[skip ci] publish latest

Signed-off-by: navigation2-ci <[email protected]>

2021summerOfCode/Summer_2021_Student_Program.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/assisted_teleop.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/create_plugins.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/dynamic.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/grid_maps.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/localization.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/multithreading.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/navigation_rebranding.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/safety_node.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/semantics.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/spinners.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/testing.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

2021summerOfCode/projects/twist_n_config.html

@@ -912,6 +912,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers">New option for the Voxel and Obstacle Layers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated">use_interpolation RPP Parameter Depreciated</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>

_sources/configuration/packages/configuring-regulated-pp.rst.txt

@@ -279,17 +279,6 @@ Regulated Pure Pursuit Parameters
   Description
     Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. If set to ``-1``, it will use the maximum distance possible to search every point on the path for the nearest path point.
 
-:use_interpolation:
-
-  ============== =============================
-  Type           Default                      
-  -------------- -----------------------------
-  bool           true                         
-  ============== =============================
-
-  Description
-    Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities.
-
 Example
 *******
 .. code-block:: yaml
@@ -339,4 +328,3 @@ Example
         rotate_to_heading_min_angle: 0.785
         max_angular_accel: 3.2
         max_robot_pose_search_dist: 10.0
-        use_interpolation: false

_sources/migration/Iron.rst.txt

@@ -28,6 +28,10 @@ New option for the Voxel and Obstacle Layers
 `PR #3612 <https://github.com/ros-planning/navigation2/pull/3612>`_ adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and
 easily prevent the robot to go through places that are not present in the static map.
 
+use_interpolation RPP Parameter Depreciated 
+*******************************************
+After a distribution of testing by many users, we have depreciated the use_interpolation parameter and it is now default on at all times without the ability to disable. It improves velocity smoothness and overall quality of tracking positively in all cases.
+
 Changes to MPPI Goal Critic
 ***************************