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<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/dynamic.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/multithreading.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/navigation_rebranding.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/safety_node.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/semantics.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/testing.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/twist_n_config.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file">Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped">ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector&lt;PoseStamped&gt;</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
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66 changes: 66 additions & 0 deletions _sources/configuration/packages/configuring-behavior-server.rst.txt
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True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

:backup.acceleration_limit:

============== =============================
Type Default
-------------- -----------------------------
double 2.5
============== =============================

Description
Maximum acceleration limit (m/s^2). This parameter limits the rate at which speed increases when moving backward.

:backup.deceleration_limit:

============== =============================
Type Default
-------------- -----------------------------
double -2.5
============== =============================

Description
Maximum deceleration limit (m/s^2). Negative value. This parameter limits the rate at which speed decreases when moving backward.

:backup.minimum_speed:

============== =============================
Type Default
-------------- -----------------------------
double 0.10
============== =============================

Description
Minimum speed to move, the deadband velocity of the robot behavior (m/s). Positive value.

DriveOnHeading Behavior Parameters
**********************************

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Description
The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

:drive_on_heading.acceleration_limit:

============== =============================
Type Default
-------------- -----------------------------
double 2.5
============== =============================

Description
Maximum acceleration limit (m/s^2).

:drive_on_heading.deceleration_limit:

============== =============================
Type Default
-------------- -----------------------------
double -2.5
============== =============================

Description
Maximum deceleration limit (m/s^2). Negative value.

:drive_on_heading.minimum_speed:

============== =============================
Type Default
-------------- -----------------------------
double 0.10
============== =============================

Description
Minimum speed to move, the deadband velocity of the robot behavior (m/s). Positive value.

AssistedTeleop Behavior Parameters
**********************************

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8 changes: 8 additions & 0 deletions _sources/migration/Jazzy.rst.txt
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Expand Up @@ -253,3 +253,11 @@ MPPI controller re-implemented using Eigen library and performance improved by 4

In the `PR #4621 <https://github.com/ros-navigation/navigation2/pull/4621>`_ MPPI controller is fully reimplemented using Eigen as it is well supported hpc library and suits better for our use case of two dimensional batches of trajectories. GPU support for rolling out trajectories could also be possible in future using Eigen.
MPPI Optimizer's performance is improved by 40-50%. Now MPPI Controller can also be run on ARM processors which do not support SIMD Instructions extensively.

DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
*************************************************************************
`PR #4810 <https://github.com/ros-navigation/navigation2/pull/4810>`_ adds new parameters ``acceleration_limit``, ``deceleration_limit``, ``minimum_speed`` for the `DriveOnHeading` and `BackUp` Behaviors. The default values are as follows:

- ``acceleration_limit``: 2.5
- ``deceleration_limit``: -2.5
- ``minimum_speed``: 0.10
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