From b27b6903a0039dbb5ec7b382e6400eda3859e178 Mon Sep 17 00:00:00 2001 From: navigation2-ci Date: Tue, 19 Nov 2024 00:46:02 +0000 Subject: [PATCH] [skip ci] publish latest Signed-off-by: navigation2-ci --- _sources/setup_guides/index.rst.txt | 3 +++ searchindex.js | 2 +- setup_guides/index.html | 2 ++ 3 files changed, 6 insertions(+), 1 deletion(-) diff --git a/_sources/setup_guides/index.rst.txt b/_sources/setup_guides/index.rst.txt index 0efb49f89..6d5b58b90 100644 --- a/_sources/setup_guides/index.rst.txt +++ b/_sources/setup_guides/index.rst.txt @@ -20,6 +20,9 @@ To guide you through the first-time setup of your robot, we will be tackling the - Select and set up planner and controller navigation plugins for your robot's navigation tasks - Lifecycle node management for easy bringup of other related sensors or nodes +The simulator of record in these tutorials is Gazebo Classic, which is the default simulator in ROS 2 Humble, Iron and all previous distributions. +When using Jazzy or newer, consider that the simulation elements of the tutorial may be out of date and are worth looking at other resources like `nav2_minimal_turtlebot_simulation `_ which fully leverages modern Gazebo with Nav2. + **Table of Contents:** .. toctree:: diff --git a/searchindex.js b/searchindex.js index 27cc3887d..4b51a227f 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", 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"configuration/packages/bt-plugins/actions/NavigateThroughPoses", "configuration/packages/bt-plugins/actions/NavigateToPose", "configuration/packages/bt-plugins/actions/PlannerSelector", "configuration/packages/bt-plugins/actions/ProgressCheckerSelector", "configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization", "configuration/packages/bt-plugins/actions/RemoveInCollisionGoals", "configuration/packages/bt-plugins/actions/RemovePassedGoals", "configuration/packages/bt-plugins/actions/Smooth", "configuration/packages/bt-plugins/actions/SmootherSelector", "configuration/packages/bt-plugins/actions/Spin", "configuration/packages/bt-plugins/actions/TruncatePath", "configuration/packages/bt-plugins/actions/TruncatePathLocal", "configuration/packages/bt-plugins/actions/UndockRobot", "configuration/packages/bt-plugins/actions/Wait", "configuration/packages/bt-plugins/conditions/AreErrorCodesPresent", "configuration/packages/bt-plugins/conditions/DistanceTraveled", 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"migration/Humble.rst", "migration/Iron.rst", "migration/Jazzy.rst", "migration/index.rst", "plugin_tutorials/docs/writing_new_behavior_plugin.rst", "plugin_tutorials/docs/writing_new_bt_plugin.rst", "plugin_tutorials/docs/writing_new_costmap2d_plugin.rst", "plugin_tutorials/docs/writing_new_nav2controller_plugin.rst", "plugin_tutorials/docs/writing_new_nav2planner_plugin.rst", "plugin_tutorials/docs/writing_new_navigator_plugin.rst", "plugin_tutorials/index.rst", "plugins/index.rst", "roadmap/roadmap.rst", "setup_guides/algorithm/select_algorithm.rst", "setup_guides/footprint/setup_footprint.rst", "setup_guides/index.rst", "setup_guides/odom/setup_odom.rst", "setup_guides/sensors/setup_sensors.rst", "setup_guides/transformation/setup_transforms.rst", "setup_guides/urdf/setup_urdf.rst", "tuning/index.rst", "tutorials/docs/adding_a_nav2_task_server.rst", "tutorials/docs/adding_smoother.rst", "tutorials/docs/camera_calibration.rst", "tutorials/docs/docker_dev.rst", "tutorials/docs/filtering_of_noise-induced_obstacles.rst", "tutorials/docs/get_backtrace.rst", "tutorials/docs/get_profile.rst", "tutorials/docs/integrating_vio.rst", "tutorials/docs/navigation2_dynamic_point_following.rst", "tutorials/docs/navigation2_on_real_turtlebot3.rst", "tutorials/docs/navigation2_with_gps.rst", "tutorials/docs/navigation2_with_keepout_filter.rst", "tutorials/docs/navigation2_with_slam.rst", "tutorials/docs/navigation2_with_speed_filter.rst", "tutorials/docs/navigation2_with_stvl.rst", "tutorials/docs/using_collision_monitor.rst", "tutorials/docs/using_docking.rst", "tutorials/docs/using_groot.rst", "tutorials/docs/using_shim_controller.rst", "tutorials/index.rst"], "titles": ["Projects for 2021 Summer Student Program", "3. Assisted Teleop", "1. Create a Configuration Assistant (Analog to MoveIt)", "2. Create New Planner and Controller Plugins", "1. Navigation Dynamic Obstacle Integration", "3. Port Grid Maps to ROS 2 and Environmental Model", "6. 2D/3D Localization Improvements", "4. Navigation MultiThreading", "5. Navigation Branding and Website", "5. Navigation Safety Node", "6. Semantic Integration", "7. Reduce ROS 2 Nodes and Determinism", "2. Advanced Navigation Testing Framework", "8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration", "About and Contact", "Related Projects", "Robots Using", "Nav2 Behavior Trees", "Detailed Behavior Tree Walkthrough", "Introduction To Nav2 Specific Nodes", "Follow Dynamic Point", "Navigate Through Poses", "Navigate To Pose and Pause Near Goal-Obstacle", "Navigate To Pose", "Navigate To Pose With Consistent Replanning And If Path Becomes Invalid", "Odometry Calibration", "Simple Commander API", "Navigation Concepts", "Configuration Guide", "AssistedTeleop", "BackUp", "CancelAssistedTeleop", "CancelBackUp", "CancelControl", "CancelCoverage", "CancelDriveOnHeading", "CancelSpin", "CancelWait", "ClearCostmapAroundRobot", "ClearCostmapExceptRegion", "ClearEntireCostmap", "ComputeCoveragePath", "ComputePathThroughPoses", "ComputePathToPose", "ControllerSelector", "DockRobot", "DriveOnHeading", "FollowPath", "GetPoseFromPath", "GoalCheckerSelector", "NavigateThroughPoses", "NavigateToPose", "PlannerSelector", "ProgressCheckerSelector", "ReinitializeGlobalLocalization", "RemoveInCollisionGoals", "RemovePassedGoals", "SmoothPath", "SmootherSelector", "Spin", "TruncatePath", "TruncatePathLocal", "UndockRobot", "Wait", "AreErrorCodesPresent", "DistanceTraveled", "GloballyUpdatedGoal", "GoalReached", "GoalUpdated", "InitialPoseReceived", "IsBatteryCharging", "IsBatteryLow", "IsPathValid", "IsStuck", "PathExpiringTimer", "TimeExpired", "TransformAvailable", "WouldAControllerRecoveryHelp", "WouldAPlannerRecoveryHelp", "WouldASmootherRecoveryHelp", "PipelineSequence", "RecoveryNode", "RoundRobin", "DistanceController", "GoalUpdater", "PathLongerOnApproach", "RateController", "SingleTrigger", "SpeedController", "Collision Detector Node", "Collision Monitor Node", "AMCL", "Behavior Server", "Behavior-Tree Navigator", "Behavior Tree XML Nodes", "Collision Monitor", "Constrained smoother", "Controller Server", "Costmap 2D", "Coverage Server", "Docking Server", "DWB Controller", "Graceful Controller", 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205], "should": [1, 2, 3, 6, 9, 11, 17, 18, 22, 27, 41, 55, 77, 78, 79, 81, 88, 89, 90, 92, 93, 96, 97, 98, 102, 105, 106, 108, 109, 114, 116, 117, 119, 122, 124, 126, 141, 142, 156, 158, 159, 161, 162, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204], "make": [1, 2, 7, 9, 10, 11, 12, 13, 14, 19, 21, 23, 24, 25, 27, 41, 60, 61, 93, 97, 102, 106, 109, 110, 115, 122, 124, 126, 141, 152, 153, 155, 156, 158, 162, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204], "sure": [1, 2, 7, 12, 26, 93, 106, 122, 126, 153, 155, 158, 163, 166, 171, 174, 176, 179, 181, 182, 185, 188, 190, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "local": [1, 3, 9, 10, 11, 18, 21, 23, 24, 26, 44, 49, 52, 53, 58, 91, 92, 97, 102, 103, 104, 106, 109, 116, 127, 130, 134, 136, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 171, 172, 173, 174, 176, 178, 179, 183, 185, 189, 190, 197, 199, 200, 201, 202, 205], "costmap": [1, 2, 4, 5, 7, 10, 18, 19, 20, 21, 23, 24, 28, 38, 39, 40, 55, 90, 92, 95, 96, 97, 102, 108, 109, 114, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 143, 146, 160, 161, 164, 171, 172, 173, 178, 179, 185, 190, 196, 205], "sensor": [1, 5, 7, 9, 21, 23, 24, 27, 89, 90, 95, 98, 100, 119, 122, 126, 155, 160, 162, 163, 165, 176, 178, 179, 180, 181, 183, 184, 185, 186, 189, 190, 193, 196, 200, 201, 202], "data": [1, 4, 7, 9, 10, 26, 27, 89, 90, 92, 93, 95, 97, 106, 112, 116, 122, 123, 126, 140, 141, 142, 155, 160, 163, 165, 166, 176, 181, 182, 183, 185, 186, 188, 189, 192, 193, 196, 197, 199, 200, 201, 202], "order": [1, 11, 27, 41, 98, 99, 103, 106, 117, 120, 124, 160, 161, 163, 164, 166, 167, 170, 171, 172, 174, 179, 181, 182, 184, 185, 186, 187, 188, 189, 193, 197, 199, 202, 203], "avoid": [1, 27, 55, 90, 92, 93, 95, 96, 97, 98, 106, 108, 109, 114, 117, 121, 123, 142, 155, 160, 163, 164, 166, 171, 178, 179, 181, 182, 183, 184, 185, 189, 201], "take": [1, 9, 12, 17, 21, 22, 26, 27, 41, 42, 43, 47, 50, 51, 66, 67, 68, 69, 85, 88, 89, 90, 91, 92, 93, 97, 99, 103, 106, 108, 110, 111, 112, 114, 117, 125, 138, 140, 141, 155, 158, 159, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 202, 204], "posit": [1, 4, 61, 89, 90, 97, 100, 102, 134, 135, 136, 159, 161, 163, 164, 166, 170, 171, 172, 173, 174, 181, 182, 183, 184, 185, 190, 193, 194, 195, 196, 198], "veloc": [1, 4, 9, 13, 28, 88, 89, 90, 92, 95, 97, 100, 102, 104, 109, 110, 124, 128, 129, 132, 136, 147, 150, 151, 160, 163, 166, 169, 172, 176, 177, 178, 181, 185, 201, 204], "command": [1, 9, 22, 29, 44, 49, 52, 53, 58, 84, 90, 97, 104, 109, 110, 116, 132, 154, 155, 156, 160, 162, 167, 169, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 191, 193, 194, 195, 198, 199, 204], "attempt": [1, 18, 20, 21, 23, 24, 26, 27, 85, 100, 103, 105, 106, 112, 119, 140, 141, 142, 156, 166, 189, 191, 193, 197, 202], "follow": [1, 2, 3, 9, 10, 17, 18, 21, 23, 24, 26, 28, 47, 57, 84, 90, 92, 96, 97, 98, 102, 105, 108, 109, 116, 124, 137, 138, 139, 141, 142, 154, 156, 158, 159, 160, 161, 162, 163, 164, 165, 169, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 204, 205], "exampl": [1, 7, 15, 16, 17, 18, 19, 22, 27, 113, 154, 155, 156, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 203, 204], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 89, 90, 92, 93, 96, 97, 100, 106, 108, 114, 117, 153, 155, 160, 161, 164, 165, 166, 169, 171, 174, 176, 178, 185, 186, 189, 190, 191, 192, 193, 194, 196, 199, 200, 202, 203, 204], "drive": [1, 25, 26, 35, 46, 96, 106, 109, 113, 141, 142, 160, 163, 172, 176, 178, 179, 181, 182, 184, 185, 196, 197, 202], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 103, 106, 115, 122, 126, 141, 142, 155, 158, 159, 160, 162, 163, 164, 165, 166, 171, 176, 178, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 196, 197, 198, 199, 200, 202, 204], "space": [1, 4, 10, 20, 27, 89, 90, 91, 98, 105, 106, 107, 109, 115, 118, 122, 125, 126, 140, 141, 142, 155, 156, 163, 164, 176, 178, 181, 185, 189, 190, 195, 197, 202], "visit": [1, 27, 141, 142, 158, 196], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 156, 157, 159, 160, 164, 165, 169, 170, 171, 172, 173, 174, 183, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 73, 164, 176, 185], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 96, 99, 106, 110, 118, 142, 158, 160, 161, 164, 165, 166, 170, 172, 173, 174, 176, 183, 184, 185, 189, 196, 202, 203], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 141, 142, 153, 155, 156, 158, 160, 166, 171, 179, 181, 182, 183, 184, 185, 188, 189, 191, 192, 193, 194, 195, 197, 198, 199, 200, 203], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 99, 106, 117, 139, 141, 142, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 174, 181, 184, 185, 189, 193, 196, 198, 201], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 83, 86, 87, 88, 90, 96, 97, 98, 106, 107, 110, 112, 113, 115, 125, 140, 141, 142, 154, 158, 160, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 199, 200, 201, 202, 203, 204], "excel": [1, 7, 9, 196, 204], "chanc": [1, 7, 9, 19, 164], "substanti": [1, 106, 141, 158, 161, 185], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 90, 91, 97, 103, 104, 106, 116, 154, 155, 156, 158, 159, 160, 161, 164, 166, 167, 174, 178, 182, 183, 184, 185, 186, 187, 188, 189, 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": 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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, 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, 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, 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, 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": 3, "ilqr": 3, "mpc": [3, 106, 165, 176, 178], "spline": 3, "addit": [3, 11, 19, 21, 22, 23, 24, 27, 41, 89, 90, 93, 95, 141, 154, 155, 163, 164, 165, 170, 174, 178, 181, 182, 184, 185, 191, 192, 193, 196, 201], "complet": [3, 4, 5, 12, 17, 18, 19, 22, 26, 27, 34, 57, 90, 99, 100, 102, 106, 109, 110, 134, 136, 141, 142, 151, 155, 158, 159, 160, 161, 162, 163, 164, 165, 166, 169, 170, 174, 176, 177, 178, 179, 181, 182, 184, 186, 187, 188, 189, 192, 193, 195, 196, 198, 200, 202, 203, 204], "50": [3, 90, 100, 106, 118, 164, 182, 191, 196, 199, 202], "greater": [3, 102, 106, 115, 155, 172, 186], "coverag": [3, 4, 6, 12, 17, 27, 28, 34, 41, 160, 166, 174, 176, 177, 185, 186], "motion": [3, 4, 27, 91, 96, 100, 102, 141, 142, 150, 151, 163, 176, 178, 181, 183, 193, 196, 201, 203], "pluginlib": [3, 27, 161, 169, 171, 172, 173, 174, 187, 189, 200], "robust": [4, 6, 27, 203], "wide": [4, 18, 27, 141, 166, 169, 185, 193], "rang": [4, 7, 71, 89, 90, 91, 98, 109, 122, 124, 126, 155, 162, 163, 166, 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": [5, 10, 11, 26, 27, 41, 84, 99, 106, 160, 163, 164, 165, 166, 169, 171, 174, 180, 182, 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106, 107, 113, 115, 116, 132, 140, 141, 142, 144, 145, 148, 149, 155, 164, 166, 174, 178, 179, 181, 183, 184, 186, 193, 197, 199, 201], "10": [6, 11, 14, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 46, 47, 50, 51, 54, 59, 63, 72, 86, 89, 90, 92, 93, 96, 97, 99, 101, 102, 103, 106, 108, 109, 110, 112, 114, 117, 120, 126, 133, 135, 137, 140, 141, 142, 150, 163, 165, 166, 169, 184, 187, 188, 189, 190, 191, 194, 196, 202, 204], "year": [6, 14, 160], "essenti": [6, 141, 142, 164, 182, 185, 202], "updat": [6, 7, 11, 12, 18, 19, 20, 27, 66, 74, 84, 91, 98, 100, 104, 113, 121, 125, 155, 158, 161, 164, 165, 166, 169, 170, 171, 172, 174, 176, 179, 181, 183, 185, 189, 190, 193, 194, 196, 198, 199, 202, 203], "made": [6, 8, 27, 90, 97, 98, 103, 133, 135, 155, 156, 158, 164, 165, 171, 174, 178, 179, 184, 185, 190, 194, 197, 199, 201, 202], "adapt": [6, 27, 91, 109, 163, 176, 182, 183, 184], "mont": [6, 27, 91, 182], "carlo": [6, 27, 91, 182], "written": [6, 27, 166, 169, 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125, 160, 161, 162, 182, 183, 185, 191, 193, 195, 205], "emerg": [6, 9, 90, 95], "accept": [6, 26, 67, 91, 115, 141, 142, 158, 166, 174, 178, 179, 193, 194, 202], "input": [6, 19, 26, 27, 90, 93, 96, 106, 111, 112, 122, 123, 126, 137, 160, 163, 165, 166, 167, 169, 170, 171, 172, 173, 176, 181, 184, 187, 189, 191, 194, 196, 201, 203], "multipl": [6, 11, 21, 23, 24, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 106, 113, 114, 156, 160, 162, 163, 166, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 199, 201, 202], "strictli": [6, 142, 165], "65": [6, 105, 199], "reliabl": [6, 12, 44, 49, 52, 53, 58, 156, 160, 182, 184, 202], "particl": [6, 7, 27, 91, 159, 176, 185, 190], "filter": [6, 13, 29, 91, 97, 100, 111, 181, 185, 189, 193, 196, 200, 201, 202, 205], "abil": [6, 7, 27, 90, 106, 165, 166, 201], "read": [6, 8, 18, 27, 89, 90, 123, 156, 163, 176, 182, 189, 191, 196, 197, 199], "academ": 6, "significantli": [7, 9, 17, 22, 23, 24, 85, 106, 110, 141, 164, 166, 176, 185, 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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, 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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], 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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], 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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, 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, 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": 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"Observation sources parameters": [[89, "observation-sources-parameters"], [90, "observation-sources-parameters"]], "Collision Monitor Node": [[90, "collision-monitor-node"]], "VelocityPolygon parameters": [[90, "velocitypolygon-parameters"]], "AMCL": [[91, "amcl"]], "Behavior Server": [[92, "behavior-server"]], "Behavior Server Parameters": [[92, "behavior-server-parameters"]], "Default Plugins": [[92, "default-plugins"], [97, "default-plugins"], [98, "default-plugins"], [108, "default-plugins"]], "Spin Behavior Parameters": [[92, "spin-behavior-parameters"]], "BackUp Behavior Parameters": [[92, "backup-behavior-parameters"]], "DriveOnHeading Behavior Parameters": [[92, "driveonheading-behavior-parameters"]], "AssistedTeleop Behavior Parameters": [[92, "assistedteleop-behavior-parameters"]], "Behavior-Tree Navigator": [[93, "behavior-tree-navigator"]], "Behavior Tree XML Nodes": [[94, "behavior-tree-xml-nodes"]], "Action Plugins": [[94, "action-plugins"]], "Condition Plugins": [[94, "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, "dwb-controller"], [127, "dwb-controller"]], "Controller": [[101, "controller"]], "Plugins": [[101, "plugins"]], "Trajectory Critics": [[101, "trajectory-critics"]], "Graceful Controller": [[102, "graceful-controller"]], "Graceful Controller Parameters": [[102, "graceful-controller-parameters"]], "Lifecycle Manager": [[103, "lifecycle-manager"]], "Loopback Simulator": [[104, "loopback-simulator"]], "Map Server / Saver": [[105, "map-server-saver"]], "Map Saver Parameters": [[105, "map-saver-parameters"]], "Map Server Parameters": [[105, "map-server-parameters"]], "Costmap Filter Info Server Parameters": [[105, "costmap-filter-info-server-parameters"]], "Model Predictive Path Integral Controller": [[106, "model-predictive-path-integral-controller"]], "MPPI Parameters": [[106, "mppi-parameters"]], "Trajectory Visualization": [[106, "trajectory-visualization"]], "Path Handler": [[106, "path-handler"]], "Ackermann Motion Model": [[106, "ackermann-motion-model"]], "Constraint Critic": [[106, "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, 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"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, 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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. 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Assisted Teleop", "1. Create a Configuration Assistant (Analog to MoveIt)", "2. Create New Planner and Controller Plugins", "1. Navigation Dynamic Obstacle Integration", "3. Port Grid Maps to ROS 2 and Environmental Model", "6. 2D/3D Localization Improvements", "4. Navigation MultiThreading", "5. Navigation Branding and Website", "5. Navigation Safety Node", "6. Semantic Integration", "7. Reduce ROS 2 Nodes and Determinism", "2. Advanced Navigation Testing Framework", "8. 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199, 201, 203, 204, 205], "should": [1, 2, 3, 6, 9, 11, 17, 18, 22, 27, 41, 55, 77, 78, 79, 81, 88, 89, 90, 92, 93, 96, 97, 98, 102, 105, 106, 108, 109, 114, 116, 117, 119, 122, 124, 126, 141, 142, 156, 158, 159, 161, 162, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 201, 202, 203, 204], "make": [1, 2, 7, 9, 10, 11, 12, 13, 14, 19, 21, 23, 24, 25, 27, 41, 60, 61, 93, 97, 102, 106, 109, 110, 115, 122, 124, 126, 141, 152, 153, 155, 156, 158, 162, 163, 164, 165, 166, 169, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204], "sure": [1, 2, 7, 12, 26, 93, 106, 122, 126, 153, 155, 158, 163, 166, 171, 174, 176, 179, 181, 182, 185, 188, 190, 191, 193, 195, 196, 197, 198, 199, 200, 201, 202], "local": [1, 3, 9, 10, 11, 18, 21, 23, 24, 26, 44, 49, 52, 53, 58, 91, 92, 97, 102, 103, 104, 106, 109, 116, 127, 130, 134, 136, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 171, 172, 173, 174, 176, 178, 179, 183, 185, 189, 190, 197, 199, 200, 201, 202, 205], "costmap": [1, 2, 4, 5, 7, 10, 18, 19, 20, 21, 23, 24, 28, 38, 39, 40, 55, 90, 92, 95, 96, 97, 102, 108, 109, 114, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 143, 146, 160, 161, 164, 171, 172, 173, 178, 179, 185, 190, 196, 205], "sensor": [1, 5, 7, 9, 21, 23, 24, 27, 89, 90, 95, 98, 100, 119, 122, 126, 155, 160, 162, 163, 165, 176, 178, 179, 180, 181, 183, 184, 185, 186, 189, 190, 193, 196, 200, 201, 202], "data": [1, 4, 7, 9, 10, 26, 27, 89, 90, 92, 93, 95, 97, 106, 112, 116, 122, 123, 126, 140, 141, 142, 155, 160, 163, 165, 166, 176, 181, 182, 183, 185, 186, 188, 189, 192, 193, 196, 197, 199, 200, 201, 202], "order": [1, 11, 27, 41, 98, 99, 103, 106, 117, 120, 124, 160, 161, 163, 164, 166, 167, 170, 171, 172, 174, 179, 181, 182, 184, 185, 186, 187, 188, 189, 193, 197, 199, 202, 203], "avoid": [1, 27, 55, 90, 92, 93, 95, 96, 97, 98, 106, 108, 109, 114, 117, 121, 123, 142, 155, 160, 163, 164, 166, 171, 178, 179, 181, 182, 183, 184, 185, 189, 201], "take": [1, 9, 12, 17, 21, 22, 26, 27, 41, 42, 43, 47, 50, 51, 66, 67, 68, 69, 85, 88, 89, 90, 91, 92, 93, 97, 99, 103, 106, 108, 110, 111, 112, 114, 117, 125, 138, 140, 141, 155, 158, 159, 161, 163, 164, 165, 166, 169, 170, 172, 173, 174, 176, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 202, 204], "posit": [1, 4, 61, 89, 90, 97, 100, 102, 134, 135, 136, 159, 161, 163, 164, 166, 170, 171, 172, 173, 174, 181, 182, 183, 184, 185, 190, 193, 194, 195, 196, 198], "veloc": [1, 4, 9, 13, 28, 88, 89, 90, 92, 95, 97, 100, 102, 104, 109, 110, 124, 128, 129, 132, 136, 147, 150, 151, 160, 163, 166, 169, 172, 176, 177, 178, 181, 185, 201, 204], "command": [1, 9, 22, 29, 44, 49, 52, 53, 58, 84, 90, 97, 104, 109, 110, 116, 132, 154, 155, 156, 160, 162, 167, 169, 171, 172, 173, 174, 176, 178, 181, 182, 183, 184, 191, 193, 194, 195, 198, 199, 204], "attempt": [1, 18, 20, 21, 23, 24, 26, 27, 85, 100, 103, 105, 106, 112, 119, 140, 141, 142, 156, 166, 189, 191, 193, 197, 202], "follow": [1, 2, 3, 9, 10, 17, 18, 21, 23, 24, 26, 28, 47, 57, 84, 90, 92, 96, 97, 98, 102, 105, 108, 109, 116, 124, 137, 138, 139, 141, 142, 154, 156, 158, 159, 160, 161, 162, 163, 164, 165, 169, 171, 172, 173, 174, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 204, 205], "exampl": [1, 7, 15, 16, 17, 18, 19, 22, 27, 113, 154, 155, 156, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199, 200, 201, 202, 203, 204], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 21, 22, 23, 24, 26, 27, 41, 61, 89, 90, 92, 93, 96, 97, 100, 106, 108, 114, 117, 153, 155, 160, 161, 164, 165, 166, 169, 171, 174, 176, 178, 185, 186, 189, 190, 191, 192, 193, 194, 196, 199, 200, 202, 203, 204], "drive": [1, 25, 26, 35, 46, 96, 106, 109, 113, 141, 142, 160, 163, 172, 176, 178, 179, 181, 182, 184, 185, 196, 197, 202], "through": [1, 9, 17, 18, 19, 22, 23, 24, 26, 27, 28, 41, 42, 103, 106, 115, 122, 126, 141, 142, 155, 158, 159, 160, 162, 163, 164, 165, 166, 171, 176, 178, 180, 181, 182, 183, 184, 185, 186, 189, 191, 192, 193, 196, 197, 198, 199, 200, 202, 204], "space": [1, 4, 10, 20, 27, 89, 90, 91, 98, 105, 106, 107, 109, 115, 118, 122, 125, 126, 140, 141, 142, 155, 156, 163, 164, 176, 178, 181, 185, 189, 190, 195, 197, 202], "visit": [1, 27, 141, 142, 158, 196], "offic": 1, "build": [1, 5, 7, 10, 14, 17, 18, 26, 27, 156, 157, 159, 160, 164, 165, 169, 170, 171, 172, 173, 174, 183, 190, 191, 192, 194, 196, 197, 199, 200, 201, 202], "hospit": 1, "deliveri": 1, "stuck": [1, 18, 21, 23, 24, 27, 29, 30, 46, 59, 73, 164, 176, 185], "back": [1, 9, 21, 23, 24, 26, 27, 30, 62, 96, 99, 106, 110, 118, 142, 158, 160, 161, 164, 165, 166, 170, 172, 173, 174, 176, 183, 184, 185, 189, 196, 202, 203], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 141, 142, 153, 155, 156, 158, 160, 166, 171, 179, 181, 182, 183, 184, 185, 188, 189, 191, 192, 193, 194, 195, 197, 198, 199, 200, 203], "continu": [1, 12, 18, 19, 20, 21, 22, 23, 24, 27, 99, 106, 117, 139, 141, 142, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 174, 181, 184, 185, 189, 193, 196, 198, 201], "its": [1, 6, 8, 9, 11, 12, 18, 19, 21, 22, 23, 24, 26, 27, 41, 83, 86, 87, 88, 90, 96, 97, 98, 106, 107, 110, 112, 113, 115, 125, 140, 141, 142, 154, 158, 160, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 199, 200, 201, 202, 203, 204], "excel": [1, 7, 9, 196, 204], "chanc": [1, 7, 9, 19, 164], "substanti": [1, 106, 141, 158, 161, 185], "system": [1, 6, 7, 8, 10, 11, 12, 18, 19, 21, 23, 24, 27, 90, 91, 97, 103, 104, 106, 116, 154, 155, 156, 158, 159, 160, 161, 164, 166, 167, 174, 178, 182, 183, 184, 185, 186, 187, 188, 189, 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, 164, 166, 167, 171, 174, 179, 180, 182, 185, 189, 191, 193, 194, 196, 197, 198, 204], "collis": [1, 7, 9, 27, 28, 29, 55, 57, 92, 96, 98, 106, 109, 110, 114, 120, 121, 123, 151, 160, 161, 163, 164, 169, 176, 177, 178, 179, 181, 182, 184, 185, 204, 205], "allot": [1, 9, 11], "tune": [1, 9, 25, 105, 106, 110, 115, 141, 164, 180, 193, 196, 197, 199, 201, 204], "ad": [1, 9, 10, 13, 21, 23, 24, 41, 91, 93, 106, 141, 142, 155, 156, 158, 161, 162, 167, 169, 171, 172, 173, 174, 178, 179, 183, 185, 190, 191, 192, 193, 196, 197, 199, 200, 201, 204, 205], "critic": [1, 7, 9, 27, 127, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 178, 185, 186, 191], "dwb": [1, 3, 9, 21, 23, 24, 27, 28, 128, 129, 130, 131, 132, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 161, 162, 176, 178, 185, 204], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 21, 22, 23, 24, 28, 42, 43, 52, 78, 90, 95, 96, 98, 99, 106, 109, 110, 111, 112, 116, 121, 130, 148, 149, 160, 161, 162, 167, 169, 171, 175, 177, 179, 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, 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, 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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"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": 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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, 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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": [5, 10, 11, 26, 27, 41, 84, 99, 106, 160, 163, 164, 165, 166, 169, 171, 174, 180, 182, 184, 185, 196, 200, 205], "reimplement": [5, 6], "mechan": [5, 11, 89, 90, 91, 92, 93, 97, 105, 108, 114, 116, 117, 171, 191, 193], "git": [5, 154, 156, 158, 188, 189, 197, 198, 199, 200], "pick": [5, 26, 27, 98, 117, 179, 195, 196], "befor": [5, 11, 18, 21, 22, 23, 24, 25, 27, 44, 49, 52, 53, 58, 65, 81, 83, 85, 90, 91, 97, 99, 102, 105, 106, 112, 121, 122, 126, 137, 140, 141, 142, 150, 155, 156, 161, 162, 163, 164, 166, 167, 169, 170, 171, 172, 173, 174, 176, 178, 181, 182, 184, 185, 186, 187, 189, 190, 191, 192, 195, 196, 197, 198, 199, 200, 202, 203, 204], "coordin": [5, 26, 27, 41, 91, 98, 99, 117, 164, 181, 183, 184, 193, 194, 196], "transform": [5, 15, 27, 76, 89, 90, 91, 92, 93, 98, 102, 106, 109, 114, 118, 121, 124, 127, 153, 159, 160, 162, 163, 164, 172, 176, 179, 180, 181, 182, 184, 185, 193, 197, 198], "amcl": [6, 7, 26, 27, 28, 54, 69, 159, 162, 176, 182, 183, 185, 193, 196], "engin": [6, 154, 156, 161, 192, 193], "last": [6, 14, 19, 21, 23, 48, 60, 61, 90, 91, 96, 99, 106, 107, 113, 115, 116, 132, 140, 141, 142, 144, 145, 148, 149, 155, 164, 166, 174, 178, 179, 181, 183, 184, 186, 193, 197, 199, 201], "10": [6, 11, 14, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 46, 47, 50, 51, 54, 59, 63, 72, 86, 89, 90, 92, 93, 96, 97, 99, 101, 102, 103, 106, 108, 109, 110, 112, 114, 117, 120, 126, 133, 135, 137, 140, 141, 142, 150, 163, 165, 166, 169, 184, 187, 188, 189, 190, 191, 194, 196, 202, 204], "year": [6, 14, 160], "essenti": [6, 141, 142, 164, 182, 185, 202], "updat": [6, 7, 11, 12, 18, 19, 20, 27, 66, 74, 84, 91, 98, 100, 104, 113, 121, 125, 155, 158, 161, 164, 165, 166, 169, 170, 171, 172, 174, 176, 179, 181, 183, 185, 189, 190, 193, 194, 196, 198, 199, 202, 203], "made": [6, 8, 27, 90, 97, 98, 103, 133, 135, 155, 156, 158, 164, 165, 171, 174, 178, 179, 184, 185, 190, 194, 197, 199, 201, 202], "adapt": [6, 27, 91, 109, 163, 176, 182, 183, 184], "mont": [6, 27, 91, 182], "carlo": [6, 27, 91, 182], 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189, 201], "scanner": [6, 89, 90, 122, 126, 182, 201], "simplifi": [6, 159, 162, 170, 172, 174, 191], "accur": [6, 27, 89, 90, 163, 176, 181, 185, 193, 196], "track": [6, 26, 27, 98, 100, 106, 109, 110, 158, 160, 164, 165, 166, 172, 174, 176, 178, 185, 187, 191, 193, 202, 204], "occup": [6, 98, 105, 121, 122, 126, 176, 182, 198], "grid": [6, 7, 27, 98, 105, 122, 126, 130, 176, 178, 179, 182, 184, 196, 198, 200], "reason": [6, 27, 89, 90, 106, 140, 141, 142, 158, 164, 171, 174, 179, 183, 185, 189, 191, 196, 201], "left": [6, 27, 42, 43, 93, 102, 109, 115, 125, 141, 142, 155, 159, 164, 172, 173, 179, 181, 182, 184, 188, 189, 190, 192, 195, 196, 199, 203], "end": [6, 11, 20, 27, 89, 90, 100, 106, 107, 109, 110, 111, 140, 142, 164, 166, 169, 171, 172, 173, 174, 176, 184, 185, 186, 189, 190, 191, 196, 201], "creativ": [6, 8], "novelti": 6, "feel": [6, 153, 156, 184, 185], "best": [6, 8, 11, 27, 28, 90, 106, 127, 140, 141, 142, 155, 158, 164, 165, 178, 182, 183, 185, 190, 191, 193, 197, 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185, 196], "slam": [6, 15, 98, 125, 160, 161, 162, 182, 183, 185, 191, 193, 195, 205], "emerg": [6, 9, 90, 95], "accept": [6, 26, 67, 91, 115, 141, 142, 158, 166, 174, 178, 179, 193, 194, 202], "input": [6, 19, 26, 27, 90, 93, 96, 106, 111, 112, 122, 123, 126, 137, 160, 163, 165, 166, 167, 169, 170, 171, 172, 173, 176, 181, 184, 187, 189, 191, 194, 196, 201, 203], "multipl": [6, 11, 21, 23, 24, 27, 41, 44, 49, 52, 53, 58, 85, 90, 92, 106, 113, 114, 156, 160, 162, 163, 166, 172, 173, 178, 181, 182, 183, 184, 185, 186, 187, 189, 191, 193, 196, 199, 201, 202], "strictli": [6, 142, 165], "65": [6, 105, 199], "reliabl": [6, 12, 44, 49, 52, 53, 58, 156, 160, 182, 184, 202], "particl": [6, 7, 27, 91, 159, 176, 185, 190], "filter": [6, 13, 29, 91, 97, 100, 111, 181, 185, 189, 193, 196, 200, 201, 202, 205], "abil": [6, 7, 27, 90, 106, 165, 166, 201], "read": [6, 8, 18, 27, 89, 90, 123, 156, 163, 176, 182, 189, 191, 196, 197, 199], "academ": 6, "significantli": [7, 9, 17, 22, 23, 24, 85, 106, 110, 141, 164, 166, 176, 185, 196, 204], "leverag": [7, 11, 26, 154, 156, 164, 180, 185, 187, 194, 196, 202], "multi": [7, 10, 11, 26, 27, 163, 164, 176, 178, 189], "processor": [7, 106, 185], "core": [7, 17, 27, 165, 186, 187, 189], "seek": 7, "thread": [7, 11, 13, 26, 27, 90, 97, 106, 116, 166, 191], "parallel": [7, 13, 196, 201], "comput": [7, 17, 18, 19, 20, 21, 27, 41, 42, 43, 99, 104, 106, 108, 109, 113, 115, 140, 141, 142, 144, 148, 160, 164, 165, 166, 167, 169, 170, 172, 173, 176, 178, 179, 181, 182, 183, 185, 187, 189, 192, 193, 195, 202], "overal": [7, 18, 80, 99, 141, 166, 178, 182, 193, 196], "platform": [7, 100, 106, 113, 160, 163, 180, 183, 185, 193, 202, 203, 204], "cloud": [7, 27, 155, 156, 159, 162, 189], "popul": [7, 91, 93, 163, 164, 169, 174, 182, 186, 187, 196], "evalu": [7, 106, 127, 130, 142, 178, 193], "voxel": [7, 98, 165, 176, 182, 190, 200], "rai": [7, 182], "cast": 7, "student": [7, 158], "interest": [7, 10, 11, 14, 17, 26, 27, 155, 158, 174, 183, 185, 187, 191, 192, 194, 195, 198, 202, 203], "ideal": [7, 12, 164, 165, 169, 172, 173], "exposur": 7, "concept": [7, 18, 19, 160, 163, 178, 182, 183, 186, 197, 199, 202, 203], "Then": [7, 19, 163, 170, 171, 172, 173, 174, 181, 182, 189, 191, 192, 195, 202], "obtain": [7, 27, 28, 90, 99, 100, 162, 165, 181, 182, 188, 189, 193, 202], "while": [7, 9, 13, 18, 21, 23, 24, 26, 93, 103, 106, 109, 111, 121, 141, 151, 154, 155, 156, 163, 164, 165, 166, 170, 174, 178, 179, 181, 182, 185, 186, 187, 189, 190, 191, 193, 195, 196, 197, 201, 202, 203, 204, 205], "great": [7, 14, 18, 158, 164, 191, 193, 196], "deal": [7, 27, 181, 183, 185], "valuabl": [7, 11, 158], "skillset": 7, "analysi": [7, 27, 158, 160, 192], "benefit": [7, 155, 185], "non": [7, 10, 26, 27, 90, 93, 97, 100, 103, 104, 106, 110, 113, 118, 120, 121, 124, 140, 141, 142, 155, 160, 164, 166, 167, 170, 174, 176, 178, 179, 183, 184, 185, 189, 191, 192, 193, 197, 201, 202, 204], "trivial": [7, 27, 158, 165, 169, 201, 202, 203], "quickli": [7, 100, 155, 158, 164, 183, 185, 203], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 19, 21, 23, 26, 27, 89, 102, 105, 106, 113, 154, 156, 163, 164, 170, 178, 181, 182, 183, 184, 185, 187, 189, 191, 193, 196, 200, 203, 204], "signific": [8, 9, 106, 185, 196], "stride": 8, "world": [8, 9, 26, 27, 155, 159, 160, 169, 181, 182, 183, 185, 189, 190, 194, 197, 198, 199, 200], "gain": [8, 106, 109], "reput": 8, "fair": 8, "unfair": 8, "rel": [8, 27, 61, 89, 90, 98, 100, 106, 116, 162, 166, 178, 179, 181, 183, 185, 192, 193, 196, 202], "limit": [8, 27, 90, 97, 105, 106, 116, 124, 132, 140, 141, 142, 155, 163, 166, 172, 176, 178, 181, 185, 189, 194, 201, 205], "type": [8, 17, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 75, 76, 77, 78, 79, 81, 83, 84, 85, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 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179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 193, 194, 196, 197, 199, 201, 204], "initi": [8, 26, 69, 76, 91, 93, 100, 102, 106, 112, 153, 155, 156, 159, 160, 162, 164, 165, 169, 171, 172, 173, 174, 176, 184, 185, 194, 196, 197, 201, 202], "effort": [8, 14, 27, 99, 100, 116, 158, 160, 163, 178, 182, 185, 200, 202], "differenti": [8, 91, 102, 106, 110, 113, 115, 160, 163, 164, 166, 176, 178, 179, 181, 182, 184, 185, 193, 196, 204], "moveit": [8, 14], "land": 8, "consist": [8, 17, 106, 156, 158, 163, 164, 176, 181, 182, 183, 185, 186, 196, 202, 203], "graphic": [8, 156, 189, 197, 199], "color": [8, 96, 138, 182, 184, 185, 190, 197, 199, 200], "scheme": [8, 182], "logo": 8, "catchi": 8, "name": [8, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 58, 59, 63, 89, 90, 91, 92, 93, 94, 95, 97, 98, 100, 103, 106, 107, 108, 114, 115, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 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154, 155, 158, 159, 162, 181, 182, 183, 184, 189, 190, 191, 192, 193, 197, 198, 199], "edit": [8, 163, 176, 181, 182, 187, 202], "web": [8, 156], "technologi": [8, 14, 160, 193, 196], "watchdog": [9, 103, 147, 160, 162], "act": [9, 14, 27, 140, 162, 163, 180, 182, 184, 197, 201, 204], "properli": [9, 26, 143, 160, 164, 179, 180, 181, 182, 183, 184, 190, 196, 197, 199], "typic": [9, 18, 19, 27, 89, 90, 141, 142, 158, 164, 172, 179, 181, 183, 185, 189, 190, 193, 197, 198, 199, 204], "rate": [9, 12, 18, 19, 83, 86, 88, 89, 90, 91, 97, 100, 102, 116, 117, 122, 126, 161, 163, 166, 169, 176, 184, 193, 194, 202], "contain": [9, 11, 17, 21, 23, 24, 27, 47, 51, 55, 95, 106, 113, 116, 122, 126, 141, 142, 157, 161, 162, 163, 164, 165, 166, 169, 171, 172, 173, 174, 176, 181, 182, 184, 185, 186, 187, 188, 191, 193, 197, 199, 201, 202, 204], "zone": [9, 27, 89, 90, 96, 99, 105, 121, 141, 142, 163, 164, 176, 182, 185, 196, 199, 201, 205], "wherea": [9, 41, 106, 141, 165, 185, 186], "locat": [9, 22, 26, 27, 100, 141, 142, 151, 159, 167, 169, 171, 172, 173, 174, 178, 181, 182, 184, 189, 196, 202], "around": [9, 14, 18, 22, 27, 38, 61, 85, 89, 90, 96, 98, 102, 106, 109, 120, 158, 163, 176, 182, 183, 184, 185, 188, 189, 196, 198, 204], "signal": [9, 111, 172, 176, 192, 196], "stop": [9, 20, 27, 80, 90, 95, 97, 103, 106, 116, 117, 127, 136, 151, 162, 163, 165, 166, 172, 184, 189, 193, 201, 202], "less": [9, 67, 90, 92, 93, 97, 106, 108, 109, 114, 116, 117, 119, 141, 161, 164, 181, 190, 193, 196, 197, 204], "consum": [9, 164], "drop": [9, 102, 162, 166, 193, 203], "cost": [9, 18, 26, 27, 55, 89, 90, 92, 96, 98, 109, 113, 115, 120, 121, 130, 140, 141, 142, 155, 160, 163, 164, 171, 176, 182, 185, 190], "logic": [9, 17, 18, 21, 23, 24, 27, 165, 166, 167, 170, 174, 186, 203], "wouldn": [9, 185], "t": [9, 14, 38, 80, 100, 106, 140, 141, 142, 146, 153, 158, 159, 160, 163, 164, 166, 169, 170, 172, 173, 174, 179, 183, 184, 185, 187, 189, 190, 191, 193, 194, 195, 196, 197, 198, 202], "certifi": 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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, 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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, 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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], 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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], 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"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, 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200, 201, 202], "load": [27, 47, 92, 93, 97, 98, 100, 105, 106, 108, 114, 117, 127, 155, 160, 161, 162, 163, 164, 166, 169, 170, 171, 172, 173, 174, 176, 178, 182, 184, 187, 192, 193, 197, 199, 200, 203], "associ": [27, 165, 181, 182, 183], "At": [27, 110, 158, 164, 171, 181, 183, 184, 189, 191, 193, 202, 204], "march": 27, "One": [27, 178, 181, 184, 196], "part": [27, 31, 32, 35, 36, 37, 60, 61, 90, 91, 113, 121, 141, 142, 158, 162, 164, 171, 178, 179, 182, 184, 187, 189, 193, 201], "larger": [27, 85, 90, 103, 106, 109, 111, 140, 158, 163, 176, 191, 201], "navigatetoposeact": 27, "among": [27, 115, 178, 185, 190], "hierarch": [27, 203], "hfsm": 27, "popular": [27, 185, 191], "demand": [27, 172, 173, 196], "natur": [27, 106, 166, 174, 185, 193], "difficult": [27, 110, 164, 185, 204], "offer": [27, 102, 178, 196, 200, 203], "nav2_hfsm_navig": 27, "pend": [27, 174], "heart": [27, 178], "host": [27, 92, 97, 105, 108, 114, 117, 155, 156, 161, 169, 178, 189, 192, 196], "runtim": [27, 163, 164, 169, 170, 171, 172, 173, 174, 196, 200], "alias": 27, "param": [27, 100, 110, 163, 171, 181, 184, 185, 191, 192, 196, 197, 199, 201, 202], "correspond": [27, 41, 85, 89, 90, 93, 106, 107, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126, 140, 141, 142, 163, 164, 169, 170, 171, 182, 183, 190, 196, 197, 199], "class": [27, 90, 91, 93, 160, 162, 163, 164, 165, 166, 169, 170, 171, 172, 173, 174, 184, 185, 200], "charger": [27, 167], "costli": 27, "duplic": [27, 174], "special": [27, 85, 89, 90, 97, 99, 158, 165, 170, 171, 189, 203], "varieti": [27, 169], "cannot": [27, 76, 106, 109, 116, 141, 142, 147, 163, 165, 174, 185, 186, 189, 196, 200, 202, 203], "subscrib": [27, 44, 49, 52, 53, 58, 70, 71, 84, 90, 91, 97, 123, 125, 138, 163, 166, 181, 182, 189, 194, 196], "computation": [27, 106, 126, 164], "expens": [27, 106, 126, 164, 165, 181], "sustain": 27, "fork": [27, 101, 189], "modif": [27, 155, 158, 163, 164], "itself": [27, 100, 124, 141, 142, 155, 164, 170, 174, 182, 187, 189, 197, 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127, 140, 141, 142, 153, 163, 164, 166, 178, 185, 204], "compar": [27, 64, 77, 78, 79, 90, 93, 96, 113, 165, 166, 202], "realiti": 27, "refin": [27, 96, 112, 141, 142, 159, 164, 202], "introduc": [27, 89, 109, 156, 158, 159, 161, 163, 164, 167, 180, 182, 184, 186, 190], "ragged": 27, "abrupt": 27, "separ": [27, 89, 90, 98, 106, 121, 155, 160, 163, 164, 166, 171, 181, 183, 186, 187, 189, 191, 192, 197, 198, 202, 203], "combin": [27, 98, 141, 144, 145, 148, 149, 163, 198], "acquir": 27, "multitud": [27, 182], "remark": 27, "robot_radiu": [27, 98, 171, 179, 182, 185], "arbitrari": [27, 90, 113, 156, 176, 178, 180, 185, 202], "circular": [27, 98, 106, 113, 120, 160, 166, 178, 179, 184, 185], "movement": [27, 89, 90, 91, 96, 98, 116, 142, 165, 179, 196, 201, 202], "attach": [27, 98, 158, 179, 181, 182, 183, 186, 189], "pallet": [27, 98, 100, 167, 179, 202], "shape": [27, 89, 90, 98, 113, 160, 165, 178, 179, 180, 184, 185, 197, 199, 201], "tell": [27, 158, 166, 169, 170, 171, 181, 189, 191, 196], "nav2_waypoint_follow": [27, 117, 137, 138, 139, 161, 163, 165, 166], "nice": [27, 169, 189], "school": 27, "thought": [27, 164, 170], "fleet": [27, 189], "dispatch": 27, "dumb": 27, "smart": [27, 118], "grade": [27, 160, 181, 196], "solut": [27, 92, 93, 97, 106, 108, 114, 117, 141, 142, 185, 190, 193], "account": [27, 89, 90, 163, 164, 169, 178, 185, 190, 202], "assign": [27, 57, 61, 96], "hand": [27, 106, 110, 116, 164, 166, 179, 183, 184, 185, 189, 193, 204], "unit": [27, 92, 93, 97, 99, 103, 104, 108, 114, 117, 158, 167, 177, 183], "aisl": [27, 140, 164, 178, 185], "proof": 27, "realli": [27, 96, 185, 197], "carri": [27, 162, 163, 164, 173, 194], "weight": [27, 61, 91, 96, 106, 112, 115, 140, 141, 142, 150, 162, 164, 166, 185, 193, 197], "mid": 27, "soon": [27, 166], "nav2_bt_waypoint_follow": 27, "subject": [27, 106, 181], "ti": [27, 142], "neither": 27, "highli": [27, 96, 106, 113, 150, 159, 160, 166, 176, 178, 183, 185, 187, 195, 196, 198, 200, 204], "distinct": [27, 183], 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160, 181, 183, 196], "rich": 27, "nutshel": 27, "tf2": [27, 162, 180, 181, 183, 184, 185], "job": [27, 106], "captur": [27, 164, 178, 192, 193], "remaind": 27, "toolbox": [27, 160, 161, 182, 185, 191, 198], "metadata": [27, 155, 174, 197, 199, 202, 203], "radar": [27, 181, 182, 200], "wheel": [27, 102, 181, 183, 184, 193, 196], "encod": [27, 118, 124, 181, 183, 193, 196, 197, 199], "vio": [27, 177, 181, 183, 205], "imu": [27, 181, 182, 183, 193, 196], "drift": [27, 181], "manner": [27, 160], "dead": 27, "reckon": 27, "precis": [27, 163, 179], "perceiv": [27, 182], "regular": [27, 29], "inflat": [27, 91, 98, 121, 123, 141, 143, 166, 176, 182, 190, 197, 200], "sonar": [27, 90, 123, 165, 182, 185, 200, 201], "wise": [27, 106, 174, 185, 189, 202], "scene": [27, 106, 161], "camera": [27, 118, 138, 165, 182, 185, 200, 202, 205], "underli": [27, 200], "heurist": [27, 109, 113, 140, 141, 142, 163, 164, 166, 178], "binari": [27, 98, 105, 140, 159, 165, 169, 170, 172, 173, 174, 176, 185, 189, 200], "annot": [27, 99, 163, 171, 172, 173, 197, 199, 202], "occur": [27, 111, 171, 193, 201, 202], "might": [27, 91, 106, 116, 141, 142, 163, 166, 174, 179, 181, 182, 189, 191, 192, 197, 199, 203], "pixel": [27, 98, 190, 197], "belong": [27, 124, 163, 197, 199], "mask": [27, 105, 118, 121, 124, 163, 165, 176, 190], "overlaid": 27, "surfac": [27, 160, 196, 202], "spatial": [27, 106, 163], "linearli": [27, 100, 124, 163, 197, 199], "restrict": [27, 90, 124, 163, 165, 166, 176, 185, 196, 199], "lane": [27, 105, 121, 163, 176, 197], "mesh": [27, 184], "discret": [27, 119, 155, 158, 178, 181], "tunabl": 28, "smac": [28, 96, 106, 109, 110, 121, 160, 163, 177, 178, 179, 204], "star": [28, 178, 185], "regul": [28, 160, 163, 164, 166, 172, 176, 178, 185, 189, 204], "pure": [28, 102, 106, 160, 163, 164, 165, 166, 169, 171, 173, 174, 176, 178, 185, 193, 204], "pursuit": [28, 160, 163, 164, 166, 176, 178, 185, 204], "predict": [28, 90, 163, 166, 176, 193], "shim": [28, 176, 177, 185, 205], "grace": [28, 172, 176], "saver": [28, 118, 121, 124, 163, 197, 199], "smoother": [28, 57, 58, 79, 140, 141, 142, 160, 174, 177, 178, 186, 201, 205], "savitzki": [28, 176], "golai": [28, 176], "constrain": [28, 112, 163, 176, 185], "loopback": 28, "invok": [29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 63, 154, 155, 186], "nav2_behavior": [29, 30, 46, 59, 63, 92, 164, 166, 169], "modul": [29, 30, 41, 42, 43, 46, 47, 50, 51, 59, 63, 93, 103, 117, 166, 171, 193, 196, 201], "doubl": [29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 46, 47, 50, 51, 54, 55, 56, 57, 59, 60, 61, 63, 65, 67, 75, 83, 85, 86, 88, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 102, 103, 104, 105, 106, 107, 108, 109, 110, 112, 114, 115, 116, 117, 118, 120, 121, 122, 123, 124, 125, 126, 127, 129, 130, 131, 132, 133, 134, 135, 136, 137, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 163, 172, 173], "increment": [29, 89, 90, 92, 141, 164], "counter": [29, 113, 164, 170, 174, 181, 201], "exce": [29, 30, 46, 59, 92, 93, 97, 108, 114, 117, 124, 163], "server_nam": [29, 30, 31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 46, 47, 50, 51, 59, 63, 163], "string": [29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 63, 65, 67, 76, 83, 84, 89, 90, 91, 92, 93, 96, 97, 98, 99, 100, 103, 104, 105, 106, 108, 110, 114, 116, 117, 118, 121, 122, 123, 124, 125, 126, 127, 137, 138, 141, 142, 144, 145, 148, 149, 162, 165, 166, 169, 170, 171, 172, 173, 174, 181, 186, 200, 202], "server_timeout": [29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 46, 47, 50, 51, 54, 59, 63, 72, 93, 163], "timeout": [29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 46, 47, 50, 51, 54, 59, 63, 78, 79, 90, 92, 93, 97, 99, 100, 103, 105, 108, 114, 116, 117, 137, 162, 169, 170, 201], "uint16": [29, 30, 41, 42, 43, 45, 46, 47, 50, 51, 57, 59, 62, 186, 202], "enumer": [29, 30, 41, 42, 43, 45, 46, 47, 57, 59, 62, 203], 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116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 130, 132, 134, 136, 137, 138, 139, 140, 141, 142, 143, 146, 163, 166, 169, 174, 202], "whether": [41, 45, 55, 57, 89, 90, 91, 92, 96, 97, 98, 99, 100, 102, 103, 104, 106, 107, 109, 111, 112, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 130, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 146, 158, 161, 163, 167, 169, 171, 172, 176, 181, 182, 184, 185, 202], "headland": [41, 99], "generate_rout": 41, "swath": [41, 99], "generate_path": 41, "connector": [41, 193], "file_field": 41, "filepath": [41, 100, 142, 174, 185, 202], "gml": 41, "file_field_id": 41, "geometry_msg": [41, 42, 43, 45, 48, 50, 55, 56, 61, 66, 68, 84, 88, 90, 92, 97, 116, 162, 166, 172, 173, 174, 181, 198, 202], "outermost": [41, 89, 90], "void": [41, 164, 170, 172, 174], "polygons_frame_id": 41, "nav_path": 41, "coverage_path": 41, "pathcompon": 41, "distinguish": 41, "pathcomponentsiter": 41, "field_filepath": 41, "cov_path": 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100, 105, 106, 109, 110, 118, 147, 164, 167, 176, 193, 195, 197, 199, 202, 204], "get_cost_global_costmap": 55, "cost_threshold": 55, "254": [55, 182], "use_footprint": 55, "253": 55, "consider_unknown_as_obstacl": 55, "255": [55, 98, 171, 197], "viapoint": [56, 176], "robot_base_fram": [56, 65, 67, 83, 92, 93, 98, 111, 112, 114, 169, 170, 171, 174, 181, 182, 187], "unsmoothed_path": [57, 187], "max_smoothing_dur": 57, "smoothing_dur": 57, "durat": [57, 75, 88, 92, 93, 97, 103, 104, 106, 147, 158, 164, 170, 172, 186, 194, 202], "was_complet": 57, "indic": [57, 89, 90, 91, 106, 118, 121, 124, 137, 158, 160, 162, 163, 170, 171, 182, 199, 202], "simple_smooth": [57, 112, 114, 187], "smoothing_duration_us": 57, "smoothing_complet": 57, "smoothing_path_error_cod": 57, "smoother_selector": 58, "default_smooth": 58, "selected_smooth": 58, "simplesmooth": [58, 112, 114, 187], "radian": [59, 89, 90, 91, 106, 109, 110, 204], "closer": [60, 106, 141, 165, 166], "orient": [60, 61, 96, 102, 106, 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"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 diff --git a/setup_guides/index.html b/setup_guides/index.html index 5f551a913..07da4cfd6 100644 --- a/setup_guides/index.html +++ b/setup_guides/index.html @@ -1120,6 +1120,8 @@

  • Select and set up planner and controller navigation plugins for your robot’s navigation tasks

  • Lifecycle node management for easy bringup of other related sensors or nodes

    • +

    The simulator of record in these tutorials is Gazebo Classic, which is the default simulator in ROS 2 Humble, Iron and all previous distributions. +When using Jazzy or newer, consider that the simulation elements of the tutorial may be out of date and are worth looking at other resources like nav2_minimal_turtlebot_simulation which fully leverages modern Gazebo with Nav2.

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