/search.html index a80d75c12..4b1f7560e 100644 --- a/search.html +++ b/search.html @@ -1047,6 +1047,7 @@
  • Fix flickering visualization
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    • +
  • Added optional collision checking for the Docking Server
    • diff --git a/searchindex.js b/searchindex.js index 4b51a227f..f1dca10e1 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", 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191, 192, 193, 195, 201, 202], "hundr": [1, 27], "futur": [1, 4, 8, 11, 21, 27, 89, 90, 91, 118, 121, 124, 162, 164, 166, 194], "could": [1, 2, 3, 6, 7, 9, 10, 20, 27, 89, 90, 97, 115, 155, 156, 162, 163, 164, 165, 170, 171, 172, 176, 183, 185, 187, 189, 191, 194, 196, 197, 199, 200, 201], "also": [1, 3, 4, 6, 7, 11, 18, 19, 20, 21, 22, 23, 24, 26, 27, 89, 90, 91, 92, 94, 97, 98, 99, 100, 103, 105, 106, 108, 109, 110, 111, 113, 114, 116, 117, 120, 141, 142, 154, 155, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 202, 204], "good": [1, 6, 27, 91, 106, 115, 116, 141, 158, 160, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 188, 189, 191, 193, 196], "candid": [1, 7, 99, 106, 158, 178], "roscon": [1, 198, 200], "talk": [1, 155, 160, 181, 183, 189, 191, 198, 200], "event": [1, 13, 158, 164, 189, 202], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 177], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 106, 160, 176, 189, 191, 193], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 109, 160, 176], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 198, 200], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158, 160, 185, 186, 202], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 19, 115, 158, 164, 181, 182, 183, 184, 189, 196, 201], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 22, 27, 55, 88, 100, 106, 115, 123, 142, 154, 161, 163, 169, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 189, 190, 191, 192, 196, 197, 198, 199, 200, 202, 203, 204], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 106, 191, 205], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 90, 98, 99, 104, 106, 140, 141, 142, 160, 163, 164, 167, 170, 171, 178, 181, 182, 183, 184, 186, 187, 191, 192, 193, 196, 197, 199, 201, 202, 203], "either": [1, 18, 19, 26, 27, 90, 91, 100, 105, 106, 123, 125, 155, 156, 165, 166, 176, 178, 181, 182, 185, 189, 192, 199, 202, 203], "set": [1, 2, 3, 9, 10, 13, 17, 21, 23, 24, 26, 27, 29, 30, 41, 42, 43, 45, 46, 47, 48, 55, 57, 59, 61, 62, 64, 71, 89, 90, 91, 96, 97, 98, 99, 100, 102, 103, 105, 106, 107, 109, 110, 113, 115, 116, 117, 118, 122, 124, 125, 126, 127, 140, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 176, 180, 185, 186, 187, 188, 189, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204], "successfulli": [1, 18, 27, 164, 169, 174, 181, 183, 184, 186, 189, 194, 202], "user": [1, 2, 3, 7, 9, 14, 17, 21, 22, 23, 24, 26, 27, 28, 41, 81, 85, 89, 90, 91, 112, 117, 123, 137, 141, 155, 156, 158, 160, 162, 163, 164, 165, 166, 167, 174, 176, 180, 182, 185, 186, 189, 191, 192, 193, 196, 198, 200, 201, 202, 204], "without": [1, 4, 14, 26, 27, 61, 89, 90, 96, 97, 104, 106, 111, 119, 121, 141, 155, 156, 162, 163, 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180, 186, 187, 194, 197, 200, 204], "improv": [1, 7, 9, 11, 12, 25, 27, 96, 111, 113, 141, 142, 155, 161, 162, 163, 165, 166, 167, 177, 192, 193], "perform": [1, 3, 4, 7, 9, 11, 17, 22, 26, 28, 30, 46, 59, 89, 90, 91, 95, 96, 106, 113, 117, 141, 142, 155, 160, 163, 164, 165, 166, 169, 170, 171, 172, 173, 179, 182, 185, 186, 189, 190, 191, 193, 194, 196, 202, 203], "box": [1, 9, 27, 90, 100, 117, 164, 165, 166, 167, 179, 181, 182, 184, 185, 193, 200, 201, 202, 203], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 191], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 26, 92, 114, 158, 165, 181, 188, 191, 192, 202], "xml": [1, 2, 17, 18, 27, 28, 50, 51, 93, 100, 160, 162, 164, 166, 169, 170, 171, 172, 173, 174, 181, 184, 186, 194, 202, 203], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 25, 154, 155, 156, 160, 164, 184, 191, 193, 195], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 27, 89, 90, 100, 103, 106, 109, 111, 112, 155, 158, 159, 164, 166, 172, 178, 179, 181, 182, 183, 184, 185, 187, 189, 193, 195, 196, 198, 200, 201, 202, 203, 204], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 104, 153, 159, 166, 167, 169, 170, 171, 172, 173, 174, 179, 180, 184, 185, 189, 190, 195, 197, 199, 200], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 90, 93, 106, 110, 131, 132, 153, 159, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 189, 191, 192, 195, 196, 197, 198, 199, 200], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 99, 106, 160, 161, 166, 169, 170, 174, 193, 196], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 122, 126, 153, 155, 157, 158, 159, 160, 164, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 188, 189, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 109, 158, 165, 182, 185, 186, 189, 191, 195, 198], "repositori": [1, 2, 3, 4, 5, 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"minim": [2, 11, 106, 154, 159, 164, 165, 174, 178, 181, 185, 193], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 90, 91, 93, 94, 98, 100, 105, 106, 111, 116, 122, 126, 148, 149, 154, 155, 156, 158, 159, 160, 164, 165, 166, 169, 170, 171, 172, 173, 174, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 193, 194, 195, 196, 198, 202, 203], "gui": [2, 156, 159, 181, 184, 188, 189, 196, 203], "tool": [2, 4, 15, 27, 153, 154, 155, 156, 158, 160, 162, 163, 174, 180, 182, 183, 184, 189, 191, 192, 196, 197, 202], "cover": [2, 27, 90, 123, 158, 163, 166, 178, 185, 186, 189, 191, 196, 197, 199, 201], "broad": [2, 7, 180, 185, 202], "stroke": [2, 180], "visual": [2, 89, 90, 93, 94, 98, 109, 155, 156, 160, 164, 166, 181, 185, 187, 192, 193, 196, 198, 199, 200, 201], "show": [2, 26, 124, 142, 156, 159, 164, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202], "what": [2, 6, 19, 27, 106, 127, 157, 158, 159, 164, 177, 181, 182, 183, 184, 186, 187, 189, 195, 196, 202], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 93, 105, 106, 113, 117, 140, 141, 155, 156, 158, 159, 160, 163, 164, 166, 169, 170, 171, 174, 176, 179, 180, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 89, 90, 91, 106, 107, 110, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 155, 156, 163, 165, 167, 170, 171, 176, 179, 180, 182, 184, 187, 190, 191, 192, 194, 197, 199, 202, 203, 204], "layer": [2, 4, 7, 10, 11, 98, 118, 121, 123, 124, 140, 141, 143, 155, 160, 161, 163, 164, 171, 182, 185, 189, 196, 197, 200], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 81, 92, 93, 94, 160, 161, 162, 165, 169, 170, 174, 176, 187], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 83, 86, 88, 101, 155, 161, 162, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 190, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "urdf": [2, 27, 159, 179, 180, 183, 185, 193, 198], "footprint": [2, 55, 89, 90, 92, 98, 106, 114, 121, 122, 125, 126, 141, 142, 146, 164, 165, 166, 167, 171, 176, 178, 180, 184, 201], "frame": [2, 27, 41, 56, 61, 65, 67, 76, 83, 89, 90, 91, 92, 93, 96, 98, 99, 100, 104, 105, 114, 117, 118, 121, 122, 124, 126, 130, 153, 161, 172, 173, 179, 181, 182, 183, 184, 188, 193, 196, 201, 202], "option": [2, 3, 6, 9, 42, 43, 89, 90, 91, 96, 99, 106, 141, 156, 163, 164, 165, 171, 182, 184, 187, 188, 189, 190, 191, 192, 193, 194, 200, 202, 203], "compli": [2, 178, 181, 196], "standard": [2, 6, 10, 91, 106, 158, 182, 183, 188, 196, 197, 199, 202, 203], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 77, 78, 79, 81, 82, 83, 84, 88, 90, 98, 100, 109, 113, 116, 124, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 160, 161, 162, 167, 169, 170, 171, 174, 175, 177, 179, 180, 181, 184, 186, 187, 189, 191, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205], "minimum": [2, 9, 27, 71, 88, 89, 90, 91, 92, 96, 98, 99, 100, 102, 105, 106, 109, 116, 119, 122, 126, 129, 133, 135, 141, 142, 147, 150, 163, 164, 165, 166, 167, 176, 178, 182, 183], "maximum": [2, 27, 45, 57, 61, 62, 88, 89, 90, 91, 92, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 112, 116, 122, 124, 126, 129, 133, 135, 140, 141, 142, 163, 164, 165, 166, 172, 176, 182, 190, 193, 197, 199, 202], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 88, 90, 92, 96, 97, 98, 105, 106, 109, 116, 121, 129, 140, 141, 142, 154, 155, 163, 164, 166, 172, 174, 176, 178, 185, 193, 196, 201, 202, 205], "kinemat": [2, 100, 101, 106, 110, 112, 113, 160, 163, 166, 176, 178, 181, 184, 185, 196, 204], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 89, 90, 91, 92, 93, 95, 96, 97, 98, 99, 100, 102, 104, 105, 106, 109, 110, 111, 115, 116, 117, 122, 124, 125, 126, 140, 141, 142, 144, 147, 148, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 167, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "dropdown": 2, "possibl": [2, 14, 27, 92, 102, 106, 109, 155, 160, 163, 164, 165, 166, 172, 174, 178, 179, 185, 190, 191, 193, 196, 197, 199, 201], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 90, 91, 92, 96, 97, 98, 99, 100, 103, 105, 108, 109, 114, 116, 117, 121, 124, 142, 158, 160, 164, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 195, 196, 197, 199, 200, 202, 203, 204], "throughout": [2, 66, 155, 161, 164, 184, 186, 193], "prompt": [2, 156, 189, 191], "aid": [2, 22], "appropri": [2, 18, 97, 106, 108, 116, 124, 158, 159, 164, 165, 166, 174, 178, 181, 183, 184, 185, 191, 193, 201, 203], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 89, 90, 91, 96, 97, 100, 101, 102, 106, 109, 110, 116, 118, 121, 124, 140, 141, 142, 150, 154, 155, 156, 158, 160, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 94, 98, 106, 109, 142, 155, 156, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 178, 181, 182, 183, 185, 187, 188, 189, 191, 197, 198, 202, 203, 204], "after": [2, 10, 20, 21, 23, 24, 26, 27, 90, 91, 93, 100, 106, 109, 110, 111, 116, 125, 127, 134, 136, 139, 140, 141, 142, 158, 159, 163, 164, 166, 167, 171, 172, 173, 174, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202, 203, 204], "item": [2, 11, 18, 26, 27, 177], "preview": 2, "how": [2, 7, 17, 26, 27, 81, 90, 91, 94, 96, 102, 106, 115, 122, 126, 130, 144, 145, 148, 149, 155, 157, 158, 161, 165, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "effect": [2, 4, 90, 96, 123, 140, 155, 162, 164, 181, 185, 197], "high": [2, 3, 4, 5, 6, 8, 27, 90, 102, 106, 109, 112, 115, 116, 126, 140, 141, 142, 158, 160, 161, 163, 176, 178, 181, 185, 190, 193], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 83, 88, 89, 90, 91, 92, 93, 96, 98, 100, 102, 104, 105, 106, 111, 113, 114, 118, 121, 124, 133, 141, 142, 143, 144, 145, 146, 148, 149, 154, 155, 156, 158, 160, 161, 163, 164, 165, 167, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 190, 191, 193, 196, 197, 199, 200, 201, 203], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 89, 109, 113, 153, 155, 156, 160, 161, 162, 165, 167, 176, 178, 182, 184, 185, 189, 190, 197, 199, 200, 202, 203], "panel": [2, 113, 184, 203], "displai": [2, 89, 108, 141, 142, 163, 167, 179, 181, 182, 184, 185, 189, 190, 196, 199, 203], "python3": [2, 12, 13, 26, 160, 163, 164, 165], "json": [2, 155, 156], "pars": [2, 27, 99, 155], "3d": [2, 4, 9, 27, 106, 126, 159, 176, 181, 182, 184, 185, 195, 196, 200], "program": [2, 26, 27, 96, 113, 141, 142, 155, 160, 164, 189, 191, 192, 194], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 84, 90, 96, 98, 140, 141, 142, 157, 162, 163, 166, 179, 181, 182, 184, 187, 196, 197, 199], "number": [3, 11, 26, 27, 41, 45, 81, 89, 90, 91, 96, 97, 98, 99, 100, 106, 111, 112, 115, 119, 126, 128, 140, 141, 142, 161, 162, 163, 164, 165, 166, 167, 169, 170, 173, 176, 181, 182, 183, 184, 185, 188, 189, 190, 191, 199, 202, 203], "interfac": [3, 5, 13, 19, 27, 90, 93, 114, 155, 156, 160, 161, 162, 165, 169, 170, 171, 174, 176, 182, 187, 189, 195, 196, 200], "plan": [3, 10, 17, 18, 20, 21, 22, 27, 57, 83, 96, 99, 102, 106, 107, 109, 112, 113, 115, 122, 125, 126, 127, 130, 140, 141, 142, 158, 160, 161, 163, 164, 165, 166, 170, 172, 173, 174, 176, 177, 178, 179, 182, 183, 185, 187, 197, 200, 202], "two": [3, 18, 19, 27, 81, 89, 90, 96, 107, 113, 115, 140, 155, 163, 164, 165, 166, 169, 172, 173, 174, 178, 181, 182, 183, 184, 186, 189, 190, 192, 193, 196, 199, 200, 201, 202], "area": [3, 7, 27, 38, 39, 90, 98, 118, 121, 123, 124, 140, 141, 142, 158, 163, 164, 165, 166, 169, 171, 176, 182, 184, 185, 188, 189, 192, 197, 199], "algorithm": [3, 15, 17, 21, 23, 24, 27, 96, 100, 106, 109, 111, 112, 113, 140, 158, 160, 161, 163, 164, 165, 166, 171, 172, 176, 179, 182, 184, 185, 187, 190, 192, 193], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 74, 83, 85, 93, 94, 96, 97, 99, 100, 102, 105, 107, 108, 109, 110, 111, 112, 113, 114, 115, 127, 138, 140, 141, 142, 143, 148, 149, 153, 154, 155, 160, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 179, 181, 182, 184, 185, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 202, 203, 204], "refer": [3, 18, 27, 65, 67, 83, 90, 92, 93, 97, 98, 102, 109, 111, 113, 118, 121, 124, 154, 155, 156, 161, 162, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 189, 190, 194, 196, 197, 199, 201, 202, 203], "trajectori": [3, 4, 10, 90, 95, 102, 116, 127, 130, 132, 143, 144, 145, 146, 148, 149, 150, 163, 165, 166, 173, 176, 178, 179, 185], "simpl": [3, 27, 28, 100, 111, 119, 141, 142, 156, 158, 161, 169, 170, 171, 173, 176, 178, 179, 183, 184, 185, 187, 191, 194, 196, 198, 202, 203, 204], "tutori": [3, 8, 15, 18, 89, 90, 93, 94, 163, 165, 166, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 201, 202, 203, 204], "found": [3, 8, 19, 22, 26, 27, 76, 90, 95, 106, 110, 113, 127, 140, 141, 142, 155, 156, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 184, 186, 192, 195, 196, 197, 198, 199, 200], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 83, 86, 88, 89, 90, 93, 99, 100, 106, 108, 109, 110, 116, 117, 118, 121, 123, 124, 142, 154, 158, 160, 162, 163, 164, 165, 166, 167, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 189, 194, 196, 201, 202, 203, 204], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 80, 84, 90, 96, 103, 106, 111, 142, 155, 156, 162, 163, 164, 166, 170, 171, 174, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203, 204], "navfn": [3, 28, 106, 110, 111, 113, 161, 176, 178, 179, 185, 187, 204], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 83, 84, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 100, 102, 103, 105, 106, 108, 109, 113, 114, 116, 117, 118, 119, 121, 123, 124, 155, 159, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 81, 91, 92, 93, 97, 98, 99, 100, 102, 103, 105, 106, 107, 108, 109, 113, 114, 115, 116, 117, 122, 123, 125, 126, 140, 141, 142, 156, 158, 161, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 185, 186, 187, 198, 200, 202, 203], "dijkstra": [3, 107, 164, 176, 178], "teb": [3, 106, 161, 165, 176, 178, 185, 204], "dwa": [3, 176, 178], "elast": [3, 161, 178, 204], "band": [3, 161, 178, 196, 204], "optim": [3, 17, 22, 27, 96, 99, 106, 113, 120, 121, 140, 141, 155, 160, 163, 164, 165, 166, 176, 178, 179, 185, 186, 188, 193, 202, 204], "techniqu": [3, 4, 6, 27, 90, 100, 111, 112, 113, 163, 182, 185, 193, 196], "There": [3, 14, 18, 19, 27, 105, 106, 153, 154, 158, 161, 163, 164, 171, 176, 178, 182, 183, 189, 191, 196, 197, 202, 204], "hybrid": [3, 110, 113, 140, 142, 155, 160, 163, 164, 165, 176, 178, 179, 185, 204], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 21, 23, 24, 27, 90, 113, 115, 153, 155, 156, 164, 166, 177, 184, 185, 186, 191, 202, 204, 205], 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160, 166, 180, 182, 189, 193, 198, 202], "retriev": [10, 167, 172, 173, 174], "custom": [10, 17, 18, 19, 21, 23, 24, 26, 27, 60, 61, 82, 84, 91, 92, 93, 99, 106, 113, 117, 142, 154, 155, 156, 160, 164, 165, 169, 172, 173, 174, 176, 178, 180, 182, 189, 196, 200, 201, 202], "purpos": [10, 27, 89, 158, 160, 165, 170, 174, 178, 184, 193, 194, 196, 198, 199], "differ": [10, 17, 18, 19, 21, 22, 23, 24, 27, 66, 89, 90, 94, 99, 100, 102, 109, 110, 113, 115, 118, 121, 124, 141, 155, 156, 158, 159, 160, 162, 164, 165, 166, 171, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 194, 196, 197, 199, 201, 202, 203, 204], "rule": [10, 27, 172, 173, 183], "room": [10, 106, 185, 195, 197, 199], "stori": 10, "info": [10, 14, 96, 101, 118, 121, 124, 156, 160, 163, 171, 181, 188, 189], "execut": [10, 11, 18, 20, 21, 23, 24, 26, 27, 45, 81, 85, 90, 93, 97, 110, 116, 117, 155, 156, 158, 162, 163, 164, 166, 170, 171, 174, 176, 178, 179, 181, 182, 183, 184, 186, 189, 190, 191, 192, 196, 197, 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27, 103, 111, 186], "compos": [11, 164, 171, 185, 186, 189, 191, 192, 197, 202], "had": [12, 14, 164, 165, 166, 182, 196], "focu": [12, 18, 26, 184, 201, 203], "ci": [12, 14, 154, 155, 156, 158, 177], "entir": [12, 19, 21, 23, 24, 90, 154, 155, 158, 176, 178, 185, 193, 201], "increas": [12, 27, 96, 100, 102, 106, 115, 120, 141, 164, 165, 183, 185, 186, 188, 189], "90": [12, 25, 90, 97, 109, 116, 177, 196], "realist": [12, 202], "activ": [12, 26, 27, 64, 77, 78, 79, 90, 92, 93, 97, 99, 103, 108, 114, 117, 153, 158, 159, 162, 163, 164, 165, 169, 172, 173, 174, 181, 182, 185, 186, 196, 202], "block": [12, 13, 26, 27, 90, 153, 164, 171, 173, 181, 184, 185, 200, 204], "worst": 12, "condit": [12, 18, 21, 23, 24, 27, 29, 30, 46, 59, 72, 73, 76, 112, 155, 164, 165, 170, 176, 181, 184, 193, 196, 197, 203, 204], "line": [12, 26, 111, 115, 140, 162, 165, 169, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 187, 189, 191, 192, 196, 201], "report": [12, 91, 106, 158, 163, 165, 170, 182], "codecov": 12, "advantag": [12, 27, 165, 204], "fault": [12, 26, 27], "un": [12, 18], "gtest": 12, "repo": [12, 27, 115, 154, 156, 194, 196, 200], "compris": [13, 160, 184], "smaller": [13, 18, 27, 102, 109, 119, 141, 142, 164, 193, 197, 199], "easili": [13, 18, 27, 93, 155, 162, 163, 164, 166, 185, 192, 201, 202], "subproject": 13, "place": [13, 26, 27, 59, 98, 102, 109, 110, 120, 122, 125, 126, 140, 142, 158, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 184, 187, 188, 190, 197, 199, 201, 204], "cmd_vel": [13, 89, 90, 104, 166, 172, 181, 192, 201], "thing": [13, 27, 156, 164, 165, 171, 172, 173, 181, 184, 185, 189, 191, 192, 199], "yuk": 13, "previous": [13, 163, 164, 165, 166, 172, 174, 182, 189, 191, 192, 196, 201], "shown": [13, 18, 26, 106, 158, 159, 163, 170, 174, 178, 179, 181, 182, 186, 187, 194, 196, 199, 201, 202, 203], "onc": [13, 18, 19, 22, 76, 87, 90, 91, 99, 100, 103, 106, 110, 140, 141, 142, 154, 155, 156, 158, 159, 162, 163, 164, 166, 174, 182, 183, 184, 189, 191, 192, 195, 196, 201, 202, 204], "ve": [13, 26, 153, 158, 159, 170, 183, 186, 202, 204], "submit": [13, 158, 176], "pr": [13, 92, 93, 97, 108, 114, 117, 158, 162, 163, 164, 165, 166, 167], "instead": [13, 18, 21, 23, 24, 84, 89, 91, 92, 93, 100, 106, 107, 108, 112, 115, 127, 132, 140, 141, 142, 154, 155, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 195, 196, 197, 201, 202], "b": [13, 158, 160, 171, 188, 194, 198, 199, 200], "reconfigur": [13, 17, 163, 164, 178, 186, 196], "meantim": 13, "wait": [13, 18, 19, 21, 22, 23, 24, 26, 27, 37, 55, 91, 92, 93, 94, 98, 100, 117, 137, 139, 156, 159, 161, 164, 166, 169, 170, 176, 182, 186, 189, 202], "done": [13, 18, 19, 27, 90, 155, 161, 162, 163, 171, 172, 173, 174, 177, 178, 182, 191, 192, 193, 202, 203], "via": [13, 19, 20, 21, 23, 24, 27, 41, 44, 49, 52, 53, 69, 89, 90, 91, 95, 113, 154, 155, 156, 158, 160, 164, 165, 166, 169, 174, 176, 183, 185, 186, 187, 192, 195, 198, 200, 202, 203], "remain": [13, 18, 19, 20, 27, 96, 106, 130, 155, 156, 161, 162, 163, 164, 166, 169, 170, 171, 172, 173, 189, 190, 204], "miss": [13, 90, 97, 116, 154, 163, 166, 184, 185, 189, 192, 203], "lock": [13, 172, 174], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 91, 93, 123, 153, 154, 155, 159, 166, 169, 170, 172, 173, 182, 187, 189, 197, 199, 200, 203], "lower": [14, 18, 71, 90, 92, 106, 118, 141, 164, 165, 182, 185, 186], "barrier": 14, "entri": [14, 181, 187, 191, 192, 201, 202], "flagship": 14, "along": [14, 26, 27, 61, 72, 88, 102, 106, 109, 110, 118, 121, 124, 141, 142, 146, 162, 163, 164, 165, 176, 178, 182, 184, 186, 187, 191, 193, 196, 197, 199, 202], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 81, 106, 163, 164, 165, 166, 169, 170, 176, 184, 190, 196, 202, 204], "nav": [14, 26, 99, 163, 164], "educ": 14, "industri": [14, 27, 90, 109, 163, 176, 178, 197], "thank": [14, 100, 166, 202], "david": [14, 101, 176], "lu": [14, 101, 160, 176], "mike": 14, "ferguson": [14, 160], "tireless": 14, "span": [14, 160, 196, 201], "keep": [14, 18, 27, 90, 99, 106, 155, 162, 163, 166, 170, 172, 173, 176, 181, 183, 184, 189, 196, 197, 203], "aliv": 14, "happen": [14, 18, 158, 172, 189], "asla": 14, "move": [14, 18, 22, 27, 85, 89, 90, 102, 106, 118, 133, 135, 137, 141, 142, 147, 150, 160, 161, 162, 163, 164, 165, 167, 173, 176, 177, 183, 184, 185, 188, 189, 193, 194, 195, 196, 197, 198, 201, 202], "rememb": [14, 109, 153, 155, 183, 184, 196], "fondli": 14, "ish": 14, "With": [14, 17, 27, 141, 183, 189, 196, 200], "redesign": 14, "flexibl": [14, 93, 106, 169], "feedback": [14, 26, 27, 93, 102, 116, 158, 164, 167, 174, 202], "gather": [14, 27], "strive": [14, 158], "alik": 14, "pull": [14, 154, 155, 156, 158, 159, 162, 163, 164, 176, 185, 189, 191, 203], "kept": [14, 119], "dedic": [14, 109], "past": [14, 179, 181, 182, 184, 189, 196, 200], "contributor": [14, 158], "organ": [14, 154, 155, 172, 173, 189, 203], "sponsor": [14, 100, 166, 202], "lead": [14, 106, 138, 158, 163, 164, 199], "leadership": 14, "team": [14, 156, 194], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 89, 90, 94, 99, 100, 107, 115, 140, 141, 142, 155, 156, 167, 170, 172, 173, 174, 176, 181, 189, 191, 194, 201, 202, 203], "role": [14, 27, 170, 174, 178, 179, 191], "ruffin": [14, 155, 160], "white": [14, 155, 160, 190, 197], "uc": 14, "san": [14, 193], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 176], "wallac": [14, 160, 176], "locu": 14, "joshuawallac": 14, "former": [14, 89, 90], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 176], "wilcox": [14, 176], "bpwilcox": 14, "carl": [14, 176], "delsei": [14, 176], "crdelsei": 14, "alexei": [14, 160, 176], "merzlyakov": [14, 160, 176], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 160], "org": [14, 15, 158, 160, 162, 184, 185], "intention": [14, 96, 197], "find": [14, 27, 61, 92, 93, 97, 99, 102, 106, 108, 109, 114, 116, 117, 141, 142, 155, 156, 158, 159, 162, 163, 165, 166, 167, 172, 174, 178, 184, 185, 187, 189, 190, 191, 192, 194, 195, 202], "inquiri": 14, "bug": [14, 158, 177, 196], "privat": 14, "connect": [14, 19, 27, 99, 103, 107, 115, 119, 140, 155, 156, 162, 163, 164, 176, 178, 181, 182, 183, 184, 190, 196, 203], "independ": [14, 27, 92, 124, 160, 163, 165, 170, 182, 193, 201, 202], "consult": 14, "contractor": 14, "offici": [15, 154, 159, 179, 181, 182, 183, 184, 189], "websit": [15, 18, 166], "navigation2_tutori": [15, 166, 171, 179, 181, 184, 197, 199], "navigation2_dynam": 15, "robot_loc": [15, 27, 117, 181, 183, 193, 196], "tom": 15, "moor": [15, 160], "estim": [15, 90, 91, 111, 116, 159, 161, 163, 171, 172, 173, 174, 181, 182, 183, 195, 196], "odometri": [15, 17, 89, 90, 91, 93, 97, 100, 104, 116, 130, 167, 174, 180, 182, 183, 205], "fusion": [15, 27, 181, 183, 193, 196], "gp": [15, 27, 41, 99, 117, 176, 177, 181, 182, 193, 205], "slam_toolbox": [15, 154, 191, 198], "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, 61, 62, 63, 64, 65, 66, 67, 68, 71, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 101, 102, 103, 104, 105, 106, 107, 109, 110, 111, 112, 114, 115, 116, 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, 149, 150, 151, 152, 154, 155, 156, 159, 161, 162, 164, 167, 170, 171, 174, 176, 178, 179, 180, 181, 182, 185, 188, 189, 190, 193, 194, 196, 197, 201, 202, 203], "ship": [16, 26], "encount": [16, 178, 182, 191, 192], "click": [16, 156, 159, 167, 171, 172, 173, 174, 179, 182, 188, 195, 196, 203], "imag": [16, 22, 27, 96, 111, 138, 142, 161, 163, 184, 187, 188, 190, 196, 197, 199], "introduct": [17, 94, 184, 189], "To": [17, 20, 26, 27, 90, 97, 106, 115, 116, 140, 141, 143, 154, 155, 156, 158, 160, 163, 165, 166, 169, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 188, 190, 191, 192, 194, 196, 197, 198, 199, 200, 202, 203], "walkthrough": [17, 189], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 84, 91, 96, 100, 102, 106, 107, 109, 115, 132, 134, 136, 140, 141, 142, 144, 145, 153, 159, 160, 161, 162, 163, 164, 166, 167, 171, 172, 173, 174, 176, 181, 182, 184, 185, 193, 194, 196, 198, 201, 202], "paus": [17, 139, 159, 161, 163, 164, 165], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 83, 88, 94, 127, 141, 142, 162, 163, 185, 194], "And": [17, 18, 166, 183, 184, 187, 188, 190, 197], "invalid": [17, 26, 155, 165, 174], "calibr": [17, 196, 205], "incredibli": 17, "across": [17, 27, 106, 112, 120, 141, 142, 155, 165, 166, 174, 177, 182, 183, 185, 189, 196, 203], "statu": [17, 27, 158, 160, 164, 167, 169, 170, 189, 197, 202], "checker": [17, 47, 97, 110, 127, 161, 169, 204], "section": [17, 18, 27, 90, 96, 106, 157, 158, 160, 164, 166, 171, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 190, 191, 193, 199], "guid": [17, 18, 19, 154, 156, 162, 164, 165, 166, 171, 173, 177, 178, 179, 181, 182, 183, 184, 186, 193, 200, 201], "These": [17, 18, 27, 106, 155, 160, 161, 162, 163, 164, 165, 166, 170, 171, 172, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 196, 197, 199, 202, 203], "exemplari": 17, "nav2_bt_navig": [17, 18, 93, 162, 163, 166, 174, 194, 203], "ones": [17, 141, 142, 164, 178, 182, 196], "seen": [17, 22, 113, 142, 164, 166, 170, 171, 181, 186, 189, 203], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 154, 155, 156, 164, 169, 170, 172, 173, 174, 181, 182, 184, 189, 194, 202, 203], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 94, 160, 170, 176, 194, 203], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 94, 170, 194], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 94, 170, 194], "distancecontrol": [17, 18, 94, 96, 162], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 83, 91, 92, 96, 99, 100, 102, 106, 109, 110, 127, 132, 141, 142, 147, 161, 162, 163, 166, 172, 176, 178, 181, 182, 183, 185, 194, 202, 204], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 83, 86, 88, 94, 170, 174, 187, 194], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 94, 97, 101, 102, 106, 109, 110, 162, 165, 166, 170, 172, 174, 178, 194, 204], "simpli": [17, 106, 141, 155, 158, 163, 164, 166, 169, 170, 181, 184, 185, 189, 191, 197, 199, 200, 203], "everi": [17, 19, 21, 23, 24, 61, 87, 96, 98, 102, 106, 109, 122, 126, 141, 158, 163, 164, 166, 170, 171], "meter": [17, 25, 26, 27, 91, 98, 99, 107, 110, 140, 141, 142, 188, 190, 196, 204], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 93, 164, 165, 170, 174, 186, 187, 203], "retri": [17, 21, 23, 24, 45, 81, 100, 167, 176, 202], "contextu": [17, 18, 21, 23, 24, 160, 165, 202], "automat": [17, 27, 93, 99, 106, 109, 123, 155, 158, 159, 163, 164, 166, 179, 181, 183, 184, 185, 186, 189, 196, 197, 199, 202], "door": 17, "elev": [17, 27, 90, 97, 116, 156, 158, 166, 196], "api": [17, 27, 57, 160, 161, 163, 169, 171, 174, 182, 187, 189, 196], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 94, 170, 176], "dock": [17, 18, 26, 27, 28, 45, 62, 92, 166, 176, 177, 178, 205], "serv": [18, 22, 160, 164, 182, 189], "behavior_tre": [18, 26, 50, 51, 93, 162, 166, 174, 203], "sometim": [18, 158, 185, 203], "walk": [18, 19, 27, 155, 193, 196], "navigate_to_pose_w_replanning_and_recoveri": [18, 174], "familiar": [18, 27, 184, 189], "short": [18, 64, 77, 78, 79, 142, 169, 182, 183, 193, 203], "explan": [18, 95, 113, 202], "cpp": [18, 27, 160, 161, 162, 163, 164, 170, 171, 176, 191, 203], "v3": [18, 161, 162, 163], "describ": [18, 19, 106, 158, 159, 166, 171, 172, 173, 174, 178, 181, 184, 189, 191, 192, 196, 199, 200, 201, 203], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 85, 91, 92, 94, 96, 98, 102, 106, 108, 109, 117, 125, 130, 141, 142, 148, 149, 161, 162, 164, 165, 171, 172, 173, 176, 179, 181, 182, 183, 184, 185, 190, 195, 197, 199, 200], "period": [18, 89, 90, 91, 92, 93, 94, 96, 97, 105, 108, 114, 116, 117, 155, 161, 164, 166, 171, 174, 176], "hz": [18, 20, 21, 22, 23, 24, 86, 88, 89, 90, 91, 94, 97, 100, 106, 116, 170, 181, 188, 194], "primarili": [18, 164, 179, 185], "recoverynod": [18, 19, 21, 22, 23, 24, 94, 170], "number_of_retri": [18, 19, 21, 22, 23, 24, 81, 94, 170], "navigaterecoveri": [18, 21, 22, 23, 24, 94, 170], "ratecontrol": [18, 20, 21, 22, 23, 24, 94, 170, 194], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 94, 170, 187, 194], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 94, 107, 108, 115, 140, 141, 142, 163, 170, 173, 178, 187, 194], "reactivefallback": [18, 19, 21, 22, 23, 24, 94, 170], "computepathtoposerecoveryfallback": [18, 94], "goalupd": [18, 19, 21, 22, 23, 24, 66, 94, 170], "clearentirecostmap": [18, 21, 22, 23, 24, 94, 163, 170], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 94, 170], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 94, 170], "global_costmap": [18, 21, 22, 23, 24, 55, 92, 94, 98, 111, 112, 114, 118, 121, 124, 169, 170, 171, 179, 182, 187, 190, 196, 197, 199, 200], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 94, 170], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 94, 163, 166, 170, 194], "followpathrecoveryfallback": [18, 94], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 94, 170], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 90, 92, 94, 98, 119, 121, 169, 170, 171, 179, 182, 190, 197, 199], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 94, 170], "recoveryfallback": [18, 21, 22, 23, 94, 170], "roundrobin": [18, 21, 22, 23, 24, 94], "recoveryact": [18, 21, 22, 23, 24, 94, 170], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 94, 106, 155, 165, 176, 181, 186, 187, 189, 194], "clearingact": [18, 21, 22, 23, 24, 94], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 94, 170], "57": [18, 21, 22, 23, 24, 26, 59, 94, 100, 170, 196, 202], "wait_dur": [18, 21, 22, 23, 24, 63, 94, 170], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 94, 163], "15": [18, 26, 30, 46, 74, 92, 93, 94, 96, 97, 98, 100, 108, 114, 117, 126, 166, 182, 184, 200, 202], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 94, 163], "025": [18, 26, 30, 46, 94, 101, 132, 184], "still": [18, 19, 26, 103, 109, 116, 121, 153, 155, 156, 163, 164, 165, 166, 181, 182, 184, 185, 189, 191, 193, 196, 197], "bit": [18, 164, 185, 189, 191, 196], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 80, 81, 82, 85, 176, 192], "known": [18, 22, 26, 27, 91, 109, 164, 174, 176, 185, 188, 196, 200], "mainli": [18, 182, 183, 184], "actual": [18, 57, 90, 96, 106, 110, 141, 164, 174, 179, 183, 184, 185, 188, 189, 193, 195, 196, 201, 204], "calcul": [18, 26, 89, 90, 109, 118, 164, 171, 172, 173, 178, 181, 190, 196], "dealt": 18, "intern": [18, 21, 23, 24, 110, 160, 165, 166, 171, 174, 181, 186, 193, 196, 204], "hopefulli": [18, 106], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 97, 100, 103, 117, 140, 141, 142, 161, 163, 164, 165, 169, 174, 176, 189, 191], "enough": [18, 165, 179, 185, 188, 189, 196, 202], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 86, 87, 88, 106, 122, 126, 140, 141, 142, 160, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 184, 186, 187, 189, 191, 197, 199, 202], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 98, 122, 123, 125, 126, 158, 163, 164, 165, 166, 173, 176, 182, 185, 188, 193, 200, 202], "until": [18, 19, 20, 26, 27, 80, 90, 110, 127, 141, 142, 153, 155, 163, 172, 174, 176, 181, 191, 194, 196, 200, 202], "parent": [18, 19, 76, 155, 163, 169, 171, 172, 173, 181, 182, 183, 184, 191, 196], "exceed": [18, 98, 165], "gone": 18, "between": [18, 26, 27, 41, 89, 90, 91, 94, 99, 104, 106, 107, 111, 115, 140, 141, 142, 155, 156, 162, 163, 164, 165, 168, 174, 178, 179, 181, 182, 183, 184, 185, 189, 193, 196, 197, 202, 203, 204], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 80, 83, 86, 87, 88, 164, 170, 176], "succe": [18, 19, 80, 81, 176], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 90, 99, 103, 106, 116, 117, 141, 142, 153, 155, 159, 161, 183, 184, 189, 191, 194, 197, 202, 203], "recov": [18, 91, 103], "toler": [18, 27, 61, 67, 92, 93, 96, 98, 100, 102, 106, 107, 109, 110, 112, 114, 125, 127, 134, 136, 140, 141, 142, 151, 163, 164, 166, 173, 176, 187, 195, 202, 204], "outlin": [18, 20, 163, 179, 183, 189], "center": [18, 27, 38, 39, 99, 106, 121, 140, 141, 142, 164, 169, 179, 183, 184, 188, 195, 196], "decor": [18, 20, 22, 164, 170, 176, 194, 203], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 81, 88, 89, 90, 93, 97, 98, 100, 105, 106, 122, 126, 138, 139, 141, 142, 154, 155, 156, 162, 163, 164, 165, 166, 167, 170, 171, 172, 173, 176, 178, 181, 182, 183, 185, 188, 189, 192, 196, 201, 202], "frequenc": [18, 19, 89, 92, 97, 98, 100, 106, 108, 116, 141, 142, 166, 181, 193, 196], "flood": 18, "too": [18, 106, 115, 141, 142, 163, 164, 166, 185, 187], "useless": 18, "100hz": 18, "depend": [18, 27, 90, 102, 106, 124, 154, 155, 156, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 178, 179, 181, 184, 185, 189, 190, 191, 193, 195, 196, 197, 201, 202], "speedcontrol": [18, 94, 162], "big": [18, 196], "half": [18, 109, 141, 142, 182], "snippet": [18, 169, 172, 173, 174, 179, 181, 182, 184, 186, 191], "rest": [18, 38, 39, 90, 97, 106, 116, 138, 156, 166, 181, 182, 183, 186, 192, 196], "asynchron": [18, 19, 27, 162], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 84, 89, 90, 97, 110, 113, 116, 123, 125, 162, 164, 165, 166, 169, 172, 174, 176, 181, 182, 183, 185, 194, 196, 204], "halt": [18, 19, 22, 166], "quick": [18, 141, 142, 183, 197], "reaction": 18, "preempt": [18, 20, 26, 162, 170, 174, 176], "portion": [18, 90, 97, 116, 166, 187], "common": [18, 26, 27, 90, 100, 106, 155, 156, 160, 163, 164, 174, 181, 189, 193, 196, 201, 202], "pattern": [18, 19, 99, 188], "unless": [18, 19, 102, 103, 109, 142, 158], "pair": [18, 19, 106, 112, 124, 163, 166, 185, 188, 193, 196, 197, 199, 204], "imagin": [18, 27, 169, 176, 196], "wrap": [18, 26, 27], "whole": [18, 61, 158, 166, 171, 182, 188, 199, 201], "isbatterylow": [18, 19, 94], "batteri": [18, 19, 27, 70, 71, 100, 164, 165, 176, 189, 194, 202], "enter": [18, 21, 23, 24, 27, 106, 169, 172, 173, 174, 197, 202], "recharg": [18, 27], "never": [18, 27, 106, 141, 142, 164, 189, 197, 199], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 76, 80, 81, 83, 86, 87, 88, 164, 166, 176, 181, 182, 183, 184, 196], "sake": 18, "assum": [18, 19, 156, 163, 171, 172, 176, 179, 183, 184, 190, 191, 196, 197, 198, 199, 200, 201, 202, 203], "again": [18, 19, 20, 22, 81, 153, 155, 159, 161, 177, 181, 184, 189], "BUT": 18, "onto": [18, 21, 23, 106, 110, 164, 174, 176, 181, 183, 204], "hypothet": 18, "scenario": [18, 22, 102, 178, 201], "indefinit": [18, 19, 26, 55, 158, 194], "unlik": [18, 89, 169, 190], "vocabulari": 19, "larg": [19, 27, 90, 96, 102, 106, 109, 141, 142, 160, 162, 177, 181, 184, 185, 188, 202], "confus": 19, "first": [19, 27, 41, 80, 81, 89, 90, 106, 120, 125, 154, 155, 158, 160, 164, 165, 166, 172, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 191, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 85, 90, 91, 92, 93, 97, 98, 99, 102, 103, 106, 108, 109, 110, 114, 116, 117, 118, 119, 141, 142, 155, 162, 163, 164, 165, 166, 167, 172, 174, 176, 183, 185, 189, 190, 191, 192, 193, 194, 196, 197, 198, 201, 202, 204], "actionnod": 19, "necessarili": 19, "often": [19, 27, 96, 164, 181, 189, 196], "quit": [19, 156, 164, 191, 193, 196], "fashion": 19, "commonli": [19, 44, 49, 52, 53, 58, 174, 182, 193, 196], "nav2_behavior_tre": [19, 27, 94, 162, 163, 166, 170, 174, 203], "folder": [19, 155, 156, 182, 188, 196], "client": [19, 27, 99, 161, 163, 164, 169, 170, 174, 187, 202], "clearcostmapservic": 19, "believ": [19, 193], "correctli": [19, 27, 159, 163, 164, 179, 181, 182, 183, 196, 197, 199, 201], "servic": [19, 27, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 91, 93, 105, 109, 155, 156, 162, 163, 165, 167, 169, 176, 178, 181, 188, 189, 196], "goalreach": [19, 83, 86, 88, 94, 166], "initialposereceiv": [19, 94], "intial_pos": 19, "listen": [19, 89, 90, 92, 153, 162, 189], "probe": [19, 155], "aspect": [19, 155, 156, 187, 188], "kei": [19, 91, 99, 154, 155, 158, 159, 174, 185, 186, 189, 190, 193, 196, 202], "Will": [19, 57, 90, 176], "travel": [19, 27, 46, 65, 83, 106, 140, 141, 142, 164, 176, 181, 182], "certain": [19, 55, 106, 162, 164, 171, 178, 180, 182, 194], "constant": [19, 99, 102, 109, 166, 172, 184, 185], "expos": [19, 27, 114, 163, 165, 189, 196], "port": [19, 93, 158, 162, 163, 164, 170, 182, 187, 189, 194, 203], "subsequ": [19, 27, 91, 141, 142, 155, 176, 193], "proport": [19, 100, 106, 141, 142, 197, 200], "previou": [19, 24, 62, 90, 106, 141, 158, 163, 165, 166, 171, 174, 176, 179, 180, 181, 182, 184, 185, 189, 196, 199, 200], "properti": [19, 90, 155, 181, 182, 201], "prior": [19, 85, 91, 161, 164], "resembl": 19, "water": 19, "pipe": [19, 165], "action_a": 19, "action_b": 19, "action_c": 19, "idl": 19, "therefor": [19, 22, 89, 106, 184, 185, 186, 191, 196, 197, 199, 201, 203], "retick": 19, "ing": 19, "even": [19, 20, 21, 23, 105, 106, 109, 116, 120, 141, 156, 160, 162, 163, 164, 166, 176, 178, 179, 180, 181, 185, 189, 191, 193, 197, 202], "though": [19, 21, 100, 106, 142, 185, 186, 189, 193, 196, 197, 199, 201], "recal": [19, 182], "loop": [19, 27, 89, 90, 97, 100, 102, 106, 109, 116, 164, 173, 174, 193, 202], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 113, 155, 163, 171, 181, 183, 186, 191, 192, 196, 197], "togeth": [19, 27, 99, 181, 183, 193, 196], "suggest": [19, 96, 106, 178, 183, 184, 189], "promot": 19, "respons": [19, 21, 23, 24, 27, 38, 39, 40, 55, 90, 103, 164, 169, 174, 178, 186], "round": [19, 82, 90, 176, 180], "robin": [19, 82, 176], "untick": 19, "That": [19, 27, 141, 158, 163, 164, 178, 179, 189], "retain": [19, 66, 111, 112, 140, 141, 142], "rather": [19, 21, 23, 24, 27, 91, 96, 98, 106, 141, 155, 161, 162, 163, 164, 166, 174, 176, 183, 185, 191, 198, 202], "step": [19, 27, 90, 92, 99, 106, 142, 182, 184, 189, 191, 192, 193, 201], "did": [19, 20, 166, 169, 172, 173, 182, 184, 191, 192, 202], "On": [19, 176, 179, 182, 186, 190, 196], "circl": [19, 27, 89, 90, 185, 188, 201], "person": [20, 22, 26, 155, 158, 194], "virtual": [20, 90, 106, 159, 164, 166, 169, 170, 171, 172, 173, 174, 181, 184, 202], "carrot": [20, 109, 166], "anyth": [20, 27, 89, 163, 170, 171, 174, 185, 189, 197, 203], "publish": [20, 44, 49, 52, 53, 58, 89, 90, 91, 92, 93, 97, 98, 101, 104, 105, 106, 108, 109, 114, 116, 117, 118, 121, 124, 126, 127, 137, 141, 142, 159, 161, 162, 163, 164, 166, 169, 172, 174, 176, 179, 181, 182, 185, 187, 188, 189, 193, 194, 195, 196, 198, 201, 202], "goalupdat": [20, 94, 194], "newest": [20, 100, 185], "truncatepath": [20, 94, 162, 194], "least": [20, 90, 155, 158, 163, 181, 201, 202], "awai": [20, 96, 102, 106, 110, 140, 165, 182, 185, 188, 202, 203, 204], "smooth": [20, 26, 27, 57, 88, 96, 100, 102, 106, 110, 111, 112, 114, 116, 140, 141, 142, 160, 163, 164, 165, 166, 176, 181, 185, 187, 196, 201, 204], "off": [20, 106, 110, 116, 118, 158, 164, 165, 166, 169, 184, 189, 191, 202, 204], "toward": [20, 73, 89, 90, 96, 106, 110, 141, 142, 164, 166, 173, 176, 185, 188, 195, 196, 204], "probabl": [20, 105, 123, 141, 142, 165, 182, 187], "occupi": [20, 27, 55, 98, 105, 106, 122, 123, 125, 126, 165, 182, 197], "truncat": [20, 60, 61, 96, 176], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 75, 98, 103, 106, 110, 127, 143, 154, 164, 176, 192, 194, 197, 202, 204], "keeprunninguntilfailur": [20, 194], "mode": [20, 90, 99, 106, 116, 155, 165, 166, 193, 196, 197, 199, 203], "infinit": [20, 97, 122, 126, 141, 142, 193, 202], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 109, 115, 140, 141, 142, 159, 170, 172, 174, 176, 194], "controllerselector": [20, 21, 22, 23, 24, 94, 163], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 105, 197, 199], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 94, 163], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 84, 194], "output_go": [20, 21, 55, 56, 84, 194], "updated_go": [20, 84, 194], "error_code_id": [20, 21, 22, 23, 24, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 187], "compute_path_error_cod": [20, 21, 22, 23, 24, 42, 43, 93, 187], "input_path": [20, 60, 61, 194], "output_path": [20, 60, 61, 194], "truncated_path": [20, 60, 194], "follow_path_error_cod": [20, 21, 22, 23, 24, 47, 77, 93], "intermediari": [21, 142, 160, 163], "constraint": [21, 110, 116, 142, 163, 164, 174, 176, 178, 185, 204], "final": [21, 22, 26, 27, 102, 103, 106, 140, 141, 142, 155, 163, 170, 174, 182, 185, 186, 187, 189, 193, 196, 204], "freespac": [21, 23, 24, 185], "opportun": [21, 23, 24, 166, 170, 174], "computepaththroughpos": [21, 55, 56, 94], "util": [21, 22, 23, 24, 27, 41, 99, 106, 142, 155, 160, 163, 164, 165, 166, 170, 178, 179, 181, 184, 189, 192, 197, 199, 200, 202], "By": [21, 23, 24, 27, 71, 155, 158, 159, 162, 166, 179, 182, 189, 191, 193, 197, 201], "convent": [21, 23, 24, 27, 182, 183, 186, 196], "style": [21, 23, 24, 104, 167, 185, 200], "worri": [21, 23, 24, 27, 156, 185, 191], "want": [21, 23, 24, 26, 27, 89, 106, 155, 163, 166, 169, 170, 171, 172, 173, 174, 181, 183, 184, 185, 186, 187, 189, 191, 192, 193, 195, 196, 198, 202, 203], "caller": [21, 23, 24, 202], "ampl": [21, 23, 24], "transient": [21, 23, 24, 44, 49, 52, 53, 58], "crowd": [21, 23, 24, 178], "temporari": [21, 22, 23, 24, 92, 93, 97, 108, 114, 117, 193, 199], "nomin": [21, 23, 24], "vector": [21, 27, 41, 42, 50, 55, 56, 66, 68, 88, 89, 90, 92, 93, 97, 98, 99, 100, 103, 106, 107, 108, 111, 114, 115, 116, 121, 122, 123, 126, 127, 140, 164, 165, 166, 171, 173, 174, 176, 178, 179, 185, 191, 197, 199, 200], "removepassedgo": [21, 94, 163, 166], "cull": [21, 55, 56, 176], "awar": [21, 23, 24, 96, 106, 113, 115, 140, 141, 142, 160, 163, 182, 185, 202], "similarli": [21, 23, 89, 95, 109, 166, 181, 189], "impact": [21, 23, 99, 106, 166, 185, 191], "worth": [21, 23, 27, 106, 180, 185, 189, 190], "reactiv": [21, 23, 194], "fallback": [21, 23, 24, 90, 201, 202], "exit": [21, 23, 27, 97, 100, 103, 162, 164, 189, 191, 192, 202], "preemption": [21, 23, 166, 170, 174], "immedi": [21, 23, 90, 103, 163, 166, 169, 172, 174, 181, 184, 189, 191, 202], "reserv": [21, 23, 24, 165, 186, 193], "resolv": [21, 23, 24, 103, 162, 164, 187, 200], "bad": [21, 23, 24, 27, 91, 169, 193], "spot": [21, 23, 24, 142, 159, 169], "iter": [21, 23, 24, 26, 27, 41, 56, 90, 93, 96, 101, 106, 112, 115, 116, 140, 141, 142, 165, 166, 171, 193], "reattempt": [21, 23, 24], "goalcheckerselector": [21, 23, 24, 94, 163], "hardcod": [21, 23, 24, 165, 170, 174], "advis": [21, 23, 24, 27, 181], "uniqu": [21, 23, 24, 27, 90, 155, 160, 162, 163, 166, 169, 170, 174], "selector": [21, 23, 24, 166, 176], "better": [21, 23, 24, 27, 89, 90, 97, 109, 115, 116, 141, 155, 163, 164, 166, 182, 185, 186, 192, 199, 204], "profession": [21, 23, 24, 160], "333": 21, "reactivesequ": [21, 22, 24], "radiu": [21, 27, 56, 89, 90, 96, 98, 99, 100, 102, 106, 109, 120, 133, 135, 141, 142, 143, 164, 176, 178, 179, 182, 184], "wouldaplannerrecoveryhelp": [21, 23, 94, 165], "error_cod": [21, 23, 64, 77, 78, 79, 186, 187, 202], "wouldacontrollerrecoveryhelp": [21, 23, 94, 165], "spin_error_cod": [21, 23, 59], "30": [21, 22, 23, 24, 26, 27, 62, 96, 100, 106, 165, 181, 182, 184, 193, 196, 199, 201, 202], "05": [21, 22, 23, 24, 30, 46, 89, 90, 91, 98, 100, 101, 106, 109, 142, 147, 171, 179, 182, 184, 200, 201, 202], "backup_error_cod": [21, 30], "prerequisit": [22, 157, 182], "sequencestar": [22, 170], "retryuntilsucessful": 22, "soft": [22, 90, 97, 106, 116], "extens": [22, 27, 106, 155, 156, 165, 166, 193], "apart": [22, 204], "effici": [22, 27, 113, 182, 185, 186], "forklift": 22, "close": [22, 27, 56, 85, 89, 90, 98, 106, 109, 116, 142, 145, 151, 155, 163, 164, 166, 172, 179, 185, 189, 196, 201, 202], "shorter": [22, 60, 61, 141, 142, 176, 184, 194], "expir": [22, 74, 176, 200], "ultim": 22, "solv": [22, 153, 173, 191], "problem": [22, 54, 103, 164, 173, 174, 176, 185, 191, 202], "cycl": [22, 89, 90, 109, 141, 142, 164, 169], "caus": [22, 30, 46, 89, 90, 91, 106, 141, 142, 159, 164, 185, 190, 193, 197, 199], "becaus": [22, 27, 103, 106, 155, 156, 158, 163, 166, 169, 181, 183, 185, 191, 192, 195, 196, 203, 204], "present": [22, 90, 116, 122, 126, 155, 162, 164, 165, 166, 171, 172, 174, 176, 182, 185, 201], "depict": [22, 96], "monitorandfollowpath": 22, "intent": [22, 106, 185], "kind": [22, 160, 181, 189, 191], "monitor": [22, 28, 89, 160, 163, 177, 203, 205], "exhibit": 22, "exclus": 22, "pathlongeronapproach": [22, 94, 176], "decid": [22, 91, 166, 183, 184, 186], "approach": [22, 27, 85, 90, 100, 101, 106, 107, 109, 113, 115, 140, 141, 142, 160, 163, 165, 176, 178, 181, 185, 187, 201, 204], "proxim": [22, 56, 85, 106, 109, 163, 164, 166, 201], "retryuntilsuccesful": 22, "inturn": 22, "firstli": 22, "cancelcontrol": [22, 94, 164], "gif": [22, 166, 196], "consequ": 22, "controller_serv": [22, 97, 101, 102, 103, 106, 109, 110, 162, 163, 164, 166, 172, 178, 186, 192, 199, 204], "conclus": 22, "readi": [22, 154, 155, 158, 159, 164, 171, 184, 185, 189, 191, 193, 197, 199, 201, 202], "organiz": 22, "prox_len": [22, 85], "length_factor": [22, 85], "retryuntilsuccess": 22, "num_attempt": 22, "cancelingcontrolandwait": 22, "controlcancel": 22, "video": [22, 155, 171, 189, 193, 194, 195, 200, 202, 203], "matur": [23, 24], "version": [23, 24, 27, 92, 93, 96, 107, 108, 115, 127, 140, 141, 142, 153, 154, 156, 159, 163, 169, 171, 172, 173, 174, 178, 182, 184, 189], "backup_code_id": 23, "ratecontrollercomputepathtopos": 24, "recoverycomputepathtopos": 24, "fallbackcomputepathtopos": 24, "checkifnewpathneed": 24, "invert": [24, 106, 163], "globalupdatedgo": [24, 66], "ispathvalid": [24, 94, 98], "recoveryfollowpath": 24, "fallbackrecoveri": 24, "spinrecoveri": 24, "waitrecoveri": 24, "backuprecoveri": 24, "ccw": 25, "squar": [25, 38, 39, 89, 90, 98, 166, 188], "three": [25, 27, 113, 165, 183, 185, 186, 196], "driveonhead": [25, 26, 94, 165, 166], "travers": [25, 27, 106, 120, 140, 141, 142, 164, 166, 183], "side": [25, 38, 39, 98, 106, 138, 155, 182, 184, 186, 190, 192, 203], "turn": [25, 41, 96, 99, 106, 109, 116, 118, 141, 142, 155, 163, 164, 165, 166, 176, 178, 184, 185, 187, 190, 191, 196, 202, 204], "primit": [25, 27, 141, 142, 164, 166, 184], "odometr": [25, 27, 193], "accuraci": [25, 90, 104, 161, 167, 193, 196], "repeat": [25, 106, 154, 166, 171, 183, 184], "num_cycl": 25, "dist_to_travel": [25, 46], "time_allow": [25, 26, 29, 30, 46, 59, 92, 164], "12": [25, 182, 184], "570796": 25, "is_recoveri": [25, 29, 59], "fals": [25, 26, 29, 55, 57, 71, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 101, 102, 103, 104, 106, 107, 109, 110, 115, 116, 117, 118, 120, 122, 123, 124, 125, 126, 127, 130, 132, 140, 141, 142, 143, 146, 159, 163, 164, 165, 166, 167, 169, 171, 173, 174, 181, 182, 185, 190, 191, 193, 195, 196, 197, 200, 201, 202, 203], "nav2_simple_command": [26, 164, 196], "gotopos": [26, 164], "gothroughpos": 26, "followwaypoint": [26, 165], "istaskcomplet": [26, 164], "poll": 26, "collect": [26, 180, 182, 185, 192, 193], "switch": [26, 90, 106, 118, 155, 156, 162, 163, 164, 165, 166], "robot_navig": 26, 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"condition-plugins"]], "Control Plugins": [[94, "control-plugins"]], "Decorator Plugins": [[94, "decorator-plugins"]], "Collision Monitor": [[95, "collision-monitor"]], "Provided Nodes": [[95, "provided-nodes"]], "Constrained smoother": [[96, "constrained-smoother"]], "Smoother Server Parameters": [[96, "smoother-server-parameters"], [114, "smoother-server-parameters"]], "Controller Server": [[97, "controller-server"], [178, "controller-server"]], "Provided Plugins": [[97, "provided-plugins"], [113, "provided-plugins"], [117, "provided-plugins"]], "Costmap 2D": [[98, "costmap-2d"], [182, "costmap-2d"]], "Costmap2D ROS Parameters": [[98, "costmap2d-ros-parameters"]], "Plugin Parameters": [[98, "plugin-parameters"]], "Costmap Filters Parameters": [[98, "costmap-filters-parameters"]], "Coverage Server": [[99, "coverage-server"]], "Docking Server": [[100, "docking-server"]], "SimpleChargingDock Parameters": [[100, "simplechargingdock-parameters"]], "DWB Controller": [[101, 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"constraint-critic"]], "Goal Angle Critic": [[106, "goal-angle-critic"]], "Goal Critic": [[106, "goal-critic"]], "Obstacles Critic": [[106, "obstacles-critic"]], "Cost Critic": [[106, "cost-critic"]], "Path Align Critic": [[106, "path-align-critic"]], "Path Angle Critic": [[106, "path-angle-critic"]], "Path Follow Critic": [[106, "path-follow-critic"]], "Prefer Forward Critic": [[106, "prefer-forward-critic"]], "Twirling Critic": [[106, "twirling-critic"]], "Velocity Deadband Critic": [[106, "velocity-deadband-critic"]], "Notes to Users": [[106, "notes-to-users"]], "General Words of Wisdom": [[106, "general-words-of-wisdom"]], "Prediction Horizon, Costmap Sizing, and Offsets": [[106, "prediction-horizon-costmap-sizing-and-offsets"]], "Obstacle, Inflation Layer, and Path Following": [[106, "obstacle-inflation-layer-and-path-following"]], "NavFn Planner": [[107, "navfn-planner"]], "Planner Server": [[108, "planner-server"], [178, "planner-server"]], "Regulated Pure Pursuit": [[109, "regulated-pure-pursuit"]], "Regulated Pure Pursuit Parameters": [[109, "regulated-pure-pursuit-parameters"]], "Rotation Shim Controller": [[110, "rotation-shim-controller"]], "Rotation Shim Controller Parameters": [[110, "rotation-shim-controller-parameters"]], "Savitzky-Golay Smoother": [[111, "savitzky-golay-smoother"], [165, "savitzky-golay-smoother"]], "Savitzky-Golay Smoother Parameters": [[111, "savitzky-golay-smoother-parameters"]], "Simple Smoother": [[112, "simple-smoother"]], "Simple Smoother Parameters": [[112, "simple-smoother-parameters"]], "Smac Planner": [[113, "smac-planner"]], "Description": [[113, "description"]], "Smoother Server": [[114, "smoother-server"]], "Theta Star Planner": [[115, "theta-star-planner"]], "Velocity Smoother": [[116, "velocity-smoother"]], "Velocity Smoother Parameters": [[116, "velocity-smoother-parameters"]], "Waypoint Follower": [[117, "waypoint-follower"]], "Default Plugin": [[117, "default-plugin"]], "Binary Filter Parameters": [[118, "binary-filter-parameters"]], "Denoise Layer Parameters": [[119, "denoise-layer-parameters"]], "Inflation Layer Parameters": [[120, "inflation-layer-parameters"]], "Keepout Filter Parameters": [[121, "keepout-filter-parameters"]], "Obstacle Layer Parameters": [[122, "obstacle-layer-parameters"]], "Range Sensor Parameters": [[123, "range-sensor-parameters"]], "Speed Filter Parameters": [[124, "speed-filter-parameters"]], "Static Layer Parameters": [[125, "static-layer-parameters"]], "Voxel Layer Parameters": [[126, "voxel-layer-parameters"]], "XYTheta Iterator": [[128, "xytheta-iterator"]], "Kinematic Parameters": [[129, "kinematic-parameters"]], "Publisher": [[130, "publisher"]], "LimitedAccelGenerator": [[131, "limitedaccelgenerator"]], "StandardTrajectoryGenerator": [[132, "standardtrajectorygenerator"]], "PoseProgressChecker": [[133, "poseprogresschecker"]], "SimpleGoalChecker": [[134, "simplegoalchecker"]], "SimpleProgressChecker": [[135, "simpleprogresschecker"]], "StoppedGoalChecker": [[136, "stoppedgoalchecker"]], "InputAtWaypoint": [[137, "inputatwaypoint"]], "PhotoAtWaypoint": [[138, "photoatwaypoint"]], "WaitAtWaypoint": [[139, "waitatwaypoint"]], "Smac 2D Planner": [[140, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[141, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[142, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[143, "baseobstaclecritic"]], "GoalAlignCritic": [[144, "goalaligncritic"]], "GoalDistCritic": [[145, "goaldistcritic"]], "ObstacleFootprintCritic": [[146, "obstaclefootprintcritic"]], "OscillationCritic": [[147, "oscillationcritic"]], "PathAlignCritic": [[148, "pathaligncritic"]], "PathDistCritic": [[149, "pathdistcritic"]], "PreferForwardCritic": [[150, "preferforwardcritic"]], "RotateToGoalCritic": [[151, "rotatetogoalcritic"]], "TwirlingCritic": [[152, "twirlingcritic"]], "Build Troubleshooting Guide": [[153, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[153, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[153, "reporting-issue"]], "Build and Install": [[154, "build-and-install"]], "Install": [[154, "install"]], "For Iron and Older": [[154, "for-iron-and-older"]], "For Jazzy and Newer": [[154, "for-jazzy-and-newer"]], "Build": [[154, "build"]], "Released Distribution Binaries": [[154, "released-distribution-binaries"]], "Rolling Development Source": [[154, "rolling-development-source"]], "Docker Container Images": [[154, "docker-container-images"]], "Generate Doxygen": [[154, "generate-doxygen"]], "Help": [[154, "help"]], "Dev Container Guide": [[155, "dev-container-guide"]], "Creating Dev Containers": [[155, "creating-dev-containers"]], "Building the image": [[155, "building-the-image"]], "Starting the container": [[155, "starting-the-container"]], "Using Dev Containers": [[155, "using-dev-containers"]], "Terminals": [[155, "terminals"]], "Lifecycle": [[155, "lifecycle"]], "Rebuilding": [[155, "rebuilding"]], "Dev Containers": [[156, "dev-containers"]], "What, Why, How?": [[156, "what-why-how"]], "What is a Dev Container?": [[156, "what-is-a-dev-container"]], "Why use a Dev Container?": [[156, "why-use-a-dev-container"]], "How do Dev Containers work?": [[156, "how-do-dev-containers-work"]], "Getting started": [[156, "getting-started"]], "Security": [[156, "security"]], "Development Guides": [[157, "development-guides"]], "Getting Involved": [[158, "getting-involved"], [158, "id1"]], "Process": [[158, "process"]], "Licensing": [[158, "licensing"]], "Developer Certification of Origin (DCO)": [[158, "developer-certification-of-origin-dco"]], "Getting Started": [[159, "getting-started"]], "Installation": [[159, "installation"]], "Running the Example": [[159, "running-the-example"]], "Navigating": [[159, "navigating"]], "Nav2": [[160, "lpn"]], "Our Sponsors": [[160, "our-sponsors"]], "Services": [[160, "services"]], "Citations": [[160, "citations"]], "Dashing to Eloquent": [[161, "dashing-to-eloquent"]], "New Packages": [[161, "new-packages"]], "New Plugins": [[161, "new-plugins"], [162, "new-plugins"], [163, "new-plugins"]], "Navigation2 Architectural Changes": [[161, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[162, "eloquent-to-foxy"]], "General": [[162, "general"]], "Server Updates": [[162, "server-updates"]], "Map Server Re-Work": [[162, "map-server-re-work"]], "New Particle Filter Messages": [[162, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[162, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[162, "followpoint-capability"]], "New Costmap Layer": [[162, "new-costmap-layer"]], "Foxy to Galactic": [[163, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[163, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[163, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[163, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[163, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[163, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[163, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[163, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[163, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[163, "followpath-goal-checker-id-attribute"]], "Groot Support": [[163, "groot-support"]], "SmacPlanner": [[163, "smacplanner"]], "ThetaStarPlanner": [[163, "thetastarplanner"]], "RegulatedPurePursuitController": [[163, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[163, "costmap2d-current-usage"]], "Standard time units in parameters": [[163, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[163, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[163, "obstacle-marking-parameters"]], "Recovery Action Changes": [[163, "recovery-action-changes"]], "Default Behavior Tree Changes": [[163, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[163, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[163, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[163, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[163, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[163, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[163, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[163, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[164, "galactic-to-humble"]], "Major improvements to Smac Planners": [[164, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[164, "simple-python-commander"]], "Reduce Nodes and Executors": [[164, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[164, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[164, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[164, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[164, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[164, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[164, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[164, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[164, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[164, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[164, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[164, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[164, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[164, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[164, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[164, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[164, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[164, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[164, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[164, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[164, "dynamic-composition"]], "BT Cancel Node": [[164, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[164, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[164, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[164, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[164, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[164, "euclidean-distance-2d"]], "Recovery To Behavior": [[164, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[164, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[164, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[164, "goal-checker-api-changed"]], "Added Assisted Teleop": [[164, "added-assisted-teleop"]], "Humble to Iron": [[165, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[165, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[165, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[165, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[165, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[165, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[165, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[165, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[165, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[165, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[165, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[165, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[165, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[165, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[165, "smootherselector-bt-node"]], "Publish Costmap Layers": [[165, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[165, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[165, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[165, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[165, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[165, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[165, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[165, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[165, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[165, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[165, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[165, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[165, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[165, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[165, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[165, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[165, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[166, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[166, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[166, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[166, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[166, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[166, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[166, "opennav-coverage-project"]], "opennav_docking Project": [[166, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[166, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[166, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[166, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[166, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[166, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[166, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[166, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[166, "mppi-acceleration"]], "Move Error Code Enumerations": [[166, "move-error-code-enumerations"]], "Substitution in parameter file": [[166, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[166, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[166, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[166, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[166, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[166, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[166, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[166, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[166, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[166, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[166, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[166, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[166, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[166, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[166, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[166, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[166, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[166, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[166, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[166, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[166, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[166, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[166, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[166, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[166, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[166, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[166, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[166, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[166, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[166, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[166, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[166, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[166, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[166, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[167, "jazzy-to-k-turtle"]], "New Nav2 Loopback Simulator": [[167, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[167, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[167, "new-rviz-panel-for-docking"]], "New BT Nodes": [[167, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[167, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[167, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[167, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[167, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Migration Guides": [[168, "migration-guides"]], "Writing a New Behavior Plugin": [[169, "writing-a-new-behavior-plugin"]], "Requirements": [[169, "requirements"], [170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [187, "requirements"], [188, "requirements"], [190, "requirements"], [195, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [201, "requirements"], [202, "requirements"]], "Tutorial Steps": [[169, "tutorial-steps"], [170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [187, "tutorial-steps"], [188, "tutorial-steps"], [190, "tutorial-steps"], [194, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[169, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[169, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[169, "pass-the-plugin-name-through-params-file"], [173, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[169, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[170, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[170, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[170, "exporting-the-planner-plugin"], [173, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[170, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[170, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[171, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[171, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[171, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[171, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[171, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[172, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[172, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[172, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[172, "pass-the-plugin-name-through-the-params-file"], [174, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[172, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[173, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[173, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[173, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[174, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[174, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[174, "exporting-the-navigator-plugin"]], "4- Run plugin": [[174, "run-plugin"]], "Plugin Tutorials": [[175, "plugin-tutorials"]], "Navigation Plugins": [[176, "navigation-plugins"]], "Behavior-Tree Navigators": [[176, "behavior-tree-navigators"]], "Costmap Layers": [[176, "costmap-layers"]], "Waypoint Task Executors": [[176, "waypoint-task-executors"]], "Goal Checkers": [[176, "goal-checkers"]], "Progress Checkers": [[176, "progress-checkers"]], "Behavior Tree Nodes": [[176, "behavior-tree-nodes"]], "Roadmaps": [[177, "roadmaps"]], "Jazzy Roadmap": [[177, "jazzy-roadmap"]], "Iron Roadmap": [[177, "iron-roadmap"]], "Humble Roadmap": [[177, "humble-roadmap"]], "Setting Up Navigation Plugins": [[178, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[178, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[178, "selecting-the-algorithm-plugins"]], "Summary": [[178, "summary"], [178, "id1"]], "Example Configuration": [[178, "example-configuration"], [178, "id2"]], "Conclusion": [[178, "conclusion"], [179, "conclusion"], [181, "conclusion"], [182, "conclusion"], [183, "conclusion"], [184, "conclusion"], [186, "conclusion"], [189, "conclusion"], [196, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[179, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[179, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[179, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[179, "build-run-and-verification"], [181, "build-run-and-verification"], [181, "id4"], [182, "build-run-and-verification"], [182, "id2"]], "Visualizing Footprint in RViz": [[179, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[180, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[181, "setting-up-odometry"]], "Odometry Introduction": [[181, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[181, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[181, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[181, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[181, "adding-gazebo-plugins-to-a-urdf"], [182, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[181, "launch-and-build-files"], [181, "id3"], [182, "launch-and-build-files"]], "Robot Localization Demo": [[181, "robot-localization-demo"]], "Configuring Robot Localization": [[181, "configuring-robot-localization"]], "Setting Up Sensors": [[182, "setting-up-sensors"]], "Sensor Introduction": [[182, "sensor-introduction"]], "Common Sensor Messages": [[182, "common-sensor-messages"]], "sensor_msgs/LaserScan": [[182, "sensor-msgs-laserscan"]], "sensor_msgs/PointCloud2": [[182, "sensor-msgs-pointcloud2"]], "sensor_msgs/Range": [[182, "sensor-msgs-range"]], "sensor_msgs/Image": [[182, "sensor-msgs-image"]], "Simulating Sensors using Gazebo": [[182, "simulating-sensors-using-gazebo"]], "Mapping and Localization": [[182, "mapping-and-localization"]], "Configuring nav2_costmap_2d": [[182, "configuring-nav2-costmap-2d"]], "Launching Description Nodes, RViz and Gazebo": [[182, "launching-description-nodes-rviz-and-gazebo"]], "Launching slam_toolbox": [[182, "launching-slam-toolbox"]], "Launching Nav2": [[182, "launching-nav2"]], "Visualizing Costmaps in RViz": [[182, "visualizing-costmaps-in-rviz"]], "Setting Up Transformations": [[183, "setting-up-transformations"]], "Transforms Introduction": [[183, "transforms-introduction"]], "Static Transform Publisher Demo": [[183, "static-transform-publisher-demo"]], "Transforms in Navigation2": [[183, "transforms-in-navigation2"]], "Setting Up The URDF": [[184, "setting-up-the-urdf"]], "URDF and the Robot State Publisher": [[184, "urdf-and-the-robot-state-publisher"]], "Setting Up the Environment": [[184, "setting-up-the-environment"]], "Writing the URDF": [[184, "writing-the-urdf"]], "Build and Launch": [[184, "build-and-launch"]], "Visualization using RVIZ": [[184, "visualization-using-rviz"]], "Adding Physical Properties": [[184, "adding-physical-properties"]], "Tuning Guide": [[185, "tuning-guide"]], "Inflation Potential Fields": [[185, "inflation-potential-fields"]], "Robot Footprint vs Radius": [[185, "robot-footprint-vs-radius"]], "Rotate in Place Behavior": [[185, "rotate-in-place-behavior"]], "Planner Plugin Selection": [[185, "planner-plugin-selection"]], "Controller Plugin Selection": [[185, "controller-plugin-selection"]], "Caching Obstacle Heuristic in Smac Planners": [[185, "caching-obstacle-heuristic-in-smac-planners"]], "Costmap2D Plugins": [[185, "costmap2d-plugins"]], "Nav2 Launch Options": [[185, "nav2-launch-options"]], "Other Pages We\u2019d Love To Offer": [[185, "other-pages-we-d-love-to-offer"]], "Adding a New Nav2 Task Server": [[186, "adding-a-new-nav2-task-server"]], "Lifecycle Nodes": [[186, "lifecycle-nodes"]], "Composition": [[186, "composition"]], "Error codes": [[186, "error-codes"]], "Adding a Smoother to a BT": [[187, "adding-a-smoother-to-a-bt"]], "0- Familiarization with the Smoother BT Node": [[187, "familiarization-with-the-smoother-bt-node"]], "1- Specifying a Smoother Plugin": [[187, "specifying-a-smoother-plugin"]], "2- Modifying your BT XML": [[187, "modifying-your-bt-xml"]], "Camera Calibration": [[188, "camera-calibration"]], "Docker for Development: Zero to Hero": [[189, "docker-for-development-zero-to-hero"]], "Preliminaries": [[189, "preliminaries"], [191, "preliminaries"], [192, "preliminaries"]], "Important Docker Commands": [[189, "important-docker-commands"]], "Exploring Your First Container": [[189, "exploring-your-first-container"]], "Understanding ROS Docker Images": [[189, "understanding-ros-docker-images"]], "For Docker-Based Development": [[189, "for-docker-based-development"]], "Building a Development Image": [[189, "building-a-development-image"]], "Visualizations from Docker": [[189, "visualizations-from-docker"]], "For Docker-Based Deployment": [[189, "for-docker-based-deployment"]], "Appendix": [[189, "appendix"]], "Nav2 Development Image": [[189, "nav2-development-image"]], "Nav2 Deployment Image": [[189, "nav2-deployment-image"]], "Filtering of Noise-Induced Obstacles": [[190, "filtering-of-noise-induced-obstacles"]], "1. Enable Denoise Layer": [[190, "enable-denoise-layer"]], "2. Run Nav2 stack": [[190, "run-nav2-stack"]], "How it works": [[190, "how-it-works"]], "Get Backtrace in ROS 2 / Nav2": [[191, "get-backtrace-in-ros-2-nav2"]], "From a Node": [[191, "from-a-node"]], "From a Launch File": [[191, "from-a-launch-file"]], "From Large Project": [[191, "from-large-project"]], "From Nav2 Bringup": [[191, "from-nav2-bringup"], [192, "from-nav2-bringup"]], "Automatic backtrace on crash": [[191, "automatic-backtrace-on-crash"]], "Profiling in ROS 2 / Nav2": [[192, "profiling-in-ros-2-nav2"]], "Profile from a Node": [[192, "profile-from-a-node"]], "Profile from a Launch File": [[192, "profile-from-a-launch-file"]], "Interpreting Results": [[192, "interpreting-results"]], "Using VIO to Augment Robot Odometry": [[193, "using-vio-to-augment-robot-odometry"]], "Setting Up the ZED X Camera": [[193, "setting-up-the-zed-x-camera"]], "Setting Up ZED ROS": [[193, "setting-up-zed-ros"]], "Fusing VIO Into Local State Estimate": [[193, "fusing-vio-into-local-state-estimate"]], "Fusing VSLAM Into Global State Estimate": [[193, "fusing-vslam-into-global-state-estimate"]], "Testing it Out!": [[193, "testing-it-out"]], "Dynamic Object Following": [[194, "dynamic-object-following"]], "0- Create the Behavior Tree": [[194, "create-the-behavior-tree"]], "1- Setup Rviz clicked point": [[194, "setup-rviz-clicked-point"]], "2- Run Dynamic Object Following in Nav2 Simulation": [[194, "run-dynamic-object-following-in-nav2-simulation"]], "Navigating with a Physical Turtlebot 3": [[195, "navigating-with-a-physical-turtlebot-3"]], "0- Setup Your Environment Variables": [[195, "setup-your-environment-variables"]], "1- Launch Turtlebot 3": [[195, "launch-turtlebot-3"]], "2- Launch Nav2": [[195, "launch-nav2"]], "3- Launch RVIZ": [[195, "launch-rviz"]], "4- Initialize the Location of Turtlebot 3": [[195, "initialize-the-location-of-turtlebot-3"]], "5- Send a Goal Pose": [[195, "send-a-goal-pose"]], "Navigating Using GPS Localization": [[196, "navigating-using-gps-localization"]], "GPS Localization Overview": [[196, "gps-localization-overview"]], "0- Setup Gazebo World": [[196, "setup-gazebo-world"]], "1- Setup GPS Localization system": [[196, "setup-gps-localization-system"]], "Local Odometry": [[196, "local-odometry"]], "Global Odometry": [[196, "global-odometry"]], "Navsat Transform": [[196, "navsat-transform"]], "Localization Testing": [[196, "localization-testing"]], "2- Setup Navigation system": [[196, "setup-navigation-system"]], "3- Interactive GPS Waypoint Follower": [[196, "interactive-gps-waypoint-follower"]], "4- Logged GPS Waypoint Follower & Waypoint Logging": [[196, "logged-gps-waypoint-follower-waypoint-logging"]], "Navigating with Keepout Zones": [[197, "navigating-with-keepout-zones"]], "1. Prepare filter mask": [[197, "prepare-filter-mask"], [199, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[197, "configure-costmap-filter-info-publisher-server"], [199, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[197, "enable-keepout-filter"]], "4. Run Nav2 stack": [[197, "run-nav2-stack"], [199, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[198, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[198, "launch-robot-interfaces"]], "1- Launch Navigation2": [[198, "launch-navigation2"]], "2- Launch SLAM": [[198, "launch-slam"]], "3- Working with SLAM": [[198, "working-with-slam"]], "4- Getting Started Simplification": [[198, "getting-started-simplification"]], "Navigating with Speed Limits": [[199, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[199, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[200, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[200, "costmap2d-and-stvl"]], "0- Setup": [[200, "setup"]], "1- Install STVL": [[200, "install-stvl"]], "1- Modify Navigation2 Parameter": [[200, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[200, "launch-navigation2"]], "3- RVIZ": [[200, "rviz"]], "Using Collision Monitor": [[201, "using-collision-monitor"]], "Configuring Collision Monitor": [[201, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[201, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[201, "preparing-nav2-stack"]], "Demo Execution": [[201, "demo-execution"], [204, "demo-execution"]], "Using Docking Server": [[202, "using-docking-server"]], "ChargingDock Plugins": [[202, "chargingdock-plugins"]], "Dock Database": [[202, "dock-database"]], "Configuring Docking Server": [[202, "configuring-docking-server"]], "Adding Docking Server to Launch": [[202, "adding-docking-server-to-launch"]], "Docking Action API": [[202, "docking-action-api"]], "Putting It All Together": [[202, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[203, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[203, "visualize-behavior-trees"]], "Edit Behavior Trees": [[203, "edit-behavior-trees"]], "Adding A Custom Node": [[203, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[204, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[204, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[204, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[204, "configuring-primary-controller"]], "General Tutorials": [[205, "general-tutorials"]]}, "indexentries": {}}) \ 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", 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158, 159, 164, 166, 172, 178, 179, 181, 182, 183, 184, 185, 187, 189, 193, 195, 196, 198, 200, 201, 202, 203, 204], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 104, 153, 159, 166, 167, 169, 170, 171, 172, 173, 174, 179, 180, 184, 185, 189, 190, 195, 197, 199, 200], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 28, 90, 93, 106, 110, 131, 132, 153, 159, 166, 169, 171, 172, 173, 174, 179, 180, 184, 185, 189, 191, 192, 195, 196, 197, 198, 199, 200], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 99, 106, 160, 161, 166, 169, 170, 174, 193, 196], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 27, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 122, 126, 153, 155, 157, 158, 159, 160, 164, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 188, 189, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 109, 158, 165, 182, 185, 186, 189, 191, 195, 198], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 109, 154, 155, 156, 160, 169, 171, 172, 173, 177, 179, 181, 182, 184, 185, 189, 195, 197, 198, 199, 200], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 27, 153, 158, 162, 163, 164, 185, 191, 203], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 157], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 26, 27, 39, 80, 90, 91, 92, 93, 99, 103, 106, 109, 111, 113, 115, 116, 119, 123, 141, 146, 154, 155, 156, 158, 160, 161, 162, 163, 164, 166, 169, 172, 173, 174, 176, 178, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 196, 197, 199, 200, 203, 204], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 27, 99, 141, 158, 166, 182, 185, 186], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 20, 93, 122, 125, 126, 155, 156, 158, 162, 163, 164, 165, 169, 170, 176, 178, 179, 181, 182, 184, 187, 189, 191, 193, 196, 200, 202], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 158], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 20, 21, 22, 23, 24, 25, 26, 29, 30, 41, 45, 46, 48, 55, 56, 57, 59, 60, 61, 62, 63, 65, 67, 71, 75, 83, 85, 86, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 114, 115, 116, 117, 118, 120, 121, 122, 123, 124, 125, 126, 127, 129, 130, 132, 133, 134, 135, 136, 137, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 158, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 188, 189, 191, 197, 199, 201, 202, 204], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 19, 90, 106, 165, 169, 170, 171, 172, 174, 199], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 22, 65, 67, 90, 93, 98, 99, 106, 109, 111, 116, 121, 122, 123, 125, 126, 142, 155, 156, 158, 159, 160, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 197, 199, 200, 201, 202, 203, 204], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 18, 19, 21, 22, 23, 24, 26, 55, 56, 65, 66, 68, 74, 75, 89, 90, 92, 93, 94, 95, 96, 97, 106, 108, 109, 114, 115, 117, 123, 133, 134, 135, 136, 140, 141, 142, 153, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 174, 176, 179, 181, 182, 183, 184, 185, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "long": [2, 4, 9, 14, 22, 27, 92, 93, 97, 108, 113, 114, 117, 122, 126, 130, 142, 164, 166, 174, 178, 182, 185, 189, 190, 196, 202], "qt": 2, "setup": [2, 27, 100, 153, 154, 155, 156, 159, 166, 171, 179, 182, 183, 184, 185, 186, 189, 191, 193, 197, 198, 199, 201, 202], "help": [2, 3, 4, 5, 8, 11, 16, 21, 23, 24, 27, 41, 96, 106, 109, 142, 157, 158, 161, 163, 164, 165, 166, 167, 169, 171, 173, 176, 178, 180, 181, 183, 184, 185, 186, 189, 192, 193, 197, 200, 203, 204], "udrf": 2, "need": [2, 4, 11, 13, 21, 22, 23, 24, 26, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 93, 96, 97, 98, 99, 106, 108, 109, 114, 117, 141, 154, 155, 156, 158, 160, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203], "A": [2, 3, 6, 10, 13, 17, 18, 19, 22, 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, 61, 62, 63, 64, 67, 77, 78, 79, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 102, 103, 105, 106, 107, 110, 113, 115, 117, 118, 121, 124, 127, 140, 142, 155, 156, 158, 160, 162, 163, 164, 165, 170, 176, 178, 179, 181, 182, 183, 185, 186, 187, 188, 189, 191, 193, 194, 195, 196, 199, 200, 202, 204], "extrem": [2, 18, 89, 102, 106, 121, 163, 182], "benefici": [2, 27, 106, 121, 174, 191], "wai": [2, 9, 18, 21, 23, 24, 27, 85, 93, 103, 106, 117, 119, 141, 142, 152, 154, 163, 164, 165, 166, 179, 183, 185, 186, 187, 189, 191, 196, 198, 200, 202, 204], "minim": [2, 11, 106, 154, 159, 164, 165, 174, 178, 181, 185, 193], "friction": 2, "provid": [2, 4, 7, 11, 17, 18, 19, 21, 23, 24, 26, 27, 28, 41, 44, 49, 52, 53, 58, 64, 90, 91, 93, 94, 98, 100, 105, 106, 111, 116, 122, 126, 148, 149, 154, 155, 156, 158, 159, 160, 164, 165, 166, 169, 170, 171, 172, 173, 174, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 193, 194, 195, 196, 198, 202, 203], "gui": [2, 156, 159, 181, 184, 188, 189, 196, 203], "tool": [2, 4, 15, 27, 153, 154, 155, 156, 158, 160, 162, 163, 174, 180, 182, 183, 184, 189, 191, 192, 196, 197, 202], "cover": [2, 27, 90, 123, 158, 163, 166, 178, 185, 186, 189, 191, 196, 197, 199, 201], "broad": [2, 7, 180, 185, 202], "stroke": [2, 180], "visual": [2, 89, 90, 93, 94, 98, 109, 155, 156, 160, 164, 166, 181, 185, 187, 192, 193, 196, 198, 199, 200, 201], "show": [2, 26, 124, 142, 156, 159, 164, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202], "what": [2, 6, 19, 27, 106, 127, 157, 158, 159, 164, 177, 181, 182, 183, 184, 186, 187, 189, 195, 196, 202], "like": [2, 4, 8, 13, 14, 17, 18, 19, 20, 21, 23, 24, 26, 27, 93, 105, 106, 113, 117, 140, 141, 155, 156, 158, 159, 160, 163, 164, 166, 169, 170, 171, 174, 176, 179, 180, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 194, 196, 197, 198, 199, 200, 202, 203, 204], "select": [2, 3, 5, 7, 17, 27, 44, 49, 52, 53, 58, 89, 90, 91, 106, 107, 110, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 155, 156, 163, 165, 167, 170, 171, 176, 179, 180, 182, 184, 187, 190, 191, 192, 194, 197, 199, 202, 203, 204], "layer": [2, 4, 7, 10, 11, 98, 118, 121, 123, 124, 140, 141, 143, 155, 160, 161, 163, 164, 171, 182, 185, 189, 196, 197, 200], "recoveri": [2, 17, 21, 22, 23, 24, 29, 30, 59, 63, 81, 92, 93, 94, 160, 161, 162, 165, 169, 170, 174, 176, 187], "paramet": [2, 13, 18, 19, 25, 27, 28, 41, 50, 51, 71, 83, 86, 88, 101, 155, 161, 162, 167, 169, 170, 171, 172, 173, 174, 178, 179, 181, 182, 184, 185, 186, 187, 188, 190, 191, 192, 193, 195, 196, 197, 199, 201, 202, 203, 204], "urdf": [2, 27, 159, 179, 180, 183, 185, 193, 198], "footprint": [2, 55, 89, 90, 92, 98, 100, 106, 114, 121, 122, 125, 126, 141, 142, 146, 164, 165, 166, 167, 171, 176, 178, 180, 184, 201], "frame": [2, 27, 41, 56, 61, 65, 67, 76, 83, 89, 90, 91, 92, 93, 96, 98, 99, 100, 104, 105, 114, 117, 118, 121, 122, 124, 126, 130, 153, 161, 172, 173, 179, 181, 182, 183, 184, 188, 193, 196, 201, 202], "option": [2, 3, 6, 9, 42, 43, 89, 90, 91, 96, 99, 106, 141, 156, 163, 164, 165, 171, 182, 184, 187, 188, 189, 190, 191, 192, 193, 194, 200, 202, 203], "compli": [2, 178, 181, 196], "standard": [2, 6, 10, 91, 106, 158, 182, 183, 188, 196, 197, 199, 202, 203], "control": [2, 4, 7, 9, 11, 13, 17, 18, 20, 21, 22, 23, 24, 26, 28, 33, 44, 47, 60, 61, 77, 78, 79, 81, 82, 83, 84, 88, 90, 98, 100, 109, 113, 116, 124, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 160, 161, 162, 167, 169, 170, 171, 174, 175, 177, 179, 180, 181, 184, 186, 187, 189, 191, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205], "minimum": [2, 9, 27, 71, 88, 89, 90, 91, 92, 96, 98, 99, 100, 102, 105, 106, 109, 116, 119, 122, 126, 129, 133, 135, 141, 142, 147, 150, 163, 164, 165, 166, 167, 176, 178, 182, 183], "maximum": [2, 27, 45, 57, 61, 62, 88, 89, 90, 91, 92, 96, 97, 98, 99, 100, 102, 105, 106, 109, 110, 112, 116, 122, 124, 126, 129, 133, 135, 140, 141, 142, 163, 164, 165, 166, 172, 176, 182, 190, 193, 197, 199, 202], "speed": [2, 7, 9, 19, 25, 26, 27, 30, 46, 88, 90, 92, 96, 97, 98, 105, 106, 109, 116, 121, 129, 140, 141, 142, 154, 155, 163, 164, 166, 172, 174, 176, 178, 185, 193, 196, 201, 202, 205], "kinemat": [2, 100, 101, 106, 110, 112, 113, 160, 163, 166, 176, 178, 181, 184, 185, 196, 204], "from": [2, 5, 6, 7, 8, 9, 11, 12, 18, 19, 20, 21, 22, 23, 24, 26, 27, 41, 44, 48, 49, 52, 53, 55, 56, 58, 61, 62, 66, 67, 89, 90, 91, 92, 93, 95, 96, 97, 98, 99, 100, 102, 104, 105, 106, 109, 110, 111, 115, 116, 117, 122, 124, 125, 126, 140, 141, 142, 144, 147, 148, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 167, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 190, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "dropdown": 2, "possibl": [2, 14, 27, 92, 102, 106, 109, 155, 160, 163, 164, 165, 166, 172, 174, 178, 179, 185, 190, 191, 193, 196, 197, 199, 201], "note": [2, 17, 19, 20, 21, 22, 23, 26, 27, 41, 90, 91, 92, 96, 97, 98, 99, 100, 103, 105, 108, 109, 114, 116, 117, 121, 124, 142, 158, 160, 164, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 195, 196, 197, 199, 200, 202, 203, 204], "throughout": [2, 66, 155, 161, 164, 184, 186, 193], "prompt": [2, 156, 189, 191], "aid": [2, 22], "appropri": [2, 18, 97, 106, 108, 116, 124, 158, 159, 164, 165, 166, 174, 178, 181, 183, 184, 185, 191, 193, 201, 203], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 17, 18, 23, 24, 27, 41, 61, 89, 90, 91, 96, 97, 100, 101, 102, 106, 109, 110, 116, 118, 121, 124, 140, 141, 142, 150, 154, 155, 156, 158, 160, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "specif": [2, 3, 6, 11, 17, 18, 21, 22, 23, 24, 26, 27, 30, 46, 94, 98, 106, 109, 142, 155, 156, 161, 162, 163, 164, 165, 166, 167, 170, 172, 173, 174, 178, 181, 182, 183, 185, 187, 188, 189, 191, 197, 198, 202, 203, 204], "after": [2, 10, 20, 21, 23, 24, 26, 27, 90, 91, 93, 100, 106, 109, 110, 111, 116, 125, 127, 134, 136, 139, 140, 141, 142, 158, 159, 163, 164, 166, 167, 171, 172, 173, 174, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202, 203, 204], "item": [2, 11, 18, 26, 27, 177], "preview": 2, "how": [2, 7, 17, 26, 27, 81, 90, 91, 94, 96, 102, 106, 115, 122, 126, 130, 144, 145, 148, 149, 155, 157, 158, 161, 165, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204], "effect": [2, 4, 90, 96, 123, 140, 155, 162, 164, 181, 185, 197], "high": [2, 3, 4, 5, 6, 8, 27, 90, 102, 106, 109, 112, 115, 116, 126, 140, 141, 142, 158, 160, 161, 163, 176, 178, 181, 185, 190, 193], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 18, 20, 27, 56, 61, 65, 67, 83, 88, 89, 90, 91, 92, 93, 96, 98, 100, 102, 104, 105, 106, 111, 113, 114, 118, 121, 124, 133, 141, 142, 143, 144, 145, 146, 148, 149, 154, 155, 156, 158, 160, 161, 163, 164, 165, 167, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 190, 191, 193, 196, 197, 199, 200, 201, 203], "support": [2, 6, 13, 14, 26, 27, 44, 49, 52, 53, 58, 89, 109, 113, 153, 155, 156, 160, 161, 162, 165, 167, 176, 178, 182, 184, 185, 189, 190, 197, 199, 200, 202, 203], "panel": [2, 113, 184, 203], "displai": [2, 89, 108, 141, 142, 163, 167, 179, 181, 182, 184, 185, 189, 190, 196, 199, 203], "python3": [2, 12, 13, 26, 160, 163, 164, 165], "json": [2, 155, 156], "pars": [2, 27, 99, 155], "3d": [2, 4, 9, 27, 106, 126, 159, 176, 181, 182, 184, 185, 195, 196, 200], "program": [2, 26, 27, 96, 113, 141, 142, 155, 160, 164, 189, 191, 192, 194], "mayb": 2, "origin": [2, 5, 6, 8, 14, 26, 60, 61, 84, 90, 96, 98, 140, 141, 142, 157, 162, 163, 166, 179, 181, 182, 184, 187, 196, 197, 199], "number": [3, 11, 26, 27, 41, 45, 81, 89, 90, 91, 96, 97, 98, 99, 100, 106, 111, 112, 115, 119, 126, 128, 140, 141, 142, 161, 162, 163, 164, 165, 166, 167, 169, 170, 173, 176, 181, 182, 183, 184, 185, 188, 189, 190, 191, 199, 202, 203], "interfac": [3, 5, 13, 19, 27, 90, 93, 114, 155, 156, 160, 161, 162, 165, 169, 170, 171, 174, 176, 182, 187, 189, 195, 196, 200], "plan": [3, 10, 17, 18, 20, 21, 22, 27, 57, 83, 96, 99, 102, 106, 107, 109, 112, 113, 115, 122, 125, 126, 127, 130, 140, 141, 142, 158, 160, 161, 163, 164, 165, 166, 170, 172, 173, 174, 176, 177, 178, 179, 182, 183, 185, 187, 197, 200, 202], "two": [3, 18, 19, 27, 81, 89, 90, 96, 107, 113, 115, 140, 155, 163, 164, 165, 166, 169, 172, 173, 174, 178, 181, 182, 183, 184, 186, 189, 190, 192, 193, 196, 199, 200, 201, 202], "area": [3, 7, 27, 38, 39, 90, 98, 118, 121, 123, 124, 140, 141, 142, 158, 163, 164, 165, 166, 169, 171, 176, 182, 184, 185, 188, 189, 192, 197, 199], "algorithm": [3, 15, 17, 21, 23, 24, 27, 96, 100, 106, 109, 111, 112, 113, 140, 158, 160, 161, 163, 164, 165, 166, 171, 172, 176, 179, 182, 184, 185, 187, 190, 192, 193], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 26, 27, 28, 41, 42, 43, 47, 48, 50, 51, 57, 60, 61, 72, 74, 83, 85, 93, 94, 96, 97, 99, 100, 102, 105, 107, 108, 109, 110, 111, 112, 113, 114, 115, 127, 138, 140, 141, 142, 143, 148, 149, 153, 154, 155, 160, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 179, 181, 182, 184, 185, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 202, 203, 204], "refer": [3, 18, 27, 65, 67, 83, 90, 92, 93, 97, 98, 102, 109, 111, 113, 118, 121, 124, 154, 155, 156, 161, 162, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 189, 190, 194, 196, 197, 199, 201, 202, 203], "trajectori": [3, 4, 10, 90, 95, 102, 116, 127, 130, 132, 143, 144, 145, 146, 148, 149, 150, 163, 165, 166, 173, 176, 178, 179, 185], "simpl": [3, 27, 28, 100, 111, 119, 141, 142, 156, 158, 161, 169, 170, 171, 173, 176, 178, 179, 183, 184, 185, 187, 191, 194, 196, 198, 202, 203, 204], "tutori": [3, 8, 15, 18, 89, 90, 93, 94, 163, 165, 166, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 201, 202, 203, 204], "found": [3, 8, 19, 22, 26, 27, 76, 90, 95, 106, 110, 113, 127, 140, 141, 142, 155, 156, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 181, 182, 184, 186, 192, 195, 196, 197, 198, 199, 200], "current": [3, 9, 11, 12, 14, 18, 19, 24, 26, 27, 46, 56, 61, 66, 83, 86, 88, 89, 90, 93, 99, 100, 106, 108, 109, 110, 116, 117, 118, 121, 123, 124, 142, 154, 158, 160, 162, 163, 164, 165, 166, 167, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 189, 194, 196, 201, 202, 203, 204], "one": [3, 5, 7, 8, 11, 14, 18, 26, 27, 41, 80, 84, 90, 96, 103, 106, 111, 142, 155, 156, 162, 163, 164, 166, 170, 171, 174, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 201, 202, 203, 204], "navfn": [3, 28, 106, 110, 111, 113, 161, 176, 178, 179, 185, 187, 204], "which": [3, 9, 18, 19, 22, 24, 26, 27, 28, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 55, 59, 60, 61, 62, 63, 83, 84, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 100, 102, 103, 105, 106, 108, 109, 113, 114, 116, 117, 118, 119, 121, 123, 124, 155, 159, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203], "implement": [3, 5, 6, 7, 10, 20, 21, 23, 24, 27, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 59, 62, 63, 81, 91, 92, 93, 97, 98, 99, 100, 102, 103, 105, 106, 107, 108, 109, 113, 114, 115, 116, 117, 122, 123, 125, 126, 140, 141, 142, 156, 158, 161, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 185, 186, 187, 198, 200, 202, 203], "dijkstra": [3, 107, 164, 176, 178], "teb": [3, 106, 161, 165, 176, 178, 185, 204], "dwa": [3, 176, 178], "elast": [3, 161, 178, 204], "band": [3, 161, 178, 196, 204], "optim": [3, 17, 22, 27, 96, 99, 106, 113, 120, 121, 140, 141, 155, 160, 163, 164, 165, 166, 176, 178, 179, 185, 186, 188, 193, 202, 204], "techniqu": [3, 4, 6, 27, 90, 100, 111, 112, 113, 163, 182, 185, 193, 196], "There": [3, 14, 18, 19, 27, 105, 106, 153, 154, 158, 161, 163, 164, 171, 176, 178, 182, 183, 189, 191, 196, 197, 202, 204], "hybrid": [3, 110, 113, 140, 142, 155, 160, 163, 164, 165, 176, 178, 179, 185, 204], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 21, 23, 24, 27, 90, 113, 115, 153, 155, 156, 164, 166, 177, 184, 185, 186, 191, 202, 204, 205], "your": [3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 17, 18, 26, 27, 90, 93, 103, 105, 106, 109, 110, 113, 115, 116, 141, 142, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 180, 182, 183, 184, 185, 186, 188, 191, 192, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204], "qualiti": [3, 8, 25, 27, 96, 106, 112, 113, 141, 142, 158, 160, 164, 166, 181, 193, 196, 202], "altern": [3, 22, 27, 61, 155, 156, 163, 166, 179, 181, 191], "consid": [3, 14, 18, 29, 30, 46, 55, 59, 89, 90, 91, 93, 94, 98, 106, 136, 141, 142, 151, 158, 162, 163, 165, 166, 169, 170, 172, 173, 174, 176, 178, 180, 185, 186, 189, 193, 196, 197, 201, 202], "approv": [3, 158], "phase": [3, 6, 142], "discuss": [3, 6, 19, 27, 93, 158, 162, 163, 164, 172, 173, 178, 179, 180, 181, 182, 183, 184, 186, 189, 196, 202, 204], "d": [3, 20, 104, 123, 158, 166, 167, 174, 179, 181, 184, 189, 191, 192, 193, 195, 198, 202, 203, 204], "variant": [3, 6, 27, 106, 109, 163, 176, 178, 189], "vornoi": 3, "graph": [3, 10, 115, 142, 165, 177, 192], "rout": [3, 10, 26, 27, 41, 99, 106, 141, 174, 177, 185, 186], "state": [3, 15, 19, 21, 23, 24, 26, 66, 90, 96, 97, 98, 100, 101, 102, 103, 106, 109, 110, 113, 116, 118, 134, 136, 140, 159, 160, 162, 163, 164, 167, 169, 170, 172, 173, 174, 176, 178, 179, 181, 182, 183, 185, 186, 196, 198, 199, 202, 203, 204], "lattic": [3, 110, 113, 140, 141, 160, 164, 165, 176, 177, 178, 185, 204], "kinodynam": 3, "method": [3, 4, 6, 17, 21, 23, 24, 26, 27, 99, 100, 103, 106, 122, 126, 144, 145, 148, 149, 158, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 191, 192, 202, 203], "given": [3, 6, 22, 26, 27, 30, 33, 34, 46, 57, 59, 90, 92, 99, 106, 111, 112, 118, 162, 163, 164, 165, 166, 170, 171, 172, 173, 176, 178, 181, 185, 187, 189, 192, 196, 202, 203], "static": [3, 27, 89, 90, 91, 98, 122, 126, 141, 142, 158, 160, 164, 170, 176, 179, 182, 185, 186, 190, 196, 200, 201, 202], "cilqr": 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176, 177, 184, 185, 186, 190, 191, 193, 197, 199, 201, 202], "environ": [4, 5, 9, 10, 12, 27, 100, 102, 113, 153, 154, 155, 156, 158, 159, 160, 178, 179, 181, 182, 183, 185, 189, 193, 196, 197, 200, 201, 202], "been": [4, 6, 14, 18, 19, 21, 23, 24, 27, 56, 65, 89, 92, 93, 95, 97, 106, 108, 113, 114, 115, 117, 140, 141, 142, 155, 158, 162, 163, 164, 165, 166, 167, 171, 172, 173, 176, 179, 182, 183, 184, 185, 189, 192, 196, 200, 201, 202], "oper": [4, 5, 21, 23, 24, 27, 90, 96, 99, 106, 109, 116, 118, 156, 159, 160, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 188, 189, 193, 196, 201, 203], "presenc": [4, 106, 185, 197], "explicitli": [4, 26, 156, 197], "model": [4, 27, 28, 89, 90, 91, 96, 100, 113, 122, 126, 141, 155, 159, 160, 162, 163, 176, 178, 181, 182, 184, 185, 195, 196, 200, 201], "characterist": [4, 12, 112, 181], "howev": [4, 6, 9, 14, 20, 21, 23, 24, 27, 89, 90, 93, 106, 111, 141, 155, 162, 163, 164, 169, 174, 179, 181, 184, 185, 187, 189, 191, 193, 196, 197, 199, 200, 201, 202, 204], "field": [4, 26, 41, 45, 67, 89, 90, 91, 97, 99, 124, 140, 162, 163, 164, 165, 166, 169, 171, 173, 174, 181, 182, 184, 186, 188, 189, 191, 193, 196, 197, 199, 200, 202], "progress": [4, 73, 97, 106, 109, 133, 135, 155, 158, 165, 177, 185, 204], "deploi": [4, 106, 160, 166, 178, 189], "fill": [4, 158, 162, 170, 188, 197, 199, 203], "consider": [4, 106, 185, 189], "must": [4, 14, 19, 26, 27, 65, 91, 98, 99, 102, 105, 109, 112, 116, 119, 122, 126, 133, 135, 141, 142, 143, 154, 158, 162, 164, 165, 166, 169, 170, 172, 173, 174, 176, 178, 181, 182, 183, 186, 187, 188, 189, 192, 195, 198, 200, 201, 202, 203], "taken": [4, 67, 81, 89, 90, 96, 106, 124, 138, 163, 171, 174, 197, 199], "respect": [4, 27, 110, 121, 163, 164, 170, 177, 178, 181, 182, 184, 185, 196, 200, 204], "peopl": [4, 9, 21, 23, 24, 90, 180], "cart": 4, "anim": [4, 190], "exist": [4, 8, 11, 12, 27, 41, 89, 90, 100, 105, 106, 119, 140, 153, 155, 158, 162, 163, 164, 166, 172, 174, 185, 189, 192, 193, 194, 196, 202, 203], "machin": [4, 27, 155, 156, 181, 182, 183, 186, 189, 203], "learn": [4, 7, 11, 18, 27, 94, 156, 160, 169, 170, 173, 182, 183, 184, 189], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 17, 26, 27, 89, 90, 93, 97, 98, 99, 104, 116, 118, 155, 156, 158, 163, 165, 166, 167, 169, 174, 178, 180, 181, 183, 185, 189, 193, 196, 198, 203], "tie": 4, "them": [4, 7, 21, 26, 27, 89, 97, 99, 106, 117, 121, 122, 126, 142, 155, 156, 158, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 179, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 195, 196, 197, 198, 199, 201, 202, 203, 204], "scope": [4, 155, 166, 181, 182, 193, 194, 201], "retrain": 4, "otherwis": [4, 19, 64, 67, 70, 71, 72, 73, 74, 77, 78, 79, 91, 106, 111, 123, 141, 142, 163, 164, 166, 176, 181, 185, 186, 189, 199], "becom": [4, 11, 17, 18, 27, 98, 103, 106, 115, 161, 164, 166, 181, 183, 184, 193], "expert": [4, 14], "some": [4, 7, 11, 13, 17, 18, 19, 21, 26, 27, 44, 49, 50, 51, 52, 53, 58, 89, 92, 93, 97, 106, 108, 111, 113, 114, 116, 117, 121, 141, 155, 158, 159, 161, 163, 164, 166, 170, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 189, 190, 191, 193, 194, 196, 197, 201, 202, 203], "basic": [4, 5, 17, 18, 26, 27, 142, 161, 163, 164, 171, 174, 178, 179, 180, 181, 182, 183, 189, 191, 193, 200], "knowledg": [4, 7, 11, 158, 191, 200], "alreadi": [4, 7, 106, 162, 163, 164, 169, 179, 181, 184, 185, 189, 191, 193, 196, 202], "start": [4, 5, 12, 19, 20, 21, 23, 24, 26, 27, 42, 43, 61, 89, 90, 96, 100, 102, 106, 109, 110, 126, 141, 157, 158, 160, 162, 163, 164, 166, 169, 171, 172, 173, 174, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 200, 201, 202, 203, 204], "point": [4, 9, 10, 14, 17, 18, 19, 21, 22, 23, 24, 26, 27, 55, 56, 89, 90, 96, 98, 99, 102, 106, 107, 109, 110, 111, 112, 115, 117, 118, 121, 127, 140, 141, 142, 144, 146, 148, 158, 160, 162, 163, 164, 165, 167, 171, 172, 173, 174, 176, 179, 181, 182, 183, 184, 185, 186, 188, 189, 191, 193, 195, 196, 200, 201, 202, 203, 204], "driven": [4, 185], "includ": [4, 6, 7, 10, 13, 14, 18, 26, 27, 81, 93, 94, 113, 118, 132, 154, 155, 156, 157, 158, 160, 161, 162, 163, 167, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 189, 191, 192, 194, 197, 198, 199, 200, 201, 202, 204], "go": [4, 14, 18, 22, 26, 27, 85, 90, 103, 106, 115, 122, 126, 158, 159, 160, 163, 164, 166, 170, 172, 179, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 196, 197, 199, 201, 202], "yolact": 4, "edg": [4, 99, 106, 166, 183, 197], "replac": [4, 5, 10, 11, 93, 96, 104, 159, 161, 164, 165, 166, 167, 169, 171, 173, 174, 185, 187, 189, 190, 193, 196, 198, 200, 201, 202], "detectron2": 4, "benchmark": [4, 7, 11], "capabl": [4, 7, 10, 15, 26, 155, 156, 160, 163, 166, 167, 177, 182, 193, 194, 196, 204], "gpu": [4, 155, 202], "verifi": [4, 27, 146, 156, 181, 182, 184, 196], "suffici": [4, 18, 27, 106, 142, 151, 174, 190, 192, 193], "tangent": [4, 188, 196], "involv": [4, 5, 6, 11, 18, 20, 106, 109, 157, 163, 165, 166, 179, 186, 189, 193], "identifi": [4, 7, 11, 13, 155, 163, 171, 178, 192], "few": [4, 11, 14, 19, 26, 85, 96, 99, 154, 155, 166, 178, 182, 185, 189, 191, 202], "produc": [4, 27, 89, 90, 92, 93, 97, 102, 106, 108, 114, 117, 164, 165, 166, 169, 173, 178, 182, 185, 193, 196, 201], "about": [4, 7, 9, 11, 21, 22, 23, 24, 27, 89, 118, 121, 124, 153, 154, 155, 156, 158, 160, 163, 165, 166, 169, 170, 171, 173, 174, 181, 182, 183, 184, 185, 189, 190, 191, 192, 193, 195, 196, 199, 202, 203], "power": [4, 18, 96, 106, 156, 160, 164, 185, 189], "intel": [4, 14, 106, 164], "cpu": [4, 7, 90, 155, 164, 185, 186, 193], "nvidia": [4, 100, 166, 189, 193, 202], "jetson": [4, 189, 193, 202], "soc": 4, "extern": [4, 21, 23, 24, 26, 89, 97, 100, 103, 137, 154, 155, 161, 162, 165, 166, 186, 189, 193, 205], "next": [4, 5, 18, 19, 21, 22, 23, 24, 27, 41, 106, 116, 117, 137, 139, 155, 159, 161, 162, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 189, 190, 199, 203], "mark": [4, 27, 96, 98, 122, 123, 126, 146, 165, 174, 182, 185, 190, 197, 199, 200, 203], "ensur": [4, 9, 11, 13, 20, 21, 23, 24, 27, 90, 97, 103, 106, 109, 116, 155, 156, 158, 161, 163, 164, 165, 166, 178, 179, 183, 184, 185, 186, 189, 192, 200], "doe": [4, 9, 19, 21, 22, 23, 24, 89, 90, 95, 100, 106, 121, 123, 141, 142, 154, 155, 163, 164, 165, 166, 169, 172, 173, 174, 179, 181, 185, 186, 187, 189, 196, 197, 199, 202, 203], "collid": [4, 9, 179], "permit": [4, 158, 197], "direct": [4, 61, 90, 96, 106, 109, 113, 116, 128, 141, 142, 147, 154, 155, 163, 166, 177, 178, 183, 188, 195, 196, 201], "collabor": [4, 14, 158], "member": [4, 158, 169, 172, 173, 174], "detect": [4, 27, 57, 61, 89, 90, 95, 96, 100, 109, 155, 166, 179, 181, 182, 185, 188, 194, 202], "real": [4, 9, 12, 27, 90, 97, 116, 158, 181, 182, 183, 184, 188, 189, 194, 196], "live": [4, 27, 156, 163, 169, 183, 185, 189, 195, 198, 203], "demonstr": [4, 10, 26, 90, 154, 164, 166, 167, 171, 196, 200, 201, 202], "85": [4, 12], "higher": [4, 6, 9, 12, 18, 27, 90, 96, 97, 98, 99, 100, 102, 104, 106, 116, 118, 141, 142, 160, 163, 164, 165, 166, 167, 174, 185, 186, 194, 197, 199, 202, 203], "python": [4, 10, 142, 160, 163, 166, 181, 196, 197, 199, 202], "geometri": [4, 5, 9, 90, 181, 182, 184, 189], "statist": [4, 9, 192], "relat": [4, 11, 13, 14, 25, 27, 90, 95, 118, 119, 121, 124, 154, 155, 163, 164, 166, 180, 183, 184, 196], "wa": [5, 11, 18, 19, 21, 23, 26, 27, 45, 57, 62, 89, 90, 92, 93, 97, 106, 107, 108, 109, 114, 115, 117, 138, 140, 141, 142, 155, 158, 161, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 176, 178, 179, 182, 184, 185, 186, 190, 191, 192, 196, 197, 199, 201, 202, 203, 204], "eth": 5, "zurich": 5, "later": [5, 106, 141, 142, 155, 156, 158, 164, 169, 170, 171, 172, 173, 174, 182, 189, 192, 200, 202, 203], "transfer": 5, "anybot": 5, "univers": [5, 183], "librari": [5, 6, 7, 10, 15, 26, 27, 41, 93, 99, 161, 162, 164, 169, 171, 172, 173, 174, 182, 183, 187, 189, 191, 200, 203], "basi": [5, 106, 185, 189], "variou": [5, 27, 92, 106, 114, 154, 155, 164, 165, 176, 177, 181, 183, 184, 189], "form": [5, 41, 90, 115, 166, 171, 182, 183, 189], "avail": [5, 9, 26, 27, 76, 89, 90, 98, 99, 106, 109, 115, 153, 154, 156, 158, 161, 163, 164, 171, 176, 178, 181, 182, 185, 186, 187, 188, 189, 191, 194, 196, 200, 202], "top": [5, 7, 11, 18, 98, 169, 171, 172, 173, 174, 183, 187, 188, 190, 192, 197, 199, 203], "download": [5, 155, 188, 189], "packag": [5, 8, 17, 26, 27, 89, 90, 93, 94, 95, 98, 100, 102, 106, 109, 110, 113, 116, 142, 153, 154, 155, 158, 159, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 196, 197, 199, 201, 202, 204], "grid_map": 5, "metapackag": [5, 166], "costmap_2d": [5, 166, 171, 182], "code": [5, 6, 15, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 64, 77, 78, 79, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 140, 155, 156, 158, 161, 162, 164, 167, 169, 170, 171, 172, 173, 174, 176, 179, 181, 182, 184, 187, 189, 190, 191, 196, 200, 202, 204], "analyz": [5, 6, 7, 10, 26, 27, 170, 192], "abstract": [5, 11, 27, 164, 165, 202, 203], "allow": [5, 6, 8, 9, 10, 17, 18, 19, 21, 22, 23, 24, 27, 85, 90, 91, 92, 93, 98, 99, 102, 106, 107, 109, 115, 124, 140, 141, 142, 143, 146, 151, 155, 156, 158, 160, 162, 163, 164, 167, 169, 171, 172, 173, 178, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 193, 194, 196, 197, 199, 201, 202], "expect": [5, 11, 26, 91, 106, 108, 122, 126, 158, 160, 162, 163, 166, 174, 181, 186, 187, 189, 196, 202], "full": [5, 7, 12, 19, 27, 91, 98, 106, 121, 127, 141, 153, 158, 162, 163, 164, 177, 178, 179, 180, 181, 183, 184, 185, 189, 190, 193, 194, 196, 197, 199, 201, 202, 203, 204], "process": [5, 7, 8, 11, 22, 26, 27, 28, 57, 91, 93, 97, 98, 106, 108, 109, 111, 123, 141, 142, 154, 155, 157, 159, 162, 163, 165, 166, 169, 170, 174, 176, 180, 184, 185, 186, 189, 190, 191, 192, 193, 196, 200, 201, 202, 203, 204], "over": [5, 6, 8, 11, 14, 18, 20, 26, 27, 55, 56, 88, 90, 98, 106, 143, 158, 160, 163, 164, 165, 166, 174, 178, 179, 181, 182, 185, 186, 188, 189, 193, 196, 197, 200, 201, 204], "cours": [5, 11, 155, 184, 193], "summer": [5, 11], "earli": [5, 11, 16], "design": [5, 6, 8, 26, 27, 95, 100, 106, 111, 113, 163, 165, 171, 185, 190, 197, 199, 201, 203], "gradient": [5, 27, 96, 111, 164, 171], "complement": [5, 162, 196], "startup": [5, 27, 103, 153, 155, 159, 162, 186, 188, 189, 197, 199], "merg": [5, 13, 155, 158, 162, 171], "branch": [5, 13, 22, 141, 142, 153, 154, 155, 158, 164, 187, 189], "2d": [5, 15, 26, 27, 28, 89, 90, 102, 110, 112, 113, 122, 126, 141, 159, 160, 162, 163, 171, 172, 173, 174, 176, 178, 179, 185, 193, 195, 196, 197, 200, 204], "low": [5, 18, 19, 71, 100, 106, 111, 116, 141, 161, 176, 185], "level": [5, 9, 18, 21, 23, 24, 27, 90, 95, 104, 112, 158, 160, 163, 164, 165, 167, 186, 192, 193, 197, 199, 201, 202, 203], "object": 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173, 174, 181, 182, 184, 185, 189, 195, 202, 204], "same": [11, 18, 26, 27, 41, 66, 68, 89, 90, 91, 93, 96, 106, 109, 116, 140, 141, 142, 155, 156, 158, 159, 160, 161, 162, 164, 165, 166, 169, 171, 174, 182, 184, 185, 186, 189, 191, 192, 193, 196, 197, 199, 200, 201, 202, 204], "dd": [11, 155], "particip": [11, 158], "network": [11, 27, 155, 161, 164, 170, 189, 202], "import": [11, 17, 26, 27, 41, 96, 106, 113, 116, 155, 158, 174, 177, 179, 182, 183, 184, 185, 186, 190, 191, 192, 196, 197, 199, 202, 203, 204], "overhead": [11, 185, 202], "each": [11, 18, 21, 23, 24, 25, 26, 27, 66, 89, 90, 91, 92, 93, 97, 98, 106, 108, 110, 114, 116, 139, 156, 158, 160, 161, 163, 164, 165, 166, 169, 170, 171, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 196, 197, 199, 201, 202, 203], "usag": [11, 26, 118, 155, 166, 167, 183, 184, 186, 189, 196, 201], "executor": [11, 26, 27, 117, 163, 165], "further": [11, 19, 22, 106, 112, 141, 142, 155, 158, 164, 166, 183, 191, 193], "dai": [11, 90, 189], "when": [11, 18, 19, 20, 21, 23, 27, 41, 61, 65, 69, 71, 75, 83, 85, 86, 88, 89, 90, 91, 92, 97, 98, 99, 100, 102, 103, 106, 108, 109, 110, 115, 116, 117, 118, 121, 124, 138, 141, 142, 147, 151, 153, 155, 156, 158, 160, 162, 163, 164, 169, 170, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 196, 197, 199, 201, 202, 203, 204], "built": [11, 155, 158, 171, 179, 180, 181, 182, 184, 185, 188, 189, 190, 191, 196, 197, 198, 199, 200, 201, 202, 204], "were": [11, 14, 18, 27, 92, 161, 162, 163, 164, 165, 166, 167, 183, 184, 185, 186, 189, 197, 199, 201], "mani": [11, 17, 18, 21, 23, 24, 27, 81, 90, 91, 100, 160, 161, 162, 166, 171, 176, 182, 183, 185, 187, 189, 191, 192, 193, 194, 197, 199, 202, 203, 204], "handl": [11, 18, 22, 26, 27, 90, 92, 93, 97, 99, 100, 103, 105, 108, 114, 117, 155, 163, 164, 165, 169, 170, 171, 172, 173, 174, 182, 184, 185, 186, 191, 202], "action": [11, 18, 26, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 63, 81, 83, 84, 85, 86, 89, 90, 92, 93, 97, 98, 99, 100, 106, 108, 114, 117, 159, 160, 161, 165, 167, 169, 170, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 187, 189, 194, 195, 196, 197, 199, 201, 203], "request": [11, 14, 18, 20, 26, 27, 92, 93, 97, 99, 104, 105, 106, 107, 108, 110, 114, 140, 141, 142, 155, 156, 158, 162, 163, 164, 165, 166, 167, 169, 170, 172, 174, 176, 185, 186, 187, 191, 198, 199, 202, 203, 204], "callback": [11, 13, 27, 163, 174], "now": [11, 18, 19, 21, 22, 90, 159, 161, 162, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 187, 189, 191, 192, 193, 194, 195, 196, 200, 202, 203], "spinner": 11, "group": [11, 13, 14, 27, 86, 119, 158, 165, 176, 190], "individu": [11, 27, 89, 90, 95, 113, 158, 161, 164, 165, 185, 189, 198, 202], "f": [11, 109, 155, 160, 198], "bt": [11, 17, 18, 19, 20, 21, 22, 23, 24, 27, 56, 82, 93, 96, 100, 159, 160, 162, 174, 176, 186, 194, 202, 203, 205], "spin": [11, 18, 19, 21, 22, 23, 24, 25, 26, 27, 36, 94, 152, 162, 163, 164, 165, 166, 169, 170, 176, 189], "messag": [11, 26, 27, 29, 30, 41, 42, 43, 44, 45, 46, 49, 52, 53, 58, 59, 62, 89, 90, 91, 92, 95, 97, 98, 100, 108, 122, 124, 126, 155, 158, 163, 165, 166, 169, 170, 172, 174, 181, 186, 193, 196, 197, 199, 201, 202], "trigger": [11, 18, 19, 21, 23, 24, 27, 54, 83, 85, 87, 89, 90, 100, 102, 106, 109, 110, 118, 155, 162, 163, 164, 165, 176, 186, 187, 189, 201, 202, 204], "own": [11, 17, 27, 90, 91, 113, 155, 158, 161, 162, 163, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 185, 186, 189, 192, 193, 196, 197, 198, 199, 201, 202], "suppli": [11, 27, 83, 86, 88, 93], "context": [11, 13, 18, 19, 21, 22, 23, 24, 94, 154, 170, 176, 189, 203], "trust": [11, 156, 160, 193, 196], "me": [11, 158, 166], "sai": [11, 18, 19, 27, 158, 191], "achiev": [11, 96, 106, 109, 113, 116, 117, 163, 164, 165, 166, 184, 185, 193, 196], "goal": [11, 17, 18, 19, 20, 21, 23, 24, 26, 27, 33, 34, 42, 43, 47, 48, 50, 51, 55, 56, 60, 66, 67, 68, 73, 84, 85, 88, 92, 93, 94, 96, 97, 99, 100, 102, 107, 108, 109, 110, 114, 115, 117, 127, 133, 134, 135, 136, 140, 141, 142, 144, 145, 151, 152, 159, 161, 162, 169, 170, 172, 173, 174, 181, 184, 185, 186, 187, 194, 196, 198, 199, 201, 202, 204], "let": [11, 18, 19, 27, 99, 137, 139, 153, 156, 163, 164, 169, 170, 173, 181, 182, 183, 184, 185, 189, 193, 194, 196, 199, 201], "hood": [11, 164], "rclcpp": [11, 99, 171, 172, 173, 174], "give": [11, 90, 97, 106, 116, 158, 159, 160, 162, 166, 169, 170, 177, 178, 181, 182, 183, 184, 185, 186, 189, 191, 199, 202, 204], "insight": [11, 164, 177, 185], "career": 11, "put": [11, 96, 164, 171, 176, 184, 186, 189, 196, 201], "know": [11, 14, 27, 99, 109, 113, 153, 158, 162, 163, 170, 171, 176, 183, 184, 189, 193, 196, 199, 202, 203], "degre": [11, 25, 89, 90, 141, 163, 166, 196], "remov": [11, 20, 21, 55, 56, 60, 61, 99, 105, 111, 119, 122, 126, 141, 142, 155, 161, 162, 167, 176, 181, 182, 185, 187, 190, 191, 192, 193, 196, 200, 201, 203, 204], "excess": 11, "determinist": [11, 27, 103, 111, 186], "compos": [11, 164, 171, 185, 186, 189, 191, 192, 197, 202], "had": [12, 14, 164, 165, 166, 182, 196], "focu": [12, 18, 26, 184, 201, 203], "ci": [12, 14, 154, 155, 156, 158, 177], "entir": [12, 19, 21, 23, 24, 90, 154, 155, 158, 176, 178, 185, 193, 201], "increas": [12, 27, 96, 100, 102, 106, 115, 120, 141, 164, 165, 183, 185, 186, 188, 189], "90": [12, 25, 90, 97, 109, 116, 177, 196], "realist": [12, 202], "activ": [12, 26, 27, 64, 77, 78, 79, 90, 92, 93, 97, 99, 103, 108, 114, 117, 153, 158, 159, 162, 163, 164, 165, 169, 172, 173, 174, 181, 182, 185, 186, 196, 202], "block": [12, 13, 26, 27, 90, 153, 164, 171, 173, 181, 184, 185, 200, 204], "worst": 12, "condit": [12, 18, 21, 23, 24, 27, 29, 30, 46, 59, 72, 73, 76, 112, 155, 164, 165, 170, 176, 181, 184, 193, 196, 197, 203, 204], "line": [12, 26, 111, 115, 140, 162, 165, 169, 171, 172, 173, 174, 178, 179, 181, 182, 183, 184, 185, 187, 189, 191, 192, 196, 201], "report": [12, 91, 106, 158, 163, 165, 170, 182], "codecov": 12, "advantag": [12, 27, 165, 204], "fault": [12, 26, 27], "un": [12, 18], "gtest": 12, "repo": [12, 27, 115, 154, 156, 194, 196, 200], "compris": [13, 160, 184], "smaller": [13, 18, 27, 102, 109, 119, 141, 142, 164, 193, 197, 199], "easili": [13, 18, 27, 93, 155, 162, 163, 164, 166, 185, 192, 201, 202], "subproject": 13, "place": [13, 26, 27, 59, 98, 102, 109, 110, 120, 122, 125, 126, 140, 142, 158, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 184, 187, 188, 190, 197, 199, 201, 204], "cmd_vel": [13, 89, 90, 104, 166, 172, 181, 192, 201], "thing": [13, 27, 156, 164, 165, 171, 172, 173, 181, 184, 185, 189, 191, 192, 199], "yuk": 13, "previous": [13, 163, 164, 165, 166, 172, 174, 182, 189, 191, 192, 196, 201], "shown": [13, 18, 26, 106, 158, 159, 163, 170, 174, 178, 179, 181, 182, 186, 187, 194, 196, 199, 201, 202, 203], "onc": [13, 18, 19, 22, 76, 87, 90, 91, 99, 100, 103, 106, 110, 140, 141, 142, 154, 155, 156, 158, 159, 162, 163, 164, 166, 174, 182, 183, 184, 189, 191, 192, 195, 196, 201, 202, 204], "ve": [13, 26, 153, 158, 159, 170, 183, 186, 202, 204], "submit": [13, 158, 176], "pr": [13, 92, 93, 97, 108, 114, 117, 158, 162, 163, 164, 165, 166, 167], "instead": [13, 18, 21, 23, 24, 84, 89, 91, 92, 93, 100, 106, 107, 108, 112, 115, 127, 132, 140, 141, 142, 154, 155, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 178, 181, 182, 183, 185, 186, 187, 189, 191, 193, 194, 195, 196, 197, 201, 202], "b": [13, 158, 160, 171, 188, 194, 198, 199, 200], "reconfigur": [13, 17, 163, 164, 178, 186, 196], "meantim": 13, "wait": [13, 18, 19, 21, 22, 23, 24, 26, 27, 37, 55, 91, 92, 93, 94, 98, 100, 117, 137, 139, 156, 159, 161, 164, 166, 169, 170, 176, 182, 186, 189, 202], "done": [13, 18, 19, 27, 90, 155, 161, 162, 163, 171, 172, 173, 174, 177, 178, 182, 191, 192, 193, 202, 203], "via": [13, 19, 20, 21, 23, 24, 27, 41, 44, 49, 52, 53, 69, 89, 90, 91, 95, 113, 154, 155, 156, 158, 160, 164, 165, 166, 169, 174, 176, 183, 185, 186, 187, 192, 195, 198, 200, 202, 203], "remain": [13, 18, 19, 20, 27, 96, 106, 130, 155, 156, 161, 162, 163, 164, 166, 169, 170, 171, 172, 173, 189, 190, 204], "miss": [13, 90, 97, 116, 154, 163, 166, 184, 185, 189, 192, 203], "lock": [13, 172, 174], "atom": 13, "variabl": [13, 17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 91, 93, 123, 153, 154, 155, 159, 166, 169, 170, 172, 173, 182, 187, 189, 197, 199, 200, 203], "lower": [14, 18, 71, 90, 92, 106, 118, 141, 164, 165, 182, 185, 186], "barrier": 14, "entri": [14, 181, 187, 191, 192, 201, 202], "flagship": 14, "along": [14, 26, 27, 61, 72, 88, 102, 106, 109, 110, 118, 121, 124, 141, 142, 146, 162, 163, 164, 165, 176, 178, 182, 184, 186, 187, 191, 193, 196, 197, 199, 202], "wild": 14, "success": [14, 18, 19, 22, 27, 45, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 81, 106, 163, 164, 165, 166, 169, 170, 176, 184, 190, 196, 202, 204], "nav": [14, 26, 99, 163, 164], "educ": 14, "industri": [14, 27, 90, 109, 163, 176, 178, 197], "thank": [14, 100, 166, 202], "david": [14, 101, 176], "lu": [14, 101, 160, 176], "mike": 14, "ferguson": [14, 160], "tireless": 14, "span": [14, 160, 196, 201], "keep": [14, 18, 27, 90, 99, 106, 155, 162, 163, 166, 170, 172, 173, 176, 181, 183, 184, 189, 196, 197, 203], "aliv": 14, "happen": [14, 18, 158, 172, 189], "asla": 14, "move": [14, 18, 22, 27, 85, 89, 90, 102, 106, 118, 133, 135, 137, 141, 142, 147, 150, 160, 161, 162, 163, 164, 165, 167, 173, 176, 177, 183, 184, 185, 188, 189, 193, 194, 195, 196, 197, 198, 201, 202], "rememb": [14, 109, 153, 155, 183, 184, 196], "fondli": 14, "ish": 14, "With": [14, 17, 27, 141, 183, 189, 196, 200], "redesign": 14, "flexibl": [14, 93, 106, 169], "feedback": [14, 26, 27, 93, 102, 116, 158, 164, 167, 174, 202], "gather": [14, 27], "strive": [14, 158], "alik": 14, "pull": [14, 154, 155, 156, 158, 159, 162, 163, 164, 176, 185, 189, 191, 203], "kept": [14, 119], "dedic": [14, 109], "past": [14, 179, 181, 182, 184, 189, 196, 200], "contributor": [14, 158], "organ": [14, 154, 155, 172, 173, 189, 203], "sponsor": [14, 100, 166, 202], "lead": [14, 106, 138, 158, 163, 164, 199], "leadership": 14, "team": [14, 156, 194], "id": [14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 41, 44, 45, 49, 52, 53, 57, 58, 61, 89, 90, 94, 99, 100, 107, 115, 140, 141, 142, 155, 156, 167, 170, 172, 173, 174, 176, 181, 189, 191, 194, 201, 202, 203], "role": [14, 27, 170, 174, 178, 179, 191], "ruffin": [14, 155, 160], "white": [14, 155, 160, 190, 197], "uc": 14, "san": [14, 193], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 176], "wallac": [14, 160, 176], "locu": 14, "joshuawallac": 14, "former": [14, 89, 90], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 176], "wilcox": [14, 176], "bpwilcox": 14, "carl": [14, 176], "delsei": [14, 176], "crdelsei": 14, "alexei": [14, 160, 176], "merzlyakov": [14, 160, 176], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 160], "org": [14, 15, 158, 160, 162, 184, 185], "intention": [14, 96, 197], "find": [14, 27, 61, 92, 93, 97, 99, 102, 106, 108, 109, 114, 116, 117, 141, 142, 155, 156, 158, 159, 162, 163, 165, 166, 167, 172, 174, 178, 184, 185, 187, 189, 190, 191, 192, 194, 195, 202], "inquiri": 14, "bug": [14, 158, 177, 196], "privat": 14, "connect": [14, 19, 27, 99, 103, 107, 115, 119, 140, 155, 156, 162, 163, 164, 176, 178, 181, 182, 183, 184, 190, 196, 203], "independ": [14, 27, 92, 124, 160, 163, 165, 170, 182, 193, 201, 202], "consult": 14, "contractor": 14, "offici": [15, 154, 159, 179, 181, 182, 183, 184, 189], "websit": [15, 18, 166], "navigation2_tutori": [15, 166, 171, 179, 181, 184, 197, 199], "navigation2_dynam": 15, "robot_loc": [15, 27, 117, 181, 183, 193, 196], "tom": 15, "moor": [15, 160], "estim": [15, 90, 91, 111, 116, 159, 161, 163, 171, 172, 173, 174, 181, 182, 183, 195, 196], "odometri": [15, 17, 89, 90, 91, 93, 97, 100, 104, 116, 130, 167, 174, 180, 182, 183, 205], "fusion": [15, 27, 181, 183, 193, 196], "gp": [15, 27, 41, 99, 117, 176, 177, 181, 182, 193, 205], "slam_toolbox": [15, 154, 191, 198], "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, 61, 62, 63, 64, 65, 66, 67, 68, 71, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 93, 96, 99, 100, 101, 102, 103, 104, 105, 106, 107, 109, 110, 111, 112, 114, 115, 116, 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, 149, 150, 151, 152, 154, 155, 156, 159, 161, 162, 164, 167, 170, 171, 174, 176, 178, 179, 180, 181, 182, 185, 188, 189, 190, 193, 194, 196, 197, 201, 202, 203], "ship": [16, 26], "encount": [16, 178, 182, 191, 192], "click": [16, 156, 159, 167, 171, 172, 173, 174, 179, 182, 188, 195, 196, 203], "imag": [16, 22, 27, 96, 111, 138, 142, 161, 163, 184, 187, 188, 190, 196, 197, 199], "introduct": [17, 94, 184, 189], "To": [17, 20, 26, 27, 90, 97, 106, 115, 116, 140, 141, 143, 154, 155, 156, 158, 160, 163, 165, 166, 169, 172, 173, 174, 178, 179, 180, 181, 182, 183, 184, 188, 190, 191, 192, 194, 196, 197, 198, 199, 200, 202, 203], "walkthrough": [17, 189], "pose": [17, 19, 20, 26, 27, 42, 43, 45, 48, 50, 60, 61, 62, 67, 69, 84, 91, 96, 100, 102, 106, 107, 109, 115, 132, 134, 136, 140, 141, 142, 144, 145, 153, 159, 160, 161, 162, 163, 164, 166, 167, 171, 172, 173, 174, 176, 181, 182, 184, 185, 193, 194, 196, 198, 201, 202], "paus": [17, 139, 159, 161, 163, 164, 165], "Near": 17, "replan": [17, 19, 20, 21, 23, 56, 83, 88, 94, 127, 141, 142, 162, 163, 185, 194], "And": [17, 18, 166, 183, 184, 187, 188, 190, 197], "invalid": [17, 26, 155, 165, 174], "calibr": [17, 196, 205], "incredibli": 17, "across": [17, 27, 106, 112, 120, 141, 142, 155, 165, 166, 174, 177, 182, 183, 185, 189, 196, 203], "statu": [17, 27, 158, 160, 164, 167, 169, 170, 189, 197, 202], "checker": [17, 47, 97, 110, 127, 161, 169, 204], "section": [17, 18, 27, 90, 96, 106, 157, 158, 160, 164, 166, 171, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 189, 190, 191, 193, 199], "guid": [17, 18, 19, 154, 156, 162, 164, 165, 166, 171, 173, 177, 178, 179, 181, 182, 183, 184, 186, 193, 200, 201], "These": [17, 18, 27, 106, 155, 160, 161, 162, 163, 164, 165, 166, 170, 171, 172, 174, 178, 180, 181, 182, 183, 184, 185, 186, 187, 189, 191, 192, 193, 196, 197, 199, 202, 203], "exemplari": 17, "nav2_bt_navig": [17, 18, 93, 162, 163, 166, 174, 194, 203], "ones": [17, 141, 142, 164, 178, 182, 196], "seen": [17, 22, 113, 142, 164, 166, 170, 171, 181, 186, 189, 203], "root": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 154, 155, 156, 164, 169, 170, 172, 173, 174, 181, 182, 184, 189, 194, 202, 203], "main_tree_to_execut": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "maintre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 94, 170, 194], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 66, 94, 160, 170, 176, 194, 203], "pipelinesequ": [17, 18, 20, 21, 22, 23, 24, 94, 170, 194], "navigatewithreplan": [17, 18, 20, 21, 22, 23, 94, 170, 194], "distancecontrol": [17, 18, 94, 96, 162], "distanc": [17, 19, 20, 26, 27, 30, 46, 59, 60, 61, 65, 67, 83, 91, 92, 96, 99, 100, 102, 106, 109, 110, 127, 132, 141, 142, 147, 161, 162, 163, 166, 172, 176, 178, 181, 182, 183, 185, 194, 202, 204], "computepathtopos": [17, 18, 19, 20, 22, 23, 24, 52, 83, 86, 88, 94, 170, 174, 187, 194], "followpath": [17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 33, 44, 49, 53, 94, 97, 101, 102, 106, 109, 110, 162, 165, 166, 170, 172, 174, 178, 194, 204], "simpli": [17, 106, 141, 155, 158, 163, 164, 166, 169, 170, 181, 184, 185, 189, 191, 197, 199, 200, 203], "everi": [17, 19, 21, 23, 24, 61, 87, 96, 98, 102, 106, 109, 122, 126, 141, 158, 163, 164, 166, 170, 171], "meter": [17, 25, 26, 27, 91, 98, 99, 107, 110, 140, 141, 142, 188, 190, 196, 204], "blackboard": [17, 41, 42, 43, 47, 50, 51, 57, 66, 67, 68, 69, 85, 88, 93, 164, 165, 170, 174, 186, 187, 203], "retri": [17, 21, 23, 24, 45, 81, 100, 167, 176, 202], "contextu": [17, 18, 21, 23, 24, 160, 165, 202], "automat": [17, 27, 93, 99, 106, 109, 123, 155, 158, 159, 163, 164, 166, 179, 181, 183, 184, 185, 186, 189, 196, 197, 199, 202], "door": 17, "elev": [17, 27, 90, 97, 116, 156, 158, 166, 196], "api": [17, 27, 57, 160, 161, 163, 169, 171, 174, 182, 187, 189, 196], "subtre": [17, 19, 21, 22, 23, 24, 27, 38, 39, 40, 94, 170, 176], "dock": [17, 18, 26, 27, 28, 45, 62, 92, 166, 176, 177, 178, 205], "serv": [18, 22, 160, 164, 182, 189], "behavior_tre": [18, 26, 50, 51, 93, 162, 166, 174, 203], "sometim": [18, 158, 185, 203], "walk": [18, 19, 27, 155, 193, 196], "navigate_to_pose_w_replanning_and_recoveri": [18, 174], "familiar": [18, 27, 184, 189], "short": [18, 64, 77, 78, 79, 142, 169, 182, 183, 193, 203], "explan": [18, 95, 113, 202], "cpp": [18, 27, 160, 161, 162, 163, 164, 170, 171, 176, 191, 203], "v3": [18, 161, 162, 163], "describ": [18, 19, 106, 158, 159, 166, 171, 172, 173, 174, 178, 181, 184, 189, 191, 192, 196, 199, 200, 201, 203], "global": [18, 21, 22, 23, 24, 26, 54, 66, 67, 68, 72, 85, 91, 92, 94, 96, 98, 102, 106, 108, 109, 117, 125, 130, 141, 142, 148, 149, 161, 162, 164, 165, 171, 172, 173, 176, 179, 181, 182, 183, 184, 185, 190, 195, 197, 199, 200], "period": [18, 89, 90, 91, 92, 93, 94, 96, 97, 105, 108, 114, 116, 117, 155, 161, 164, 166, 171, 174, 176], "hz": [18, 20, 21, 22, 23, 24, 86, 88, 89, 90, 91, 94, 97, 100, 106, 116, 170, 181, 188, 194], "primarili": [18, 164, 179, 185], "recoverynod": [18, 19, 21, 22, 23, 24, 94, 170], "number_of_retri": [18, 19, 21, 22, 23, 24, 81, 94, 170], "navigaterecoveri": [18, 21, 22, 23, 24, 94, 170], "ratecontrol": [18, 20, 21, 22, 23, 24, 94, 170, 194], "planner_id": [18, 20, 21, 22, 23, 24, 26, 42, 43, 52, 94, 170, 187, 194], "gridbas": [18, 20, 21, 22, 23, 24, 42, 43, 52, 94, 107, 108, 115, 140, 141, 142, 163, 170, 173, 178, 187, 194], "reactivefallback": [18, 19, 21, 22, 23, 24, 94, 170], "computepathtoposerecoveryfallback": [18, 94], "goalupd": [18, 19, 21, 22, 23, 24, 66, 94, 170], "clearentirecostmap": [18, 21, 22, 23, 24, 94, 163, 170], "clearglobalcostmap": [18, 21, 22, 23, 24, 26, 94, 170], "service_nam": [18, 21, 22, 23, 24, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 94, 170], "global_costmap": [18, 21, 22, 23, 24, 55, 92, 94, 98, 111, 112, 114, 118, 121, 124, 169, 170, 171, 179, 182, 187, 190, 196, 197, 199, 200], "clear_entirely_global_costmap": [18, 21, 22, 23, 24, 94, 170], "controller_id": [18, 20, 21, 22, 23, 24, 26, 44, 47, 94, 163, 166, 170, 194], "followpathrecoveryfallback": [18, 94], "clearlocalcostmap": [18, 19, 21, 22, 23, 24, 26, 38, 39, 40, 94, 170], "local_costmap": [18, 21, 22, 23, 24, 38, 39, 40, 90, 92, 94, 98, 100, 119, 121, 169, 170, 171, 179, 182, 190, 197, 199], "clear_entirely_local_costmap": [18, 21, 22, 23, 24, 40, 94, 170], "recoveryfallback": [18, 21, 22, 23, 94, 170], "roundrobin": [18, 21, 22, 23, 24, 94], "recoveryact": [18, 21, 22, 23, 24, 94, 170], "sequenc": [18, 19, 20, 21, 22, 23, 24, 25, 94, 106, 155, 165, 176, 181, 186, 187, 189, 194], "clearingact": [18, 21, 22, 23, 24, 94], "spin_dist": [18, 21, 22, 23, 24, 25, 26, 59, 94, 170], "57": [18, 21, 22, 23, 24, 26, 59, 94, 100, 170, 196, 202], "wait_dur": [18, 21, 22, 23, 24, 63, 94, 170], "backup_dist": [18, 21, 22, 23, 24, 26, 30, 94, 163], "15": [18, 26, 30, 46, 74, 92, 93, 94, 96, 97, 98, 100, 108, 114, 117, 126, 166, 182, 184, 200, 202], "backup_spe": [18, 21, 22, 23, 24, 26, 30, 94, 163], "025": [18, 26, 30, 46, 94, 101, 132, 184], "still": [18, 19, 26, 103, 109, 116, 121, 153, 155, 156, 163, 164, 165, 166, 181, 182, 184, 185, 189, 191, 193, 196, 197], "bit": [18, 164, 185, 189, 191, 196], "overwhelm": 18, "broken": 18, "children": [18, 19, 22, 80, 81, 82, 85, 176, 192], "known": [18, 22, 26, 27, 91, 109, 164, 174, 176, 185, 188, 196, 200], "mainli": [18, 182, 183, 184], "actual": [18, 57, 90, 96, 106, 110, 141, 164, 174, 179, 183, 184, 185, 188, 189, 193, 195, 196, 201, 204], "calcul": [18, 26, 89, 90, 109, 118, 164, 171, 172, 173, 178, 181, 190, 196], "dealt": 18, "intern": [18, 21, 23, 24, 110, 160, 165, 166, 171, 174, 181, 186, 193, 196, 204], "hopefulli": [18, 106], "spend": 18, "fail": [18, 19, 21, 23, 24, 26, 27, 97, 100, 103, 117, 140, 141, 142, 161, 163, 164, 165, 169, 174, 176, 189, 191], "enough": [18, 165, 179, 185, 188, 189, 196, 202], "return": [18, 19, 21, 22, 23, 24, 26, 27, 41, 57, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 86, 87, 88, 106, 122, 126, 140, 141, 142, 160, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 184, 186, 187, 189, 191, 197, 199, 202], "clear": [18, 19, 21, 22, 23, 24, 26, 27, 38, 39, 40, 98, 122, 123, 125, 126, 158, 163, 164, 165, 166, 173, 176, 182, 185, 188, 193, 200, 202], "until": [18, 19, 20, 26, 27, 80, 90, 110, 127, 141, 142, 153, 155, 163, 172, 174, 176, 181, 191, 194, 196, 200, 202], "parent": [18, 19, 76, 155, 163, 169, 171, 172, 173, 181, 182, 183, 184, 191, 196], "exceed": [18, 98, 165], "gone": 18, "between": [18, 26, 27, 41, 89, 90, 91, 94, 99, 104, 106, 107, 111, 115, 140, 141, 142, 155, 156, 162, 163, 164, 165, 167, 168, 174, 178, 179, 181, 182, 183, 184, 185, 189, 193, 196, 197, 202, 203, 204], "crux": 18, "tick": [18, 19, 21, 22, 23, 24, 27, 66, 80, 83, 86, 87, 88, 164, 170, 176], "succe": [18, 19, 80, 81, 176], "recomput": 18, "try": [18, 20, 21, 23, 24, 26, 90, 99, 103, 106, 116, 117, 141, 142, 153, 155, 159, 161, 183, 184, 189, 191, 194, 197, 202, 203], "recov": [18, 91, 103], "toler": [18, 27, 61, 67, 92, 93, 96, 98, 100, 102, 106, 107, 109, 110, 112, 114, 125, 127, 134, 136, 140, 141, 142, 151, 163, 164, 166, 173, 176, 187, 195, 202, 204], "outlin": [18, 20, 163, 179, 183, 189], "center": [18, 27, 38, 39, 99, 106, 121, 140, 141, 142, 164, 169, 179, 183, 184, 188, 195, 196], "decor": [18, 20, 22, 164, 170, 176, 194, 203], "specifi": [18, 21, 22, 23, 24, 26, 41, 50, 51, 61, 66, 68, 69, 71, 81, 88, 89, 90, 93, 97, 98, 100, 105, 106, 122, 126, 138, 139, 141, 142, 154, 155, 156, 162, 163, 164, 165, 166, 167, 170, 171, 172, 173, 176, 178, 181, 182, 183, 185, 188, 189, 192, 196, 201, 202], "frequenc": [18, 19, 89, 92, 97, 98, 100, 106, 108, 116, 141, 142, 166, 181, 193, 196], "flood": 18, "too": [18, 106, 115, 141, 142, 163, 164, 166, 185, 187], "useless": 18, "100hz": 18, "depend": [18, 27, 90, 102, 106, 124, 154, 155, 156, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 178, 179, 181, 184, 185, 189, 190, 191, 193, 195, 196, 197, 201, 202], "speedcontrol": [18, 94, 162], "big": [18, 196], "half": [18, 109, 141, 142, 182], "snippet": [18, 169, 172, 173, 174, 179, 181, 182, 184, 186, 191], "rest": [18, 38, 39, 90, 97, 106, 116, 138, 156, 166, 181, 182, 183, 186, 192, 196], "asynchron": [18, 19, 27, 162], "receiv": [18, 19, 26, 27, 44, 49, 52, 53, 58, 84, 89, 90, 97, 110, 113, 116, 123, 125, 162, 164, 165, 166, 169, 172, 174, 176, 181, 182, 183, 185, 194, 196, 204], "halt": [18, 19, 22, 166], "quick": [18, 141, 142, 183, 197], "reaction": 18, "preempt": [18, 20, 26, 162, 170, 174, 176], "portion": [18, 90, 97, 116, 166, 187], "common": [18, 26, 27, 90, 100, 106, 155, 156, 160, 163, 164, 174, 181, 189, 193, 196, 201, 202], "pattern": [18, 19, 99, 188], "unless": [18, 19, 102, 103, 109, 142, 158], "pair": [18, 19, 106, 112, 124, 163, 166, 185, 188, 193, 196, 197, 199, 204], "imagin": [18, 27, 169, 176, 196], "wrap": [18, 26, 27], "whole": [18, 61, 158, 166, 171, 182, 188, 199, 201], "isbatterylow": [18, 19, 94], "batteri": [18, 19, 27, 70, 71, 100, 164, 165, 176, 189, 194, 202], "enter": [18, 21, 23, 24, 27, 106, 169, 172, 173, 174, 197, 202], "recharg": [18, 27], "never": [18, 27, 106, 141, 142, 164, 189, 197, 199], "four": [18, 27], "renavig": 18, "child": [18, 19, 22, 76, 80, 81, 83, 86, 87, 88, 164, 166, 176, 181, 182, 183, 184, 196], "sake": 18, "assum": [18, 19, 156, 163, 171, 172, 176, 179, 183, 184, 190, 191, 196, 197, 198, 199, 200, 201, 202, 203], "again": [18, 19, 20, 22, 81, 153, 155, 159, 161, 177, 181, 184, 189], "BUT": 18, "onto": [18, 21, 23, 106, 110, 164, 174, 176, 181, 183, 204], "hypothet": 18, "scenario": [18, 22, 102, 178, 201], "indefinit": [18, 19, 26, 55, 158, 194], "unlik": [18, 89, 169, 190], "vocabulari": 19, "larg": [19, 27, 90, 96, 102, 106, 109, 141, 142, 160, 162, 177, 181, 184, 185, 188, 202], "confus": 19, "first": [19, 27, 41, 80, 81, 89, 90, 106, 120, 125, 154, 155, 158, 160, 164, 165, 166, 172, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 190, 191, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203], "than": [19, 21, 23, 24, 27, 60, 61, 67, 71, 85, 90, 91, 92, 93, 97, 98, 99, 102, 103, 106, 108, 109, 110, 114, 116, 117, 118, 119, 141, 142, 155, 162, 163, 164, 165, 166, 167, 172, 174, 176, 183, 185, 189, 190, 191, 192, 193, 194, 196, 197, 198, 201, 202, 204], "actionnod": 19, "necessarili": 19, "often": [19, 27, 96, 164, 181, 189, 196], "quit": [19, 156, 164, 191, 193, 196], "fashion": 19, "commonli": [19, 44, 49, 52, 53, 58, 174, 182, 193, 196], "nav2_behavior_tre": [19, 27, 94, 162, 163, 166, 170, 174, 203], "folder": [19, 155, 156, 182, 188, 196], "client": [19, 27, 99, 161, 163, 164, 169, 170, 174, 187, 202], "clearcostmapservic": 19, "believ": [19, 193], "correctli": [19, 27, 159, 163, 164, 179, 181, 182, 183, 196, 197, 199, 201], "servic": [19, 27, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 54, 55, 91, 93, 105, 109, 155, 156, 162, 163, 165, 167, 169, 176, 178, 181, 188, 189, 196], "goalreach": [19, 83, 86, 88, 94, 166], "initialposereceiv": [19, 94], "intial_pos": 19, "listen": [19, 89, 90, 92, 153, 162, 189], "probe": [19, 155], "aspect": [19, 155, 156, 187, 188], "kei": [19, 91, 99, 154, 155, 158, 159, 174, 185, 186, 189, 190, 193, 196, 202], "Will": [19, 57, 90, 176], "travel": [19, 27, 46, 65, 83, 106, 140, 141, 142, 164, 176, 181, 182], "certain": [19, 55, 106, 162, 164, 171, 178, 180, 182, 194], "constant": [19, 99, 102, 109, 166, 172, 184, 185], "expos": [19, 27, 114, 163, 165, 189, 196], "port": [19, 93, 158, 162, 163, 164, 170, 182, 187, 189, 194, 203], "subsequ": [19, 27, 91, 141, 142, 155, 176, 193], "proport": [19, 100, 106, 141, 142, 197, 200], "previou": [19, 24, 62, 90, 106, 141, 158, 163, 165, 166, 171, 174, 176, 179, 180, 181, 182, 184, 185, 189, 196, 199, 200], "properti": [19, 90, 155, 181, 182, 201], "prior": [19, 85, 91, 161, 164], "resembl": 19, "water": 19, "pipe": [19, 165], "action_a": 19, "action_b": 19, "action_c": 19, "idl": 19, "therefor": [19, 22, 89, 106, 184, 185, 186, 191, 196, 197, 199, 201, 203], "retick": 19, "ing": 19, "even": [19, 20, 21, 23, 105, 106, 109, 116, 120, 141, 156, 160, 162, 163, 164, 166, 176, 178, 179, 180, 181, 185, 189, 191, 193, 197, 202], "though": [19, 21, 100, 106, 142, 185, 186, 189, 193, 196, 197, 199, 201], "recal": [19, 182], "loop": [19, 27, 89, 90, 97, 100, 102, 106, 109, 116, 164, 173, 174, 193, 202], "violat": 19, "usual": [19, 27, 44, 49, 52, 53, 113, 155, 163, 171, 181, 183, 186, 191, 192, 196, 197], "togeth": [19, 27, 99, 181, 183, 193, 196], "suggest": [19, 96, 106, 178, 183, 184, 189], "promot": 19, "respons": [19, 21, 23, 24, 27, 38, 39, 40, 55, 90, 103, 164, 169, 174, 178, 186], "round": [19, 82, 90, 176, 180], "robin": [19, 82, 176], "untick": 19, "That": [19, 27, 141, 158, 163, 164, 178, 179, 189], "retain": [19, 66, 111, 112, 140, 141, 142], "rather": [19, 21, 23, 24, 27, 91, 96, 98, 106, 141, 155, 161, 162, 163, 164, 166, 174, 176, 183, 185, 191, 198, 202], "step": [19, 27, 90, 92, 99, 100, 106, 142, 182, 184, 189, 191, 192, 193, 201], "did": [19, 20, 166, 169, 172, 173, 182, 184, 191, 192, 202], "On": [19, 176, 179, 182, 186, 190, 196], "circl": [19, 27, 89, 90, 185, 188, 201], "person": [20, 22, 26, 155, 158, 194], "virtual": [20, 90, 106, 159, 164, 166, 169, 170, 171, 172, 173, 174, 181, 184, 202], "carrot": [20, 109, 166], "anyth": [20, 27, 89, 163, 170, 171, 174, 185, 189, 197, 203], "publish": [20, 44, 49, 52, 53, 58, 89, 90, 91, 92, 93, 97, 98, 100, 101, 104, 105, 106, 108, 109, 114, 116, 117, 118, 121, 124, 126, 127, 137, 141, 142, 159, 161, 162, 163, 164, 166, 169, 172, 174, 176, 179, 181, 182, 185, 187, 188, 189, 193, 194, 195, 196, 198, 201, 202], "goalupdat": [20, 94, 194], "newest": [20, 100, 185], "truncatepath": [20, 94, 162, 194], "least": [20, 90, 155, 158, 163, 181, 201, 202], "awai": [20, 96, 102, 106, 110, 140, 165, 182, 185, 188, 202, 203, 204], "smooth": [20, 26, 27, 57, 88, 96, 100, 102, 106, 110, 111, 112, 114, 116, 140, 141, 142, 160, 163, 164, 165, 166, 176, 181, 185, 187, 196, 201, 204], "off": [20, 106, 110, 116, 118, 158, 164, 165, 166, 169, 184, 189, 191, 202, 204], "toward": [20, 73, 89, 90, 96, 106, 110, 141, 142, 164, 166, 173, 176, 185, 188, 195, 196, 204], "probabl": [20, 105, 123, 141, 142, 165, 182, 187], "occupi": [20, 27, 55, 98, 105, 106, 122, 123, 125, 126, 165, 182, 197], "truncat": [20, 60, 61, 96, 176], "pass": [20, 21, 23, 24, 44, 49, 52, 53, 55, 56, 75, 98, 103, 106, 110, 127, 143, 154, 164, 176, 192, 194, 197, 202, 204], "keeprunninguntilfailur": [20, 194], "mode": [20, 90, 99, 106, 116, 155, 165, 166, 193, 196, 197, 199, 203], "infinit": [20, 97, 122, 126, 141, 142, 193, 202], "cancel": [20, 22, 26, 31, 32, 33, 34, 35, 36, 37, 109, 115, 140, 141, 142, 159, 170, 172, 174, 176, 194], "controllerselector": [20, 21, 22, 23, 24, 94, 163], "selected_control": [20, 21, 22, 23, 24, 44], "default_control": [20, 21, 22, 23, 24, 44], "topic_nam": [20, 21, 22, 23, 24, 44, 49, 52, 53, 58, 105, 197, 199], "controller_selector": [20, 21, 22, 23, 24, 44], "plannerselector": [20, 21, 22, 23, 24, 94, 163], "selected_plann": [20, 21, 22, 23, 24, 52], "default_plann": [20, 21, 22, 23, 24, 52], "planner_selector": [20, 21, 22, 23, 24, 52], "input_go": [20, 21, 55, 56, 84, 194], "output_go": [20, 21, 55, 56, 84, 194], "updated_go": [20, 84, 194], "error_code_id": [20, 21, 22, 23, 24, 29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 187], "compute_path_error_cod": [20, 21, 22, 23, 24, 42, 43, 93, 187], "input_path": [20, 60, 61, 194], "output_path": [20, 60, 61, 194], "truncated_path": [20, 60, 194], "follow_path_error_cod": [20, 21, 22, 23, 24, 47, 77, 93], "intermediari": [21, 142, 160, 163], "constraint": [21, 110, 116, 142, 163, 164, 174, 176, 178, 185, 204], "final": [21, 22, 26, 27, 102, 103, 106, 140, 141, 142, 155, 163, 170, 174, 182, 185, 186, 187, 189, 193, 196, 204], "freespac": [21, 23, 24, 185], "opportun": [21, 23, 24, 166, 170, 174], "computepaththroughpos": [21, 55, 56, 94], "util": [21, 22, 23, 24, 27, 41, 99, 106, 142, 155, 160, 163, 164, 165, 166, 170, 178, 179, 181, 184, 189, 192, 197, 199, 200, 202], "By": [21, 23, 24, 27, 71, 155, 158, 159, 162, 166, 179, 182, 189, 191, 193, 197, 201], "convent": [21, 23, 24, 27, 182, 183, 186, 196], "style": [21, 23, 24, 104, 167, 185, 200], "worri": [21, 23, 24, 27, 156, 185, 191], "want": [21, 23, 24, 26, 27, 89, 106, 155, 163, 166, 169, 170, 171, 172, 173, 174, 181, 183, 184, 185, 186, 187, 189, 191, 192, 193, 195, 196, 198, 202, 203], "caller": [21, 23, 24, 202], "ampl": [21, 23, 24], "transient": [21, 23, 24, 44, 49, 52, 53, 58], "crowd": [21, 23, 24, 178], "temporari": [21, 22, 23, 24, 92, 93, 97, 108, 114, 117, 193, 199], "nomin": [21, 23, 24], "vector": [21, 27, 41, 42, 50, 55, 56, 66, 68, 88, 89, 90, 92, 93, 97, 98, 99, 100, 103, 106, 107, 108, 111, 114, 115, 116, 121, 122, 123, 126, 127, 140, 164, 165, 166, 171, 173, 174, 176, 178, 179, 185, 191, 197, 199, 200], "removepassedgo": [21, 94, 163, 166], "cull": [21, 55, 56, 176], "awar": [21, 23, 24, 96, 106, 113, 115, 140, 141, 142, 160, 163, 182, 185, 202], "similarli": [21, 23, 89, 95, 109, 166, 181, 189], "impact": [21, 23, 99, 106, 166, 185, 191], "worth": [21, 23, 27, 106, 180, 185, 189, 190], "reactiv": [21, 23, 194], "fallback": [21, 23, 24, 90, 201, 202], "exit": [21, 23, 27, 97, 100, 103, 162, 164, 189, 191, 192, 202], "preemption": [21, 23, 166, 170, 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"nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[164, "galactic-to-humble"]], "Major improvements to Smac Planners": [[164, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[164, "simple-python-commander"]], "Reduce Nodes and Executors": [[164, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[164, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[164, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[164, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[164, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[164, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[164, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[164, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[164, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[164, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[164, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[164, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[164, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[164, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[164, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[164, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[164, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[164, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[164, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[164, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[164, "dynamic-composition"]], "BT Cancel Node": [[164, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[164, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[164, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[164, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[164, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[164, "euclidean-distance-2d"]], "Recovery To Behavior": [[164, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[164, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[164, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[164, "goal-checker-api-changed"]], "Added Assisted Teleop": [[164, "added-assisted-teleop"]], "Humble to Iron": [[165, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[165, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[165, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[165, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[165, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[165, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[165, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[165, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[165, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[165, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[165, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[165, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[165, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[165, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[165, "smootherselector-bt-node"]], "Publish Costmap Layers": [[165, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[165, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[165, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[165, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[165, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[165, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[165, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[165, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[165, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[165, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[165, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[165, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[165, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[165, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[165, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[165, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[165, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[166, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[166, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[166, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[166, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[166, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[166, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[166, "opennav-coverage-project"]], "opennav_docking Project": [[166, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[166, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[166, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[166, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[166, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[166, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[166, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[166, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[166, "mppi-acceleration"]], "Move Error Code Enumerations": [[166, "move-error-code-enumerations"]], "Substitution in parameter file": [[166, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[166, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[166, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[166, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[166, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[166, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[166, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[166, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[166, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[166, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[166, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[166, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[166, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[166, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[166, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[166, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[166, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[166, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[166, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[166, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[166, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[166, "new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers"]], "RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing": [[166, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[166, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[166, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[166, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[166, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[166, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[166, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[166, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[166, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[166, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[166, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[166, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to K-Turtle": [[167, "jazzy-to-k-turtle"]], "New Nav2 Loopback Simulator": [[167, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[167, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[167, "new-rviz-panel-for-docking"]], "New BT Nodes": [[167, "new-bt-nodes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[167, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[167, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[167, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[167, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Added optional collision checking for the Docking Server": [[167, "added-optional-collision-checking-for-the-docking-server"]], "Migration Guides": [[168, "migration-guides"]], "Writing a New Behavior Plugin": [[169, "writing-a-new-behavior-plugin"]], "Requirements": [[169, "requirements"], [170, "requirements"], [171, "requirements"], [172, "requirements"], [173, "requirements"], [174, "requirements"], [187, "requirements"], [188, "requirements"], [190, "requirements"], [195, "requirements"], [196, "requirements"], [197, "requirements"], [198, "requirements"], [199, "requirements"], [201, "requirements"], [202, "requirements"]], "Tutorial Steps": [[169, "tutorial-steps"], [170, "tutorial-steps"], [171, "tutorial-steps"], [172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [187, "tutorial-steps"], [188, "tutorial-steps"], [190, "tutorial-steps"], [194, "tutorial-steps"], [195, "tutorial-steps"], [196, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[169, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[169, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[169, "pass-the-plugin-name-through-params-file"], [173, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[169, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[170, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[170, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[170, "exporting-the-planner-plugin"], [173, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[170, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[170, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[171, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[171, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[171, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[171, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[171, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[172, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[172, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[172, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[172, "pass-the-plugin-name-through-the-params-file"], [174, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[172, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[173, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[173, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[173, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[174, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[174, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[174, "exporting-the-navigator-plugin"]], "4- Run plugin": [[174, "run-plugin"]], "Plugin Tutorials": [[175, "plugin-tutorials"]], "Navigation Plugins": [[176, "navigation-plugins"]], "Behavior-Tree Navigators": [[176, "behavior-tree-navigators"]], "Costmap Layers": [[176, "costmap-layers"]], "Waypoint Task Executors": [[176, "waypoint-task-executors"]], "Goal Checkers": [[176, "goal-checkers"]], "Progress Checkers": [[176, "progress-checkers"]], "Behavior Tree Nodes": [[176, "behavior-tree-nodes"]], "Roadmaps": [[177, "roadmaps"]], "Jazzy Roadmap": [[177, "jazzy-roadmap"]], "Iron Roadmap": [[177, "iron-roadmap"]], "Humble Roadmap": [[177, "humble-roadmap"]], "Setting Up Navigation Plugins": [[178, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[178, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[178, "selecting-the-algorithm-plugins"]], "Summary": [[178, "summary"], [178, "id1"]], "Example Configuration": [[178, "example-configuration"], [178, "id2"]], "Conclusion": [[178, "conclusion"], [179, "conclusion"], [181, "conclusion"], [182, "conclusion"], [183, "conclusion"], [184, "conclusion"], [186, "conclusion"], [189, "conclusion"], [196, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[179, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[179, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[179, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[179, "build-run-and-verification"], [181, "build-run-and-verification"], [181, "id4"], [182, "build-run-and-verification"], [182, "id2"]], "Visualizing Footprint in RViz": [[179, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[180, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[181, "setting-up-odometry"]], "Odometry Introduction": [[181, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[181, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[181, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[181, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[181, "adding-gazebo-plugins-to-a-urdf"], [182, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[181, "launch-and-build-files"], [181, "id3"], [182, "launch-and-build-files"]], "Robot Localization Demo": [[181, "robot-localization-demo"]], "Configuring Robot Localization": [[181, "configuring-robot-localization"]], "Setting Up Sensors": [[182, "setting-up-sensors"]], "Sensor Introduction": [[182, "sensor-introduction"]], "Common Sensor Messages": [[182, "common-sensor-messages"]], "sensor_msgs/LaserScan": [[182, "sensor-msgs-laserscan"]], "sensor_msgs/PointCloud2": [[182, "sensor-msgs-pointcloud2"]], "sensor_msgs/Range": [[182, "sensor-msgs-range"]], "sensor_msgs/Image": [[182, "sensor-msgs-image"]], "Simulating Sensors using Gazebo": [[182, "simulating-sensors-using-gazebo"]], "Mapping and Localization": [[182, "mapping-and-localization"]], "Configuring nav2_costmap_2d": [[182, "configuring-nav2-costmap-2d"]], "Launching Description Nodes, RViz and Gazebo": [[182, "launching-description-nodes-rviz-and-gazebo"]], "Launching slam_toolbox": [[182, "launching-slam-toolbox"]], "Launching Nav2": [[182, "launching-nav2"]], "Visualizing Costmaps in RViz": [[182, "visualizing-costmaps-in-rviz"]], "Setting Up Transformations": [[183, "setting-up-transformations"]], "Transforms Introduction": [[183, "transforms-introduction"]], "Static Transform Publisher Demo": [[183, "static-transform-publisher-demo"]], "Transforms in Navigation2": [[183, "transforms-in-navigation2"]], "Setting Up The URDF": [[184, "setting-up-the-urdf"]], "URDF and the Robot State Publisher": [[184, "urdf-and-the-robot-state-publisher"]], "Setting Up the Environment": [[184, "setting-up-the-environment"]], "Writing the URDF": [[184, "writing-the-urdf"]], "Build and Launch": [[184, "build-and-launch"]], "Visualization using RVIZ": [[184, "visualization-using-rviz"]], "Adding Physical Properties": [[184, "adding-physical-properties"]], "Tuning Guide": [[185, "tuning-guide"]], "Inflation Potential Fields": [[185, "inflation-potential-fields"]], "Robot Footprint vs Radius": [[185, "robot-footprint-vs-radius"]], "Rotate in Place Behavior": [[185, "rotate-in-place-behavior"]], "Planner Plugin Selection": [[185, "planner-plugin-selection"]], "Controller Plugin Selection": [[185, "controller-plugin-selection"]], "Caching Obstacle Heuristic in Smac Planners": [[185, "caching-obstacle-heuristic-in-smac-planners"]], "Costmap2D Plugins": [[185, "costmap2d-plugins"]], "Nav2 Launch Options": [[185, "nav2-launch-options"]], "Other Pages We\u2019d Love To Offer": [[185, "other-pages-we-d-love-to-offer"]], "Adding a New Nav2 Task Server": [[186, "adding-a-new-nav2-task-server"]], "Lifecycle Nodes": [[186, "lifecycle-nodes"]], "Composition": [[186, "composition"]], "Error codes": [[186, "error-codes"]], "Adding a Smoother to a BT": [[187, "adding-a-smoother-to-a-bt"]], "0- Familiarization with the Smoother BT Node": [[187, "familiarization-with-the-smoother-bt-node"]], "1- Specifying a Smoother Plugin": [[187, "specifying-a-smoother-plugin"]], "2- Modifying your BT XML": [[187, "modifying-your-bt-xml"]], "Camera Calibration": [[188, "camera-calibration"]], "Docker for Development: Zero to Hero": [[189, "docker-for-development-zero-to-hero"]], "Preliminaries": [[189, "preliminaries"], [191, "preliminaries"], [192, "preliminaries"]], "Important Docker Commands": [[189, "important-docker-commands"]], "Exploring Your First Container": [[189, "exploring-your-first-container"]], "Understanding ROS Docker Images": [[189, "understanding-ros-docker-images"]], "For Docker-Based Development": [[189, "for-docker-based-development"]], "Building a Development Image": [[189, "building-a-development-image"]], "Visualizations from Docker": [[189, "visualizations-from-docker"]], "For Docker-Based Deployment": [[189, "for-docker-based-deployment"]], "Appendix": [[189, "appendix"]], "Nav2 Development Image": [[189, "nav2-development-image"]], "Nav2 Deployment Image": [[189, "nav2-deployment-image"]], "Filtering of Noise-Induced Obstacles": [[190, "filtering-of-noise-induced-obstacles"]], "1. Enable Denoise Layer": [[190, "enable-denoise-layer"]], "2. Run Nav2 stack": [[190, "run-nav2-stack"]], "How it works": [[190, "how-it-works"]], "Get Backtrace in ROS 2 / Nav2": [[191, "get-backtrace-in-ros-2-nav2"]], "From a Node": [[191, "from-a-node"]], "From a Launch File": [[191, "from-a-launch-file"]], "From Large Project": [[191, "from-large-project"]], "From Nav2 Bringup": [[191, "from-nav2-bringup"], [192, "from-nav2-bringup"]], "Automatic backtrace on crash": [[191, "automatic-backtrace-on-crash"]], "Profiling in ROS 2 / Nav2": [[192, "profiling-in-ros-2-nav2"]], "Profile from a Node": [[192, "profile-from-a-node"]], "Profile from a Launch File": [[192, "profile-from-a-launch-file"]], "Interpreting Results": [[192, "interpreting-results"]], "Using VIO to Augment Robot Odometry": [[193, "using-vio-to-augment-robot-odometry"]], "Setting Up the ZED X Camera": [[193, "setting-up-the-zed-x-camera"]], "Setting Up ZED ROS": [[193, "setting-up-zed-ros"]], "Fusing VIO Into Local State Estimate": [[193, "fusing-vio-into-local-state-estimate"]], "Fusing VSLAM Into Global State Estimate": [[193, "fusing-vslam-into-global-state-estimate"]], "Testing it Out!": [[193, "testing-it-out"]], "Dynamic Object Following": [[194, "dynamic-object-following"]], "0- Create the Behavior Tree": [[194, "create-the-behavior-tree"]], "1- Setup Rviz clicked point": [[194, "setup-rviz-clicked-point"]], "2- Run Dynamic Object Following in Nav2 Simulation": [[194, "run-dynamic-object-following-in-nav2-simulation"]], "Navigating with a Physical Turtlebot 3": [[195, "navigating-with-a-physical-turtlebot-3"]], "0- Setup Your Environment Variables": [[195, "setup-your-environment-variables"]], "1- Launch Turtlebot 3": [[195, "launch-turtlebot-3"]], "2- Launch Nav2": [[195, "launch-nav2"]], "3- Launch RVIZ": [[195, "launch-rviz"]], "4- Initialize the Location of Turtlebot 3": [[195, "initialize-the-location-of-turtlebot-3"]], "5- Send a Goal Pose": [[195, "send-a-goal-pose"]], "Navigating Using GPS Localization": [[196, "navigating-using-gps-localization"]], "GPS Localization Overview": [[196, "gps-localization-overview"]], "0- Setup Gazebo World": [[196, "setup-gazebo-world"]], "1- Setup GPS Localization system": [[196, "setup-gps-localization-system"]], "Local Odometry": [[196, "local-odometry"]], "Global Odometry": [[196, "global-odometry"]], "Navsat Transform": [[196, "navsat-transform"]], "Localization Testing": [[196, "localization-testing"]], "2- Setup Navigation system": [[196, "setup-navigation-system"]], "3- Interactive GPS Waypoint Follower": [[196, "interactive-gps-waypoint-follower"]], "4- Logged GPS Waypoint Follower & Waypoint Logging": [[196, "logged-gps-waypoint-follower-waypoint-logging"]], "Navigating with Keepout Zones": [[197, "navigating-with-keepout-zones"]], "1. 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