diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html index cdfb670db..d8a62f635 100644 --- a/2021summerOfCode/Summer_2021_Student_Program.html +++ b/2021summerOfCode/Summer_2021_Student_Program.html @@ -1066,6 +1066,7 @@
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    • diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html index fafa170f4..26bc3f1cf 100644 --- a/2021summerOfCode/projects/twist_n_config.html +++ b/2021summerOfCode/projects/twist_n_config.html @@ -1066,6 +1066,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
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    • diff --git a/_sources/configuration/packages/configuring-behavior-server.rst.txt b/_sources/configuration/packages/configuring-behavior-server.rst.txt index 1e4af7526..6cd8ba351 100644 --- a/_sources/configuration/packages/configuring-behavior-server.rst.txt +++ b/_sources/configuration/packages/configuring-behavior-server.rst.txt @@ -271,6 +271,39 @@ Backup distance, speed and time_allowance is given from the action request. 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 ********************************** @@ -311,6 +344,39 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque 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 ********************************** diff --git a/_sources/migration/Jazzy.rst.txt b/_sources/migration/Jazzy.rst.txt index d5ddebcdb..9e2b22c65 100644 --- a/_sources/migration/Jazzy.rst.txt +++ b/_sources/migration/Jazzy.rst.txt @@ -253,3 +253,11 @@ MPPI controller re-implemented using Eigen library and performance improved by 4 In the `PR #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 `_ 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 diff --git a/about/index.html b/about/index.html index fbab3127e..cb2d6ca4b 100644 --- a/about/index.html +++ b/about/index.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html index 3951e3cb7..f234e0623 100644 --- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html index ad14799c8..5b4167b03 100644 --- a/configuration/packages/bt-plugins/actions/CancelSpin.html +++ b/configuration/packages/bt-plugins/actions/CancelSpin.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html index 5900a20ef..013053dde 100644 --- a/configuration/packages/bt-plugins/actions/CancelWait.html +++ b/configuration/packages/bt-plugins/actions/CancelWait.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html index 62cfb5deb..1ef539c33 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html index eab65f893..b7b22fde7 100644 --- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html +++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html index 7cc4231b8..ba273cd5c 100644 --- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html +++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html index 28da95b49..a9ebcc865 100644 --- a/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html +++ b/configuration/packages/bt-plugins/actions/ComputeCoveragePath.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html index efcd41645..f24a0b6e7 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html index 5d08ea302..e0e30cf25 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html +++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html index bb9f5fad7..2801fa354 100644 --- a/configuration/packages/bt-plugins/actions/ControllerSelector.html +++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/DockRobot.html b/configuration/packages/bt-plugins/actions/DockRobot.html index 347854e8f..0ce0ff075 100644 --- a/configuration/packages/bt-plugins/actions/DockRobot.html +++ b/configuration/packages/bt-plugins/actions/DockRobot.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html index 085c1c0ab..b180f50be 100644 --- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html +++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html index 40e2d1c59..ce207f8f0 100644 --- a/configuration/packages/bt-plugins/actions/FollowPath.html +++ b/configuration/packages/bt-plugins/actions/FollowPath.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/GetPoseFromPath.html b/configuration/packages/bt-plugins/actions/GetPoseFromPath.html index 0978e023f..539603029 100644 --- a/configuration/packages/bt-plugins/actions/GetPoseFromPath.html +++ b/configuration/packages/bt-plugins/actions/GetPoseFromPath.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html index 8bb90b3d1..2033e4fa8 100644 --- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html index f22c3b9c1..f39a11cab 100644 --- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html +++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html index cb1c71cb3..1c5a58ce0 100644 --- a/configuration/packages/bt-plugins/actions/NavigateToPose.html +++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html index e7bfafce0..070453844 100644 --- a/configuration/packages/bt-plugins/actions/PlannerSelector.html +++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html index 91ff618cc..563866e85 100644 --- a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html +++ b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html index bd02fe280..2608f24d6 100644 --- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html +++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html index b032d0c1b..26b559598 100644 --- a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html +++ b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html index cefe7ddc5..ae9872f14 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html index 0449c9ca9..9f480186d 100644 --- a/configuration/packages/bt-plugins/actions/Smooth.html +++ b/configuration/packages/bt-plugins/actions/Smooth.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html index 94903ba26..9af4ba14e 100644 --- a/configuration/packages/bt-plugins/actions/SmootherSelector.html +++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html index 69734d4e1..d0a6eae5c 100644 --- a/configuration/packages/bt-plugins/actions/Spin.html +++ b/configuration/packages/bt-plugins/actions/Spin.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html index 2d87c45a3..817b69333 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePath.html +++ b/configuration/packages/bt-plugins/actions/TruncatePath.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html index 3ded18a7b..56e26f9b6 100644 --- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html +++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/UndockRobot.html b/configuration/packages/bt-plugins/actions/UndockRobot.html index cd32be50a..f65863680 100644 --- a/configuration/packages/bt-plugins/actions/UndockRobot.html +++ b/configuration/packages/bt-plugins/actions/UndockRobot.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html index 234609b00..cb2f02b9d 100644 --- a/configuration/packages/bt-plugins/actions/Wait.html +++ b/configuration/packages/bt-plugins/actions/Wait.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html index b682d7867..f31e2a973 100644 --- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html +++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html index 08d9035c9..1f38d91fb 100644 --- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html +++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html index 40476ddde..c3be7704f 100644 --- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html +++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html index 516fef1bf..d4050c6e8 100644 --- a/configuration/packages/bt-plugins/conditions/GoalReached.html +++ b/configuration/packages/bt-plugins/conditions/GoalReached.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html index c8d5ef584..1ba23d383 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html index 7f7683ffe..ef6b2637a 100644 --- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html +++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html index 4a14cf499..d27663dd8 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html index 30126c9ee..095401c71 100644 --- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html +++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html index 819e7f8d2..436058fbc 100644 --- a/configuration/packages/bt-plugins/conditions/IsPathValid.html +++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/IsStopped.html b/configuration/packages/bt-plugins/conditions/IsStopped.html index 3dd316b63..5d748215f 100644 --- a/configuration/packages/bt-plugins/conditions/IsStopped.html +++ b/configuration/packages/bt-plugins/conditions/IsStopped.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html index 3c52014e1..20304391e 100644 --- a/configuration/packages/bt-plugins/conditions/IsStuck.html +++ b/configuration/packages/bt-plugins/conditions/IsStuck.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html index 1a8fcbbca..b8050213d 100644 --- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html +++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html index 6e536b68c..eca756cdf 100644 --- a/configuration/packages/bt-plugins/conditions/TimeExpired.html +++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html index 226ba0e3d..76af9ac93 100644 --- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html +++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html index 243e40de2..9bb87be0b 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html index 8e1ae1263..603a82bf4 100644 --- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html index c390e9391..338cb381a 100644 --- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html +++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html index b5f860057..9f99d50f3 100644 --- a/configuration/packages/bt-plugins/controls/PipelineSequence.html +++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html index 2ea49b8f5..d0ae39cc5 100644 --- a/configuration/packages/bt-plugins/controls/RecoveryNode.html +++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html index ecb6847ec..fa677ef4c 100644 --- a/configuration/packages/bt-plugins/controls/RoundRobin.html +++ b/configuration/packages/bt-plugins/controls/RoundRobin.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html index fbb1ef9a8..343c53b32 100644 --- a/configuration/packages/bt-plugins/decorators/DistanceController.html +++ b/configuration/packages/bt-plugins/decorators/DistanceController.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html index ea390d503..57c47bcfb 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html +++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html index fec1a6a14..6294717a3 100644 --- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html +++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html index edc47844c..b7995466d 100644 --- a/configuration/packages/bt-plugins/decorators/RateController.html +++ b/configuration/packages/bt-plugins/decorators/RateController.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html index 17848d04e..ae0557fd7 100644 --- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html +++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html index ffb0e6ec2..b04d8bca1 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.html +++ b/configuration/packages/bt-plugins/decorators/SpeedController.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.html b/configuration/packages/collision_monitor/configuring-collision-detector-node.html index 78c7a1ac3..dee3d91eb 100644 --- a/configuration/packages/collision_monitor/configuring-collision-detector-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html index 7c867a0ae..e775a924b 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.html +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html index a7f62391a..149d71591 100644 --- a/configuration/packages/configuring-amcl.html +++ b/configuration/packages/configuring-amcl.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html index ae3c59a05..9b5b41ed3 100644 --- a/configuration/packages/configuring-behavior-server.html +++ b/configuration/packages/configuring-behavior-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • @@ -1565,6 +1566,66 @@

    BackUp Behavior Parametersbackup.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.

    +
    +
    +
    diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html index d313f5d54..96811de0b 100644 --- a/configuration/packages/configuring-bt-navigator.html +++ b/configuration/packages/configuring-bt-navigator.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-bt-xml.html b/configuration/packages/configuring-bt-xml.html index 8b1fbd6dd..ba9ac3781 100644 --- a/configuration/packages/configuring-bt-xml.html +++ b/configuration/packages/configuring-bt-xml.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-collision-monitor.html b/configuration/packages/configuring-collision-monitor.html index 114e9f4cf..56e73e90b 100644 --- a/configuration/packages/configuring-collision-monitor.html +++ b/configuration/packages/configuring-collision-monitor.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-constrained-smoother.html b/configuration/packages/configuring-constrained-smoother.html index 993cbf048..9f8d71b18 100644 --- a/configuration/packages/configuring-constrained-smoother.html +++ b/configuration/packages/configuring-constrained-smoother.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-controller-server.html b/configuration/packages/configuring-controller-server.html index 686a310ec..78d6ca1f7 100644 --- a/configuration/packages/configuring-controller-server.html +++ b/configuration/packages/configuring-controller-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-costmaps.html b/configuration/packages/configuring-costmaps.html index ffac77051..227898fb1 100644 --- a/configuration/packages/configuring-costmaps.html +++ b/configuration/packages/configuring-costmaps.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-coverage-server.html b/configuration/packages/configuring-coverage-server.html index 8a1f93241..6f97ea2be 100644 --- a/configuration/packages/configuring-coverage-server.html +++ b/configuration/packages/configuring-coverage-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-docking-server.html b/configuration/packages/configuring-docking-server.html index cae50144f..57b8d55ff 100644 --- a/configuration/packages/configuring-docking-server.html +++ b/configuration/packages/configuring-docking-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-dwb-controller.html b/configuration/packages/configuring-dwb-controller.html index c950df089..6e54a4f6b 100644 --- a/configuration/packages/configuring-dwb-controller.html +++ b/configuration/packages/configuring-dwb-controller.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html index 4b74134b6..252dac226 100644 --- a/configuration/packages/configuring-graceful-motion-controller.html +++ b/configuration/packages/configuring-graceful-motion-controller.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-lifecycle.html b/configuration/packages/configuring-lifecycle.html index 1beb56519..3353772b2 100644 --- a/configuration/packages/configuring-lifecycle.html +++ b/configuration/packages/configuring-lifecycle.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-loopback-sim.html b/configuration/packages/configuring-loopback-sim.html index 0fcac4ee0..243c53ab1 100644 --- a/configuration/packages/configuring-loopback-sim.html +++ b/configuration/packages/configuring-loopback-sim.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-map-server.html b/configuration/packages/configuring-map-server.html index 8f4fb17fc..cebbbebfd 100644 --- a/configuration/packages/configuring-map-server.html +++ b/configuration/packages/configuring-map-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-mppic.html b/configuration/packages/configuring-mppic.html index 6b900c7da..c5518e0a3 100644 --- a/configuration/packages/configuring-mppic.html +++ b/configuration/packages/configuring-mppic.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-navfn.html b/configuration/packages/configuring-navfn.html index 1286e1660..969c2769c 100644 --- a/configuration/packages/configuring-navfn.html +++ b/configuration/packages/configuring-navfn.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-planner-server.html b/configuration/packages/configuring-planner-server.html index c28d6c6f8..f11503266 100644 --- a/configuration/packages/configuring-planner-server.html +++ b/configuration/packages/configuring-planner-server.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
  • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
    • diff --git a/configuration/packages/configuring-regulated-pp.html b/configuration/packages/configuring-regulated-pp.html index 1c64b2df5..6088578ad 100644 --- a/configuration/packages/configuring-regulated-pp.html +++ b/configuration/packages/configuring-regulated-pp.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/configuring-rotation-shim-controller.html b/configuration/packages/configuring-rotation-shim-controller.html index 477bfb5be..b1cf352d8 100644 --- a/configuration/packages/configuring-rotation-shim-controller.html +++ b/configuration/packages/configuring-rotation-shim-controller.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/configuring-savitzky-golay-smoother.html b/configuration/packages/configuring-savitzky-golay-smoother.html index 64938af73..634d06a93 100644 --- a/configuration/packages/configuring-savitzky-golay-smoother.html +++ b/configuration/packages/configuring-savitzky-golay-smoother.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
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    • diff --git a/configuration/packages/configuring-simple-smoother.html b/configuration/packages/configuring-simple-smoother.html index 0399b7b5f..ffe1e3dfa 100644 --- a/configuration/packages/configuring-simple-smoother.html +++ b/configuration/packages/configuring-simple-smoother.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
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    • diff --git a/configuration/packages/configuring-smac-planner.html b/configuration/packages/configuring-smac-planner.html index 396cfc5bc..a7a75f018 100644 --- a/configuration/packages/configuring-smac-planner.html +++ b/configuration/packages/configuring-smac-planner.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/configuring-smoother-server.html b/configuration/packages/configuring-smoother-server.html index 343b9cd90..3deca34a8 100644 --- a/configuration/packages/configuring-smoother-server.html +++ b/configuration/packages/configuring-smoother-server.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/configuring-thetastar.html b/configuration/packages/configuring-thetastar.html index 46e94dd38..970135588 100644 --- a/configuration/packages/configuring-thetastar.html +++ b/configuration/packages/configuring-thetastar.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/configuring-velocity-smoother.html b/configuration/packages/configuring-velocity-smoother.html index 91ad53637..7263cea7e 100644 --- a/configuration/packages/configuring-velocity-smoother.html +++ b/configuration/packages/configuring-velocity-smoother.html @@ -1068,6 +1068,7 @@
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  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/configuring-waypoint-follower.html b/configuration/packages/configuring-waypoint-follower.html index 302146a60..1a5164e57 100644 --- a/configuration/packages/configuring-waypoint-follower.html +++ b/configuration/packages/configuring-waypoint-follower.html @@ -1068,6 +1068,7 @@
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  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/costmap-plugins/binary_filter.html b/configuration/packages/costmap-plugins/binary_filter.html index 863c1af3e..570859f46 100644 --- a/configuration/packages/costmap-plugins/binary_filter.html +++ b/configuration/packages/costmap-plugins/binary_filter.html @@ -1068,6 +1068,7 @@
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    • diff --git a/configuration/packages/costmap-plugins/denoise.html b/configuration/packages/costmap-plugins/denoise.html index 52ab737e4..6ff332d4d 100644 --- a/configuration/packages/costmap-plugins/denoise.html +++ b/configuration/packages/costmap-plugins/denoise.html @@ -1068,6 +1068,7 @@
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  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/costmap-plugins/inflation.html b/configuration/packages/costmap-plugins/inflation.html index a4a060654..a15218af9 100644 --- a/configuration/packages/costmap-plugins/inflation.html +++ b/configuration/packages/costmap-plugins/inflation.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/costmap-plugins/keepout_filter.html b/configuration/packages/costmap-plugins/keepout_filter.html index 4e7a9e082..c8edcf440 100644 --- a/configuration/packages/costmap-plugins/keepout_filter.html +++ b/configuration/packages/costmap-plugins/keepout_filter.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/costmap-plugins/obstacle.html b/configuration/packages/costmap-plugins/obstacle.html index 0e2c8651c..a86d51471 100644 --- a/configuration/packages/costmap-plugins/obstacle.html +++ b/configuration/packages/costmap-plugins/obstacle.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/costmap-plugins/plugin_container.html b/configuration/packages/costmap-plugins/plugin_container.html index db6a34dd1..ce9a1a058 100644 --- a/configuration/packages/costmap-plugins/plugin_container.html +++ b/configuration/packages/costmap-plugins/plugin_container.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/costmap-plugins/range.html b/configuration/packages/costmap-plugins/range.html index 01c6f1148..5b38e21bd 100644 --- a/configuration/packages/costmap-plugins/range.html +++ b/configuration/packages/costmap-plugins/range.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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    • diff --git a/configuration/packages/costmap-plugins/speed_filter.html b/configuration/packages/costmap-plugins/speed_filter.html index 0463e33c4..098332a85 100644 --- a/configuration/packages/costmap-plugins/speed_filter.html +++ b/configuration/packages/costmap-plugins/speed_filter.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/costmap-plugins/static.html b/configuration/packages/costmap-plugins/static.html index d4e619c53..591d1724e 100644 --- a/configuration/packages/costmap-plugins/static.html +++ b/configuration/packages/costmap-plugins/static.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/costmap-plugins/voxel.html b/configuration/packages/costmap-plugins/voxel.html index c7e857350..88af9b5ce 100644 --- a/configuration/packages/costmap-plugins/voxel.html +++ b/configuration/packages/costmap-plugins/voxel.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/dwb-params/controller.html b/configuration/packages/dwb-params/controller.html index 26b28384b..e7f7d66d3 100644 --- a/configuration/packages/dwb-params/controller.html +++ b/configuration/packages/dwb-params/controller.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/dwb-params/iterator.html b/configuration/packages/dwb-params/iterator.html index f2e7acd42..5bd232257 100644 --- a/configuration/packages/dwb-params/iterator.html +++ b/configuration/packages/dwb-params/iterator.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/dwb-params/kinematic.html b/configuration/packages/dwb-params/kinematic.html index 4e217da80..035993c54 100644 --- a/configuration/packages/dwb-params/kinematic.html +++ b/configuration/packages/dwb-params/kinematic.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/dwb-params/visualization.html b/configuration/packages/dwb-params/visualization.html index 24757b411..93e7715c9 100644 --- a/configuration/packages/dwb-params/visualization.html +++ b/configuration/packages/dwb-params/visualization.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/dwb-plugins/limited_accel_generator.html b/configuration/packages/dwb-plugins/limited_accel_generator.html index 06879b68b..ea72d5af8 100644 --- a/configuration/packages/dwb-plugins/limited_accel_generator.html +++ b/configuration/packages/dwb-plugins/limited_accel_generator.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.html b/configuration/packages/dwb-plugins/standard_traj_generator.html index eb0bb77be..159bda5b3 100644 --- a/configuration/packages/dwb-plugins/standard_traj_generator.html +++ b/configuration/packages/dwb-plugins/standard_traj_generator.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html index 1d70ed0c7..3cf50e30c 100644 --- a/configuration/packages/nav2_controller-plugins/pose_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/pose_progress_checker.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html index 3e7f72a27..951e86779 100644 --- a/configuration/packages/nav2_controller-plugins/simple_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_goal_checker.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html index 1979c4659..172bebdfb 100644 --- a/configuration/packages/nav2_controller-plugins/simple_progress_checker.html +++ b/configuration/packages/nav2_controller-plugins/simple_progress_checker.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html index cd79584f5..fd4a9385e 100644 --- a/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html +++ b/configuration/packages/nav2_controller-plugins/stopped_goal_checker.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html index 0bc767cdd..7cbda260a 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html index 68d2d6489..b7fa1f143 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html index e8ed6d85e..b7166d1f2 100644 --- a/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html +++ b/configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/smac/configuring-smac-2d.html b/configuration/packages/smac/configuring-smac-2d.html index 92350318d..78648a0da 100644 --- a/configuration/packages/smac/configuring-smac-2d.html +++ b/configuration/packages/smac/configuring-smac-2d.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/smac/configuring-smac-hybrid.html b/configuration/packages/smac/configuring-smac-hybrid.html index ab30fe7b4..f1ae96fbb 100644 --- a/configuration/packages/smac/configuring-smac-hybrid.html +++ b/configuration/packages/smac/configuring-smac-hybrid.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/smac/configuring-smac-lattice.html b/configuration/packages/smac/configuring-smac-lattice.html index e4343b712..a1c4a7182 100644 --- a/configuration/packages/smac/configuring-smac-lattice.html +++ b/configuration/packages/smac/configuring-smac-lattice.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/trajectory_critics/base_obstacle.html b/configuration/packages/trajectory_critics/base_obstacle.html index cfbd93c1b..3b5b6dbf5 100644 --- a/configuration/packages/trajectory_critics/base_obstacle.html +++ b/configuration/packages/trajectory_critics/base_obstacle.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/trajectory_critics/goal_align.html b/configuration/packages/trajectory_critics/goal_align.html index 2e4ef9321..2f946b540 100644 --- a/configuration/packages/trajectory_critics/goal_align.html +++ b/configuration/packages/trajectory_critics/goal_align.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/trajectory_critics/goal_dist.html b/configuration/packages/trajectory_critics/goal_dist.html index 74aa650b3..8cb69ab59 100644 --- a/configuration/packages/trajectory_critics/goal_dist.html +++ b/configuration/packages/trajectory_critics/goal_dist.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
    • +
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    • diff --git a/configuration/packages/trajectory_critics/obstacle_footprint.html b/configuration/packages/trajectory_critics/obstacle_footprint.html index 4a96a1db9..cf9e0b4ff 100644 --- a/configuration/packages/trajectory_critics/obstacle_footprint.html +++ b/configuration/packages/trajectory_critics/obstacle_footprint.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
  • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
  • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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    • diff --git a/configuration/packages/trajectory_critics/oscillation.html b/configuration/packages/trajectory_critics/oscillation.html index 86a311553..96d4252d7 100644 --- a/configuration/packages/trajectory_critics/oscillation.html +++ b/configuration/packages/trajectory_critics/oscillation.html @@ -1068,6 +1068,7 @@
  • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
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    • +
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    • +
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    • +
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    • +
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    • @@ -1341,6 +1342,15 @@

    MPPI controller re-implemented using Eigen library and performance improved

    In the PR #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 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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    • +
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    • +
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    • +
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    • diff --git a/plugin_tutorials/index.html b/plugin_tutorials/index.html index 65d9db15e..f848877c9 100644 --- a/plugin_tutorials/index.html +++ b/plugin_tutorials/index.html @@ -1068,6 +1068,7 @@
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    • +
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    • diff --git a/plugins/index.html b/plugins/index.html index 32e0a77fc..bd83878d9 100644 --- a/plugins/index.html +++ b/plugins/index.html @@ -1068,6 +1068,7 @@
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    • +
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    • +
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    • diff --git a/search.html b/search.html index 95433ebb3..b735e0cf7 100644 --- a/search.html +++ b/search.html @@ -1069,6 +1069,7 @@
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    • +
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    • diff --git a/searchindex.js b/searchindex.js index 8269e997f..0a15ee47b 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ -Search.setIndex({"docnames": ["2021summerOfCode/Summer_2021_Student_Program", "2021summerOfCode/projects/assisted_teleop", "2021summerOfCode/projects/create_configuration_assistant", "2021summerOfCode/projects/create_plugins", "2021summerOfCode/projects/dynamic", "2021summerOfCode/projects/grid_maps", "2021summerOfCode/projects/localization", "2021summerOfCode/projects/multithreading", "2021summerOfCode/projects/navigation_rebranding", "2021summerOfCode/projects/safety_node", "2021summerOfCode/projects/semantics", "2021summerOfCode/projects/spinners", "2021summerOfCode/projects/testing", "2021summerOfCode/projects/twist_n_config", "about/index", "about/related_projects", "about/robots", "about/roscon", "behavior_trees/index", "behavior_trees/overview/detailed_behavior_tree_walkthrough", "behavior_trees/overview/nav2_specific_nodes", 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205, 208], "costmap": [1, 2, 4, 5, 7, 10, 19, 20, 21, 22, 24, 25, 29, 39, 40, 41, 56, 92, 94, 97, 98, 99, 102, 104, 110, 111, 116, 117, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 143, 144, 145, 146, 149, 163, 164, 167, 174, 175, 176, 181, 182, 188, 193, 199, 208], "sensor": [1, 5, 7, 9, 22, 24, 25, 28, 91, 92, 97, 100, 102, 121, 124, 125, 129, 158, 163, 165, 166, 168, 179, 181, 182, 183, 184, 186, 187, 188, 189, 192, 193, 196, 199, 203, 204, 205], "data": [1, 4, 7, 9, 10, 27, 28, 91, 92, 94, 95, 97, 99, 108, 114, 118, 124, 126, 129, 143, 144, 145, 158, 163, 166, 168, 169, 179, 184, 185, 186, 188, 189, 191, 192, 195, 196, 199, 200, 202, 203, 204, 205], "order": [1, 11, 28, 42, 100, 101, 105, 108, 119, 122, 127, 163, 164, 166, 167, 169, 170, 173, 174, 175, 177, 179, 182, 184, 185, 187, 188, 189, 190, 191, 192, 196, 200, 202, 205, 206], "avoid": [1, 28, 56, 92, 94, 95, 97, 98, 99, 100, 102, 104, 108, 110, 111, 116, 119, 123, 126, 145, 158, 163, 166, 167, 169, 170, 174, 181, 182, 184, 185, 186, 187, 188, 192, 204], "take": [1, 9, 12, 18, 22, 23, 27, 28, 42, 43, 44, 48, 51, 52, 67, 68, 69, 70, 87, 90, 91, 92, 93, 94, 95, 99, 101, 105, 108, 110, 112, 113, 114, 116, 119, 128, 141, 143, 144, 158, 161, 162, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 202, 205, 207], "posit": [1, 4, 62, 91, 92, 99, 102, 104, 137, 138, 139, 162, 164, 166, 167, 169, 173, 174, 175, 176, 177, 184, 185, 186, 187, 188, 193, 196, 197, 198, 199, 201], "veloc": [1, 4, 9, 13, 29, 74, 90, 91, 92, 94, 97, 99, 102, 104, 106, 111, 112, 127, 131, 132, 135, 139, 150, 153, 154, 163, 166, 169, 172, 175, 179, 180, 181, 184, 188, 204, 207], "command": [1, 9, 23, 30, 45, 50, 53, 54, 59, 86, 92, 99, 106, 111, 112, 118, 135, 157, 158, 159, 163, 165, 170, 172, 174, 175, 176, 177, 179, 181, 184, 185, 186, 187, 194, 196, 197, 198, 201, 202, 207], "attempt": [1, 19, 21, 22, 24, 25, 27, 28, 87, 102, 105, 107, 108, 114, 121, 143, 144, 145, 159, 169, 192, 194, 196, 200, 205], "follow": [1, 2, 3, 9, 10, 18, 19, 22, 24, 25, 27, 29, 48, 58, 86, 92, 94, 98, 99, 100, 104, 107, 110, 111, 118, 125, 127, 140, 141, 142, 144, 145, 157, 159, 161, 162, 163, 164, 165, 166, 167, 168, 170, 172, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 198, 200, 201, 202, 203, 204, 205, 207, 208], "exampl": [1, 7, 15, 16, 18, 19, 20, 23, 28, 115, 124, 126, 128, 129, 157, 158, 159, 165, 166, 167, 169, 170, 172, 173, 174, 175, 176, 177, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 198, 200, 201, 202, 203, 204, 205, 206, 207], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 19, 22, 23, 24, 25, 27, 28, 42, 62, 91, 92, 94, 95, 98, 99, 102, 108, 110, 116, 119, 156, 158, 163, 164, 167, 168, 169, 170, 172, 174, 177, 179, 181, 188, 189, 192, 193, 194, 195, 196, 197, 199, 202, 203, 205, 206, 207], "drive": [1, 26, 27, 36, 47, 98, 108, 111, 115, 144, 145, 163, 166, 175, 179, 181, 182, 184, 185, 187, 188, 199, 200, 205], "through": [1, 9, 18, 19, 20, 23, 24, 25, 27, 28, 29, 42, 43, 105, 108, 117, 124, 129, 144, 145, 158, 161, 162, 163, 165, 166, 167, 168, 169, 174, 179, 181, 183, 184, 185, 186, 187, 188, 189, 192, 194, 195, 196, 199, 200, 201, 202, 203, 205, 207], "space": [1, 4, 10, 21, 28, 91, 92, 93, 100, 107, 108, 109, 111, 117, 120, 124, 128, 129, 143, 144, 145, 158, 159, 166, 167, 179, 181, 184, 188, 192, 193, 198, 200, 205], "visit": [1, 28, 144, 145, 161, 199], "offic": 1, "build": [1, 5, 7, 10, 14, 18, 19, 27, 28, 159, 160, 162, 163, 167, 168, 172, 173, 174, 175, 176, 177, 186, 193, 194, 195, 197, 199, 200, 202, 203, 204, 205], "hospit": 1, "deliveri": 1, "stuck": [1, 19, 22, 24, 25, 28, 30, 31, 47, 60, 75, 167, 170, 179, 188], "back": [1, 9, 22, 24, 25, 27, 28, 31, 63, 98, 101, 108, 112, 120, 145, 161, 163, 164, 167, 168, 169, 173, 175, 176, 177, 179, 186, 187, 188, 192, 199, 205, 206], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 144, 145, 156, 158, 159, 161, 163, 169, 174, 182, 184, 185, 186, 187, 188, 191, 192, 194, 195, 196, 197, 198, 200, 201, 202, 203, 206], "continu": [1, 12, 19, 20, 21, 22, 23, 24, 25, 28, 101, 104, 108, 119, 142, 144, 145, 159, 161, 162, 163, 164, 165, 166, 167, 168, 169, 177, 184, 187, 188, 192, 196, 199, 201, 204], "its": [1, 6, 8, 9, 11, 12, 19, 20, 22, 23, 24, 25, 27, 28, 42, 85, 88, 89, 90, 92, 98, 99, 100, 108, 109, 112, 114, 115, 117, 128, 143, 144, 145, 157, 161, 163, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 200, 202, 203, 204, 205, 206, 207], "excel": [1, 7, 9, 199, 207], "chanc": [1, 7, 9, 20, 167], "substanti": [1, 108, 144, 161, 164, 188], "system": [1, 6, 7, 8, 10, 11, 12, 17, 19, 20, 22, 24, 25, 28, 92, 93, 99, 105, 106, 108, 118, 157, 158, 159, 161, 162, 163, 164, 167, 169, 170, 177, 181, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 198, 204, 205], "hundr": [1, 28], "futur": [1, 4, 8, 11, 17, 22, 28, 91, 92, 93, 102, 120, 123, 127, 165, 167, 169, 170, 197], "could": [1, 2, 3, 6, 7, 9, 10, 21, 28, 91, 92, 99, 117, 158, 159, 165, 166, 167, 168, 170, 173, 174, 175, 179, 186, 188, 190, 192, 194, 197, 199, 200, 202, 203, 204], "also": [1, 3, 4, 6, 7, 11, 19, 20, 21, 22, 23, 24, 25, 27, 28, 91, 92, 93, 94, 96, 99, 100, 101, 102, 105, 107, 108, 110, 111, 112, 113, 115, 116, 118, 119, 122, 144, 145, 157, 158, 159, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 200, 201, 202, 203, 204, 205, 207], "good": [1, 6, 28, 93, 108, 117, 118, 144, 161, 163, 169, 172, 174, 175, 176, 177, 182, 183, 187, 188, 191, 192, 194, 196, 199], "candid": [1, 7, 101, 108, 161, 181], "roscon": [1, 201, 203], "talk": [1, 158, 163, 184, 186, 192, 194, 201, 203], "event": [1, 13, 161, 167, 192, 205], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 180], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 108, 163, 179, 192, 194, 196], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 111, 163, 179], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 201, 203], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 102, 161, 163, 188, 189, 205], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 20, 117, 161, 167, 184, 185, 186, 187, 192, 199, 204], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19, 20, 23, 28, 56, 90, 102, 108, 117, 125, 126, 145, 157, 164, 166, 172, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 189, 192, 193, 194, 195, 199, 200, 201, 202, 203, 205, 206, 207], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 108, 194, 208], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 28, 92, 100, 101, 106, 108, 143, 144, 145, 163, 166, 167, 170, 173, 174, 181, 184, 185, 186, 187, 189, 190, 194, 195, 196, 199, 200, 202, 204, 205, 206], "either": [1, 19, 20, 27, 28, 92, 93, 102, 107, 108, 126, 128, 158, 159, 168, 169, 179, 181, 184, 185, 188, 192, 195, 202, 205, 206], "set": [1, 2, 3, 9, 10, 13, 18, 22, 24, 25, 27, 28, 30, 31, 42, 43, 44, 46, 47, 48, 49, 56, 58, 60, 62, 63, 65, 72, 91, 92, 93, 98, 99, 100, 101, 102, 104, 105, 107, 108, 109, 111, 112, 115, 117, 118, 119, 120, 124, 125, 127, 128, 129, 130, 143, 144, 145, 156, 157, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 183, 188, 189, 190, 191, 192, 194, 195, 197, 198, 199, 200, 201, 202, 203, 204, 205, 207], "successfulli": [1, 19, 28, 167, 172, 177, 184, 186, 187, 189, 192, 197, 205], "user": [1, 2, 3, 7, 9, 14, 18, 22, 23, 24, 25, 27, 28, 29, 42, 83, 87, 91, 92, 93, 114, 119, 124, 126, 128, 129, 140, 144, 158, 159, 161, 163, 165, 166, 167, 168, 169, 170, 177, 179, 183, 185, 188, 189, 192, 194, 195, 196, 199, 201, 203, 204, 205, 207], "without": [1, 4, 14, 27, 28, 62, 91, 92, 98, 99, 104, 106, 108, 113, 121, 123, 124, 126, 128, 129, 144, 158, 159, 165, 166, 167, 169, 170, 174, 177, 182, 183, 185, 188, 192, 194, 196, 197, 199, 200, 201, 207], "collis": [1, 7, 9, 28, 29, 30, 31, 47, 56, 58, 60, 94, 98, 100, 102, 104, 108, 111, 112, 116, 122, 123, 126, 154, 163, 164, 166, 167, 172, 179, 180, 181, 182, 184, 185, 187, 188, 207, 208], "allot": [1, 9, 11], "tune": [1, 9, 17, 26, 107, 108, 112, 117, 144, 167, 183, 196, 199, 200, 202, 204, 207], "ad": [1, 9, 10, 13, 22, 24, 25, 42, 93, 95, 108, 144, 145, 158, 159, 161, 164, 165, 172, 174, 175, 176, 177, 181, 182, 186, 188, 193, 194, 195, 196, 199, 200, 202, 203, 204, 207, 208], "critic": [1, 7, 9, 28, 130, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 164, 181, 188, 189, 194], "dwb": [1, 3, 9, 22, 24, 25, 28, 29, 131, 132, 133, 134, 135, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 164, 165, 179, 181, 188, 207], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 20, 22, 23, 24, 25, 29, 43, 44, 53, 80, 92, 97, 98, 100, 101, 108, 111, 112, 113, 114, 118, 123, 133, 151, 152, 163, 164, 165, 170, 172, 174, 178, 180, 182, 183, 189, 190, 197, 200, 203, 207], "improv": [1, 7, 9, 11, 12, 26, 28, 98, 113, 115, 144, 145, 158, 164, 165, 166, 168, 169, 180, 195, 196], "perform": [1, 3, 4, 7, 9, 11, 18, 23, 27, 29, 31, 47, 60, 91, 92, 93, 97, 98, 104, 108, 115, 119, 144, 145, 158, 163, 166, 167, 168, 169, 172, 173, 174, 175, 176, 182, 185, 188, 189, 192, 193, 194, 196, 197, 199, 205, 206], "box": [1, 9, 28, 92, 102, 119, 167, 168, 169, 170, 182, 184, 185, 187, 188, 196, 203, 204, 205, 206], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 194], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 27, 94, 116, 161, 168, 184, 191, 194, 195, 205], "xml": [1, 2, 18, 19, 28, 29, 51, 52, 95, 102, 163, 165, 167, 169, 172, 173, 174, 175, 176, 177, 184, 187, 189, 197, 205, 206], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 26, 157, 158, 159, 163, 167, 187, 194, 196, 198], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 28, 91, 92, 102, 105, 108, 111, 113, 114, 158, 161, 162, 167, 169, 175, 181, 182, 184, 185, 186, 187, 188, 190, 192, 196, 198, 199, 201, 203, 204, 205, 206, 207], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 106, 156, 162, 169, 170, 172, 173, 174, 175, 176, 177, 182, 183, 187, 188, 192, 193, 198, 200, 202, 203], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 29, 92, 95, 104, 108, 112, 125, 134, 135, 156, 162, 169, 172, 174, 175, 176, 177, 182, 183, 187, 188, 192, 194, 195, 198, 199, 200, 201, 202, 203], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19, 101, 108, 163, 164, 169, 172, 173, 177, 196, 199], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 28, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 118, 119, 124, 129, 156, 158, 160, 161, 162, 163, 167, 172, 173, 174, 175, 176, 177, 182, 183, 184, 185, 186, 187, 191, 192, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 111, 161, 168, 185, 188, 189, 192, 194, 198, 201], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 111, 157, 158, 159, 163, 172, 174, 175, 176, 180, 182, 184, 185, 187, 188, 192, 198, 200, 201, 202, 203], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 28, 156, 161, 165, 166, 167, 188, 194, 206], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 160], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 18, 19, 20, 27, 28, 40, 82, 92, 93, 94, 95, 101, 105, 108, 111, 113, 115, 117, 118, 121, 126, 144, 149, 157, 158, 159, 161, 163, 164, 165, 166, 167, 169, 170, 172, 175, 176, 177, 179, 181, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 199, 200, 202, 203, 206, 207], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 28, 101, 144, 161, 169, 185, 188, 189], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 21, 95, 124, 128, 129, 158, 159, 161, 165, 166, 167, 168, 170, 172, 173, 179, 181, 182, 184, 185, 187, 188, 190, 192, 194, 196, 199, 203, 205], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 161], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 30, 31, 42, 46, 47, 49, 56, 57, 58, 60, 61, 62, 63, 64, 66, 68, 72, 74, 77, 85, 87, 88, 90, 91, 92, 93, 94, 95, 96, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 118, 119, 120, 122, 123, 124, 125, 126, 127, 128, 129, 130, 132, 133, 135, 136, 137, 138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 161, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 191, 192, 194, 200, 202, 204, 205, 207], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 20, 92, 108, 168, 172, 173, 174, 175, 177, 202], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 20, 23, 66, 68, 92, 95, 100, 101, 108, 111, 113, 118, 123, 124, 125, 126, 128, 129, 145, 158, 159, 161, 162, 163, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 200, 202, 203, 204, 205, 206, 207], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 19, 20, 22, 23, 24, 25, 27, 56, 57, 66, 67, 69, 76, 77, 91, 92, 94, 95, 96, 97, 98, 99, 104, 108, 110, 111, 116, 117, 119, 126, 136, 137, 138, 139, 143, 144, 145, 156, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 177, 179, 182, 184, 185, 186, 187, 188, 194, 195, 196, 198, 199, 200, 202, 204, 205, 206, 207], "long": [2, 4, 9, 14, 23, 28, 74, 94, 95, 99, 110, 115, 116, 119, 124, 129, 133, 145, 167, 169, 177, 181, 185, 188, 192, 193, 199, 205], "qt": 2, "setup": [2, 28, 102, 156, 157, 158, 159, 162, 169, 174, 182, 185, 186, 187, 188, 189, 192, 194, 196, 200, 201, 202, 204, 205], "help": [2, 3, 4, 5, 8, 11, 16, 22, 24, 25, 28, 42, 98, 108, 111, 145, 160, 161, 164, 166, 167, 168, 169, 170, 172, 174, 176, 179, 181, 183, 184, 186, 187, 188, 189, 192, 195, 196, 200, 203, 206, 207], "udrf": 2, "need": [2, 4, 11, 13, 22, 23, 24, 25, 27, 28, 42, 45, 50, 53, 54, 59, 87, 92, 94, 95, 98, 99, 100, 101, 108, 110, 111, 116, 119, 144, 157, 158, 159, 161, 163, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 198, 199, 200, 202, 204, 205, 206], "A": [2, 3, 6, 10, 13, 18, 19, 20, 23, 27, 28, 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, 68, 79, 80, 81, 85, 86, 87, 88, 90, 91, 92, 93, 95, 98, 101, 102, 104, 105, 107, 108, 109, 112, 115, 117, 119, 120, 123, 127, 130, 143, 145, 158, 159, 161, 163, 165, 166, 167, 168, 170, 173, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 198, 199, 202, 203, 205, 207], "extrem": [2, 19, 91, 104, 108, 123, 166, 185], "benefici": [2, 28, 108, 123, 177, 194], "wai": [2, 9, 19, 22, 24, 25, 28, 87, 95, 105, 108, 119, 121, 144, 145, 155, 157, 166, 167, 168, 169, 182, 186, 188, 189, 190, 192, 194, 199, 201, 203, 205, 207], "minim": [2, 11, 108, 157, 162, 167, 168, 177, 181, 184, 188, 196], "friction": 2, "provid": [2, 4, 7, 11, 18, 19, 20, 22, 24, 25, 27, 28, 29, 42, 45, 50, 53, 54, 59, 65, 92, 93, 95, 96, 100, 102, 107, 108, 113, 118, 124, 129, 151, 152, 157, 158, 159, 161, 162, 163, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 180, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 196, 197, 198, 199, 201, 205, 206], "gui": [2, 159, 162, 184, 187, 191, 192, 199, 206], "tool": [2, 4, 15, 28, 156, 157, 158, 159, 161, 163, 165, 166, 177, 183, 185, 186, 187, 192, 194, 195, 199, 200, 205], "cover": [2, 28, 92, 126, 161, 166, 169, 181, 188, 189, 192, 194, 199, 200, 202, 204], "broad": [2, 7, 183, 188, 205], "stroke": [2, 183], "visual": [2, 91, 92, 95, 96, 100, 111, 158, 159, 163, 167, 169, 184, 188, 190, 195, 196, 199, 201, 202, 203, 204], "show": [2, 27, 127, 145, 159, 162, 167, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "what": [2, 6, 17, 20, 28, 108, 130, 160, 161, 162, 167, 170, 180, 184, 185, 186, 187, 189, 190, 192, 198, 199, 205], "like": [2, 4, 8, 13, 14, 18, 19, 20, 21, 22, 24, 25, 27, 28, 95, 107, 108, 115, 119, 143, 144, 158, 159, 161, 162, 163, 166, 167, 169, 172, 173, 174, 177, 179, 182, 183, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 197, 199, 200, 201, 202, 203, 205, 206, 207], "select": [2, 3, 5, 7, 18, 28, 45, 50, 53, 54, 59, 91, 92, 93, 104, 108, 109, 112, 117, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 143, 144, 145, 158, 159, 166, 168, 173, 174, 179, 182, 183, 185, 187, 190, 193, 194, 195, 197, 200, 202, 205, 206, 207], "layer": [2, 4, 7, 10, 11, 17, 100, 120, 123, 126, 127, 143, 144, 146, 158, 163, 164, 166, 167, 174, 185, 188, 192, 199, 200, 203], "recoveri": [2, 18, 22, 23, 24, 25, 30, 31, 60, 64, 83, 94, 95, 96, 163, 164, 165, 168, 172, 173, 177, 179, 190], "paramet": [2, 13, 19, 20, 26, 28, 29, 42, 51, 52, 72, 85, 88, 90, 103, 158, 164, 165, 170, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 187, 188, 189, 190, 191, 193, 194, 195, 196, 198, 199, 200, 202, 204, 205, 206, 207], "urdf": [2, 28, 162, 182, 183, 186, 188, 196, 201], "footprint": [2, 56, 91, 92, 94, 100, 102, 108, 116, 123, 124, 128, 129, 144, 145, 149, 167, 168, 169, 170, 174, 179, 181, 183, 187, 204], "frame": [2, 28, 42, 57, 62, 66, 68, 78, 85, 91, 92, 93, 94, 95, 98, 100, 101, 102, 106, 107, 116, 119, 120, 123, 124, 127, 129, 133, 156, 164, 175, 176, 182, 184, 185, 186, 187, 191, 196, 199, 204, 205], "option": [2, 3, 6, 9, 43, 44, 91, 92, 93, 98, 101, 108, 144, 159, 166, 167, 168, 172, 174, 175, 176, 177, 185, 187, 190, 191, 192, 193, 194, 195, 196, 197, 203, 205, 206], "compli": [2, 181, 184, 199], "standard": [2, 6, 10, 93, 108, 161, 170, 185, 186, 191, 199, 200, 202, 205, 206], "control": [2, 4, 7, 9, 11, 13, 17, 18, 19, 21, 22, 23, 24, 25, 27, 29, 34, 45, 48, 61, 62, 79, 80, 81, 83, 84, 85, 86, 90, 92, 100, 102, 111, 115, 118, 127, 129, 131, 132, 133, 134, 135, 136, 137, 138, 139, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 163, 164, 165, 172, 173, 174, 177, 178, 180, 182, 183, 184, 187, 189, 190, 192, 194, 195, 196, 197, 198, 201, 202, 203, 204, 205, 206, 208], "minimum": [2, 9, 28, 72, 90, 91, 92, 93, 94, 98, 100, 101, 102, 104, 107, 108, 111, 118, 121, 124, 129, 132, 136, 138, 144, 145, 150, 153, 166, 167, 168, 169, 170, 179, 181, 185, 186], "maximum": [2, 28, 46, 58, 62, 63, 90, 91, 92, 93, 94, 98, 99, 100, 101, 102, 104, 107, 108, 111, 112, 114, 118, 124, 127, 129, 132, 136, 138, 143, 144, 145, 166, 167, 168, 169, 175, 179, 185, 193, 196, 200, 202, 205], "speed": [2, 7, 9, 20, 26, 27, 28, 31, 47, 90, 92, 94, 98, 99, 100, 104, 107, 108, 111, 118, 123, 132, 143, 144, 145, 157, 158, 166, 167, 169, 175, 177, 179, 181, 188, 196, 199, 204, 205, 208], "kinemat": [2, 102, 103, 108, 112, 114, 115, 163, 166, 169, 179, 181, 184, 187, 188, 199, 207], "from": [2, 5, 6, 7, 8, 9, 11, 12, 19, 20, 21, 22, 23, 24, 25, 27, 28, 42, 45, 49, 50, 53, 54, 56, 57, 59, 62, 63, 67, 68, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 104, 106, 107, 108, 111, 112, 113, 117, 118, 119, 124, 127, 128, 129, 143, 144, 145, 147, 150, 151, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 172, 173, 174, 175, 176, 177, 179, 180, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 193, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "dropdown": 2, "possibl": [2, 14, 28, 94, 104, 108, 111, 158, 163, 166, 167, 168, 169, 170, 175, 177, 181, 182, 188, 193, 194, 196, 199, 200, 202, 204], "note": [2, 18, 20, 21, 22, 23, 24, 27, 28, 42, 92, 93, 94, 98, 99, 100, 101, 102, 105, 106, 107, 110, 111, 116, 118, 119, 123, 125, 127, 145, 161, 163, 167, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 202, 203, 205, 206, 207], "throughout": [2, 67, 158, 164, 167, 187, 189, 196], "prompt": [2, 159, 192, 194], "aid": [2, 23], "appropri": [2, 19, 99, 108, 110, 118, 127, 161, 162, 167, 168, 169, 170, 177, 181, 184, 186, 187, 188, 194, 196, 204, 206], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 18, 19, 24, 25, 28, 42, 62, 91, 92, 93, 98, 99, 102, 103, 104, 108, 111, 112, 118, 120, 123, 127, 143, 144, 145, 153, 157, 158, 159, 161, 163, 165, 166, 167, 169, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "specif": [2, 3, 6, 11, 18, 19, 22, 23, 24, 25, 27, 28, 31, 47, 96, 100, 108, 111, 145, 158, 159, 164, 165, 166, 167, 168, 169, 170, 173, 175, 176, 177, 181, 184, 185, 186, 188, 190, 191, 192, 194, 200, 201, 205, 206, 207], "after": [2, 10, 21, 22, 24, 25, 27, 28, 92, 93, 95, 102, 104, 108, 111, 112, 113, 118, 128, 130, 137, 139, 142, 143, 144, 145, 161, 162, 166, 167, 169, 170, 174, 175, 176, 177, 182, 184, 185, 187, 188, 189, 191, 192, 193, 194, 195, 197, 199, 200, 202, 203, 204, 205, 206, 207], "item": [2, 11, 19, 27, 28, 170, 180], "preview": 2, "how": [2, 7, 17, 18, 27, 28, 83, 92, 93, 96, 98, 104, 108, 117, 124, 129, 133, 147, 148, 151, 152, 158, 160, 161, 164, 168, 170, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "effect": [2, 4, 92, 98, 126, 143, 158, 165, 167, 184, 188, 200], "high": [2, 3, 4, 5, 6, 8, 28, 92, 104, 108, 111, 114, 117, 118, 129, 143, 144, 145, 161, 163, 164, 166, 179, 181, 184, 188, 193, 196], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 19, 21, 28, 57, 62, 66, 68, 85, 90, 91, 92, 93, 94, 95, 98, 100, 102, 104, 106, 107, 108, 113, 115, 116, 120, 123, 127, 136, 144, 145, 146, 147, 148, 149, 151, 152, 157, 158, 159, 161, 163, 164, 166, 167, 168, 170, 172, 173, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 193, 194, 196, 199, 200, 202, 203, 204, 206], "support": [2, 6, 13, 14, 27, 28, 45, 50, 53, 54, 59, 91, 111, 115, 156, 158, 159, 163, 164, 165, 168, 170, 179, 181, 185, 187, 188, 192, 193, 200, 202, 203, 205, 206], "panel": [2, 115, 187, 206], "displai": [2, 91, 110, 144, 145, 166, 170, 182, 184, 185, 187, 188, 192, 193, 199, 202, 206], "python3": [2, 12, 13, 27, 163, 166, 167, 168], "json": [2, 158, 159], "pars": [2, 28, 101, 158, 170], "3d": [2, 4, 9, 28, 108, 129, 162, 179, 184, 185, 187, 188, 198, 199, 203], "program": [2, 27, 28, 98, 115, 144, 145, 158, 163, 167, 192, 194, 195, 197], "mayb": 2, "origin": [2, 5, 6, 8, 14, 27, 61, 62, 86, 92, 98, 100, 143, 144, 145, 160, 165, 166, 169, 182, 184, 185, 187, 190, 199, 200, 202], "number": [3, 11, 27, 28, 42, 46, 83, 91, 92, 93, 98, 99, 100, 101, 102, 108, 113, 114, 117, 121, 129, 131, 143, 144, 145, 164, 165, 166, 167, 168, 169, 170, 172, 173, 176, 179, 184, 185, 186, 187, 188, 191, 192, 193, 194, 202, 205, 206], "interfac": [3, 5, 13, 20, 28, 92, 95, 116, 158, 159, 163, 164, 165, 168, 170, 172, 173, 174, 177, 179, 185, 190, 192, 198, 199, 203], "plan": [3, 10, 17, 18, 19, 21, 22, 23, 28, 58, 85, 98, 101, 104, 108, 109, 111, 114, 115, 117, 124, 128, 129, 130, 133, 143, 144, 145, 161, 163, 164, 166, 167, 168, 169, 170, 173, 175, 176, 177, 179, 180, 181, 182, 185, 186, 188, 190, 200, 203, 205], "two": [3, 19, 20, 28, 83, 91, 92, 98, 109, 115, 117, 143, 158, 166, 167, 168, 169, 170, 172, 175, 176, 177, 181, 184, 185, 186, 187, 189, 192, 193, 195, 196, 199, 202, 203, 204, 205], "area": [3, 7, 28, 39, 40, 92, 100, 120, 123, 126, 127, 143, 144, 145, 161, 166, 167, 168, 169, 172, 174, 179, 185, 187, 188, 191, 192, 195, 200, 202], "algorithm": [3, 15, 18, 22, 24, 25, 28, 98, 102, 108, 111, 113, 114, 115, 143, 161, 163, 164, 166, 167, 168, 169, 174, 175, 179, 182, 185, 187, 188, 190, 193, 195, 196], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 24, 27, 28, 29, 42, 43, 44, 48, 49, 51, 52, 58, 61, 62, 73, 76, 85, 87, 95, 96, 98, 99, 101, 102, 104, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 130, 141, 143, 144, 145, 146, 151, 152, 156, 157, 158, 163, 165, 166, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 184, 185, 187, 188, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 205, 206, 207], "refer": [3, 19, 28, 66, 68, 85, 92, 94, 95, 99, 100, 104, 111, 113, 115, 120, 123, 127, 157, 158, 159, 164, 165, 167, 168, 169, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 192, 193, 197, 199, 200, 202, 204, 205, 206], "trajectori": [3, 4, 10, 92, 97, 104, 118, 130, 133, 135, 146, 147, 148, 149, 151, 152, 153, 166, 168, 169, 176, 179, 181, 182, 188], "simpl": [3, 28, 29, 102, 113, 121, 144, 145, 159, 161, 164, 172, 173, 174, 176, 179, 181, 182, 186, 187, 188, 190, 194, 197, 199, 201, 205, 206, 207], "tutori": [3, 8, 15, 19, 91, 92, 95, 96, 166, 168, 169, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 192, 194, 195, 196, 204, 205, 206, 207], "found": [3, 8, 20, 23, 27, 28, 78, 92, 97, 108, 112, 115, 130, 143, 144, 145, 158, 159, 163, 164, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 179, 180, 181, 182, 184, 185, 187, 189, 195, 198, 199, 200, 201, 202, 203], "current": [3, 9, 11, 12, 14, 19, 20, 25, 27, 28, 47, 57, 62, 67, 85, 88, 90, 91, 92, 95, 101, 102, 108, 110, 111, 112, 118, 119, 120, 123, 126, 127, 145, 157, 161, 163, 165, 166, 167, 168, 169, 170, 172, 173, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 192, 197, 199, 204, 205, 206, 207], "one": [3, 5, 7, 8, 11, 14, 19, 27, 28, 42, 82, 86, 92, 98, 105, 108, 113, 145, 158, 159, 165, 166, 167, 169, 170, 173, 174, 177, 181, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 204, 205, 206, 207], "navfn": [3, 29, 108, 112, 113, 115, 164, 179, 181, 182, 188, 190, 207], "which": [3, 9, 17, 19, 20, 23, 25, 27, 28, 29, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 56, 60, 61, 62, 63, 64, 74, 85, 86, 88, 90, 91, 92, 93, 94, 95, 98, 99, 100, 102, 104, 105, 107, 108, 110, 111, 115, 116, 118, 119, 120, 121, 123, 125, 126, 127, 158, 162, 164, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 202, 204, 205, 206], "implement": [3, 5, 6, 7, 10, 21, 22, 24, 25, 28, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 60, 63, 64, 83, 93, 94, 95, 99, 100, 101, 102, 104, 105, 107, 108, 109, 110, 111, 115, 116, 117, 118, 119, 124, 125, 126, 128, 129, 143, 144, 145, 159, 161, 164, 166, 167, 168, 169, 172, 175, 176, 177, 179, 181, 182, 184, 185, 188, 189, 190, 201, 203, 205, 206], "dijkstra": [3, 109, 167, 179, 181], "teb": [3, 108, 164, 168, 179, 181, 188, 207], "dwa": [3, 179, 181], "elast": [3, 164, 181, 207], "band": [3, 164, 181, 199, 207], "optim": [3, 18, 23, 28, 98, 101, 108, 115, 122, 123, 143, 144, 158, 163, 166, 167, 168, 169, 170, 179, 181, 182, 188, 189, 191, 196, 205, 207], "techniqu": [3, 4, 6, 28, 92, 102, 113, 114, 115, 166, 185, 188, 196, 199], 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176, 177, 179, 181, 183, 188, 189, 192, 196, 199, 200, 204, 205], "approv": [3, 161], "phase": [3, 6, 145], "discuss": [3, 6, 20, 28, 95, 161, 165, 166, 167, 175, 176, 181, 182, 183, 184, 185, 186, 187, 189, 192, 199, 205, 207], "d": [3, 21, 106, 126, 161, 169, 170, 177, 182, 184, 187, 192, 194, 195, 196, 198, 201, 205, 206, 207], "variant": [3, 6, 28, 108, 111, 166, 179, 181, 192], "vornoi": 3, "graph": [3, 10, 117, 145, 168, 180, 195], "rout": [3, 10, 27, 28, 42, 101, 108, 144, 177, 180, 188, 189], "state": [3, 15, 20, 22, 24, 25, 27, 67, 92, 98, 99, 100, 102, 103, 104, 105, 108, 111, 112, 115, 118, 120, 137, 139, 143, 162, 163, 165, 166, 167, 170, 172, 173, 175, 176, 177, 179, 181, 182, 184, 185, 186, 188, 189, 199, 201, 202, 205, 206, 207], "lattic": [3, 112, 115, 143, 144, 163, 167, 168, 179, 180, 181, 188, 207], "kinodynam": 3, "method": [3, 4, 6, 18, 22, 24, 25, 27, 28, 101, 102, 105, 108, 124, 129, 147, 148, 151, 152, 161, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 194, 195, 205, 206], "given": [3, 6, 17, 23, 27, 28, 31, 34, 35, 47, 58, 60, 92, 94, 101, 108, 113, 114, 120, 165, 166, 167, 168, 169, 173, 174, 175, 176, 179, 181, 184, 188, 190, 192, 195, 199, 205, 206], "static": [3, 28, 91, 92, 93, 100, 124, 125, 129, 144, 145, 161, 163, 167, 173, 179, 182, 185, 188, 189, 193, 199, 203, 204, 205], "cilqr": 3, "ilqr": 3, "mpc": [3, 108, 168, 179, 181], "spline": 3, "addit": [3, 11, 20, 22, 23, 24, 25, 28, 42, 91, 92, 95, 97, 144, 157, 158, 166, 167, 168, 170, 173, 177, 181, 184, 185, 187, 188, 194, 195, 196, 199, 204], "complet": [3, 4, 5, 12, 18, 19, 20, 23, 27, 28, 35, 58, 92, 101, 102, 104, 108, 111, 112, 137, 139, 144, 145, 154, 158, 161, 162, 163, 164, 165, 166, 167, 168, 169, 172, 173, 177, 179, 180, 181, 182, 184, 185, 187, 189, 190, 191, 192, 195, 196, 198, 199, 201, 203, 205, 206, 207], "50": [3, 92, 102, 108, 120, 167, 170, 185, 194, 199, 202, 205], "greater": [3, 104, 108, 117, 144, 158, 175, 189], "coverag": [3, 4, 6, 12, 18, 28, 29, 35, 42, 163, 169, 177, 179, 180, 188, 189], "motion": [3, 4, 28, 93, 98, 102, 104, 144, 145, 153, 154, 166, 170, 179, 181, 184, 186, 196, 199, 204, 206], "pluginlib": [3, 28, 164, 172, 174, 175, 176, 177, 190, 192, 203], "robust": [4, 6, 28, 206], "wide": [4, 19, 28, 144, 169, 172, 188, 196], "rang": [4, 7, 72, 91, 92, 93, 100, 111, 124, 127, 129, 158, 165, 166, 169, 170, 174, 179, 180, 187, 188, 189, 193, 194, 196, 200, 202, 204, 205], "environ": [4, 5, 9, 10, 12, 28, 102, 104, 115, 156, 157, 158, 159, 161, 162, 163, 181, 182, 184, 185, 186, 188, 192, 196, 199, 200, 203, 204, 205], "been": [4, 6, 14, 17, 19, 20, 22, 24, 25, 28, 57, 66, 91, 94, 95, 97, 99, 104, 108, 110, 115, 116, 117, 119, 143, 144, 145, 158, 161, 165, 166, 167, 168, 169, 170, 174, 175, 176, 179, 182, 185, 186, 187, 188, 192, 195, 199, 203, 204, 205], "oper": [4, 5, 22, 24, 25, 28, 92, 98, 101, 104, 108, 111, 118, 120, 159, 162, 163, 166, 167, 168, 169, 172, 174, 175, 176, 177, 181, 184, 185, 186, 188, 189, 191, 192, 196, 199, 204, 206], "presenc": [4, 17, 108, 170, 188, 200], "explicitli": [4, 27, 159, 200], "model": [4, 28, 29, 91, 92, 93, 98, 102, 115, 124, 129, 144, 158, 162, 163, 165, 166, 179, 181, 184, 185, 187, 188, 198, 199, 203, 204], "characterist": [4, 12, 114, 184], "howev": [4, 6, 9, 14, 21, 22, 24, 25, 28, 91, 92, 95, 108, 113, 144, 158, 165, 166, 167, 170, 172, 177, 182, 184, 187, 188, 190, 192, 194, 196, 199, 200, 202, 203, 204, 205, 207], "field": [4, 27, 42, 46, 68, 91, 92, 93, 99, 101, 127, 143, 165, 166, 167, 168, 169, 172, 174, 176, 177, 184, 185, 187, 189, 191, 192, 194, 196, 199, 200, 202, 203, 205], "progress": [4, 75, 99, 108, 111, 136, 138, 158, 161, 168, 180, 188, 207], "deploi": [4, 108, 163, 169, 181, 192], "fill": [4, 161, 165, 173, 191, 200, 202, 206], "consider": [4, 108, 188, 192], "must": [4, 14, 20, 27, 28, 66, 74, 93, 100, 101, 104, 107, 111, 114, 118, 121, 124, 129, 136, 138, 144, 145, 146, 157, 161, 165, 167, 168, 169, 172, 173, 175, 176, 177, 179, 181, 184, 185, 186, 189, 190, 191, 192, 195, 198, 201, 203, 204, 205, 206], "taken": [4, 68, 83, 91, 92, 98, 108, 127, 141, 166, 174, 177, 200, 202], "respect": [4, 28, 112, 123, 166, 167, 173, 180, 181, 184, 185, 187, 188, 199, 203, 207], "peopl": [4, 9, 22, 24, 25, 92, 183], "cart": 4, "anim": [4, 193], "exist": [4, 8, 11, 12, 28, 42, 91, 92, 102, 107, 108, 121, 143, 156, 158, 161, 165, 166, 167, 169, 170, 175, 177, 188, 192, 195, 196, 197, 199, 205, 206], "machin": [4, 28, 158, 159, 184, 185, 186, 189, 192, 206], "learn": [4, 7, 11, 19, 28, 96, 159, 163, 172, 173, 176, 185, 186, 187, 192], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 18, 27, 28, 91, 92, 95, 99, 100, 101, 106, 118, 120, 158, 159, 161, 166, 168, 169, 170, 172, 177, 181, 183, 184, 186, 188, 192, 196, 199, 201, 206], "tie": 4, "them": [4, 7, 17, 22, 27, 28, 91, 99, 101, 108, 119, 123, 124, 129, 145, 158, 159, 161, 163, 164, 166, 167, 168, 169, 172, 173, 174, 175, 176, 182, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 198, 199, 200, 201, 202, 204, 205, 206, 207], "scope": [4, 158, 169, 184, 185, 196, 197, 204], "retrain": 4, "otherwis": [4, 20, 65, 68, 71, 72, 73, 74, 75, 76, 79, 80, 81, 93, 108, 113, 126, 144, 145, 166, 167, 169, 179, 184, 188, 189, 192, 202], "becom": [4, 11, 18, 19, 28, 100, 105, 108, 117, 164, 167, 169, 184, 186, 187, 196], "expert": [4, 14], "some": [4, 7, 11, 13, 18, 19, 20, 22, 27, 28, 45, 50, 51, 52, 53, 54, 59, 91, 94, 95, 99, 108, 110, 113, 115, 116, 118, 119, 123, 144, 158, 161, 162, 164, 166, 167, 169, 170, 173, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 192, 193, 194, 196, 197, 199, 200, 204, 205, 206], "basic": [4, 5, 18, 19, 27, 28, 145, 164, 166, 167, 174, 177, 181, 182, 183, 184, 185, 186, 192, 194, 196, 203], "knowledg": [4, 7, 11, 161, 194, 203], "alreadi": [4, 7, 108, 165, 166, 167, 172, 182, 184, 187, 188, 192, 194, 196, 199, 205], "start": [4, 5, 12, 20, 21, 22, 24, 25, 27, 28, 43, 44, 62, 91, 92, 98, 102, 104, 108, 111, 112, 129, 144, 160, 161, 163, 165, 166, 167, 169, 172, 174, 175, 176, 177, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 203, 204, 205, 206, 207], "point": [4, 9, 10, 14, 18, 19, 20, 22, 23, 24, 25, 27, 28, 56, 57, 91, 92, 98, 100, 101, 104, 108, 109, 111, 112, 113, 114, 117, 119, 120, 123, 130, 143, 144, 145, 147, 149, 151, 161, 163, 165, 166, 167, 168, 170, 174, 175, 176, 177, 179, 182, 184, 185, 186, 187, 188, 189, 191, 192, 194, 196, 198, 199, 203, 204, 205, 206, 207], "driven": [4, 188], "includ": [4, 6, 7, 10, 13, 14, 19, 27, 28, 83, 95, 96, 115, 120, 135, 157, 158, 159, 160, 161, 163, 164, 165, 166, 170, 172, 173, 174, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 192, 194, 195, 197, 200, 201, 202, 203, 204, 205, 207], "go": [4, 14, 19, 23, 27, 28, 87, 92, 105, 108, 117, 124, 129, 161, 162, 163, 166, 167, 169, 173, 175, 182, 184, 185, 186, 188, 189, 190, 192, 194, 196, 197, 199, 200, 202, 204, 205], "yolact": 4, "edg": [4, 101, 108, 169, 186, 200], "replac": [4, 5, 10, 11, 95, 98, 106, 162, 164, 167, 168, 169, 170, 172, 174, 176, 177, 188, 190, 192, 193, 196, 199, 201, 203, 204, 205], "detectron2": 4, "benchmark": [4, 7, 11], "capabl": [4, 7, 10, 15, 27, 158, 159, 163, 166, 169, 170, 180, 185, 196, 197, 199, 207], "gpu": [4, 158, 170, 205], "verifi": [4, 28, 149, 159, 184, 185, 187, 199], "suffici": [4, 19, 28, 108, 145, 154, 177, 193, 195, 196], "tangent": [4, 191, 199], "involv": [4, 5, 6, 11, 19, 21, 108, 111, 160, 166, 168, 169, 170, 182, 189, 192, 196], "identifi": [4, 7, 11, 13, 158, 166, 174, 181, 195], "few": [4, 11, 14, 20, 27, 87, 98, 101, 157, 158, 169, 181, 185, 188, 192, 194, 205], "produc": [4, 28, 91, 92, 94, 95, 99, 104, 108, 110, 116, 119, 167, 168, 169, 172, 176, 181, 185, 188, 196, 199, 204], "about": [4, 7, 9, 11, 22, 23, 24, 25, 28, 91, 120, 123, 127, 156, 157, 158, 159, 161, 163, 166, 168, 169, 172, 173, 174, 176, 177, 184, 185, 186, 187, 188, 192, 193, 194, 195, 196, 198, 199, 202, 205, 206], "power": [4, 19, 98, 108, 159, 163, 167, 188, 192], "intel": [4, 14, 108, 167], "cpu": [4, 7, 92, 158, 167, 188, 189, 196], "nvidia": [4, 102, 169, 192, 196, 205], "jetson": [4, 192, 196, 205], "soc": 4, "extern": [4, 22, 24, 25, 27, 91, 99, 102, 105, 140, 157, 158, 164, 165, 168, 169, 189, 192, 196, 208], "next": [4, 5, 17, 19, 20, 22, 23, 24, 25, 28, 42, 108, 118, 119, 140, 142, 158, 162, 164, 165, 172, 174, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 192, 193, 202, 206], "mark": [4, 28, 98, 100, 124, 125, 126, 129, 149, 168, 177, 185, 188, 193, 200, 202, 203, 206], "ensur": [4, 9, 11, 13, 21, 22, 24, 25, 28, 92, 99, 105, 108, 111, 118, 158, 159, 161, 164, 166, 167, 168, 169, 181, 182, 186, 187, 188, 189, 192, 195, 203], "doe": [4, 9, 20, 22, 23, 24, 25, 91, 92, 97, 102, 108, 123, 126, 144, 145, 157, 158, 166, 167, 168, 169, 172, 175, 176, 177, 182, 184, 188, 189, 190, 192, 199, 200, 202, 205, 206], "collid": [4, 9, 104, 182], "permit": [4, 161, 200], "direct": [4, 62, 92, 98, 108, 111, 115, 118, 131, 144, 145, 150, 157, 158, 166, 169, 180, 181, 186, 191, 198, 199, 204], "collabor": [4, 14, 161], "member": [4, 161, 172, 175, 176, 177], "detect": [4, 28, 58, 62, 91, 92, 97, 98, 102, 111, 158, 169, 182, 184, 185, 188, 191, 197, 205], "real": [4, 9, 12, 28, 92, 99, 118, 161, 184, 185, 186, 187, 191, 192, 197, 199], "live": [4, 28, 159, 166, 172, 186, 188, 192, 198, 201, 206], "demonstr": [4, 10, 27, 92, 157, 167, 169, 170, 174, 199, 203, 204, 205], "85": [4, 12], "higher": [4, 6, 9, 12, 19, 28, 92, 98, 99, 100, 101, 102, 104, 106, 108, 118, 120, 144, 145, 163, 166, 167, 168, 169, 170, 177, 188, 189, 197, 200, 202, 205, 206], "python": [4, 10, 145, 163, 166, 169, 184, 199, 200, 202, 205], "geometri": [4, 5, 9, 92, 184, 185, 187, 192], "statist": [4, 9, 195], "relat": [4, 11, 13, 14, 26, 28, 92, 97, 120, 121, 123, 127, 157, 158, 166, 167, 169, 183, 186, 187, 199], "wa": [5, 11, 19, 20, 22, 24, 27, 28, 46, 58, 63, 91, 92, 94, 95, 99, 108, 109, 110, 111, 116, 117, 119, 141, 143, 144, 145, 158, 161, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 185, 187, 188, 189, 193, 194, 195, 199, 200, 202, 204, 205, 206, 207], "eth": 5, "zurich": 5, "later": [5, 108, 144, 145, 158, 159, 161, 167, 172, 173, 174, 175, 176, 177, 185, 192, 195, 203, 205, 206], "transfer": 5, "anybot": 5, "univers": [5, 186], "librari": [5, 6, 7, 10, 15, 27, 28, 42, 95, 101, 164, 165, 167, 172, 174, 175, 176, 177, 185, 186, 190, 192, 194, 203, 206], "basi": [5, 108, 188, 192], "variou": [5, 28, 94, 108, 116, 157, 158, 167, 168, 179, 180, 184, 186, 187, 192], "form": [5, 42, 92, 117, 169, 174, 185, 186, 192], "avail": [5, 9, 27, 28, 78, 91, 92, 100, 101, 108, 111, 117, 156, 157, 159, 161, 164, 166, 167, 174, 179, 181, 184, 185, 188, 189, 190, 191, 192, 194, 197, 199, 203, 205], "top": [5, 7, 11, 19, 100, 172, 174, 175, 176, 177, 186, 190, 191, 193, 195, 200, 202, 206], "download": [5, 158, 191, 192], "packag": [5, 8, 18, 27, 28, 91, 92, 95, 96, 97, 100, 102, 104, 108, 111, 112, 115, 118, 145, 156, 157, 158, 161, 162, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 200, 202, 204, 205, 207], "grid_map": 5, "metapackag": [5, 169], "costmap_2d": [5, 169, 174, 185], "code": [5, 6, 15, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 65, 79, 80, 81, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 118, 119, 143, 158, 159, 161, 164, 165, 167, 170, 172, 173, 174, 175, 176, 177, 179, 182, 184, 185, 187, 190, 192, 193, 194, 199, 203, 205, 207], "analyz": [5, 6, 7, 10, 27, 28, 173, 195], "abstract": [5, 11, 28, 167, 168, 205, 206], "allow": [5, 6, 8, 9, 10, 18, 19, 20, 22, 23, 24, 25, 28, 87, 92, 93, 94, 95, 100, 101, 104, 108, 109, 111, 112, 117, 127, 143, 144, 145, 146, 149, 154, 158, 159, 161, 163, 165, 166, 167, 170, 172, 174, 175, 176, 181, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 196, 197, 199, 200, 202, 204, 205], "expect": [5, 11, 27, 93, 108, 110, 124, 129, 161, 163, 165, 166, 169, 177, 184, 189, 190, 192, 199, 205], "full": [5, 7, 12, 20, 28, 93, 100, 108, 123, 130, 144, 156, 161, 165, 166, 167, 180, 181, 182, 183, 184, 186, 187, 188, 192, 193, 196, 197, 199, 200, 202, 204, 205, 206, 207], "process": [5, 7, 8, 11, 23, 27, 28, 29, 58, 93, 95, 99, 100, 108, 110, 111, 113, 126, 144, 145, 157, 158, 160, 162, 165, 166, 168, 169, 172, 173, 177, 179, 183, 187, 188, 189, 192, 193, 194, 195, 196, 199, 203, 204, 205, 206, 207], "over": [5, 6, 8, 11, 14, 17, 19, 21, 27, 28, 56, 57, 90, 92, 100, 108, 146, 161, 163, 166, 167, 168, 169, 177, 181, 182, 184, 185, 188, 189, 191, 192, 196, 199, 200, 203, 204, 207], "cours": [5, 11, 158, 187, 196], "summer": [5, 11], "earli": [5, 11, 16], "design": [5, 6, 8, 27, 28, 97, 102, 108, 113, 115, 166, 168, 174, 188, 193, 200, 202, 204, 206], "gradient": [5, 28, 98, 113, 167, 174], "complement": [5, 165, 199], "startup": [5, 28, 105, 125, 156, 158, 162, 165, 189, 191, 192, 200, 202], "merg": [5, 13, 158, 161, 165, 174], "branch": [5, 13, 23, 144, 145, 156, 157, 158, 161, 167, 190, 192], "2d": [5, 15, 27, 28, 29, 91, 92, 104, 112, 114, 115, 124, 129, 144, 162, 163, 165, 166, 174, 175, 176, 177, 179, 181, 182, 188, 196, 198, 199, 200, 203, 207], "low": [5, 19, 20, 72, 102, 108, 113, 118, 144, 164, 179, 188], "level": [5, 9, 19, 22, 24, 25, 28, 92, 97, 106, 114, 161, 163, 166, 167, 168, 170, 189, 195, 196, 200, 202, 204, 205, 206], "object": [5, 10, 11, 27, 28, 42, 86, 101, 108, 125, 163, 166, 167, 168, 169, 170, 172, 174, 177, 183, 185, 187, 188, 199, 203, 208], "reimplement": [5, 6, 170], "mechan": [5, 11, 91, 92, 93, 94, 95, 99, 107, 110, 116, 118, 119, 170, 174, 194, 196], "git": [5, 157, 159, 161, 191, 192, 200, 201, 202, 203], "pick": [5, 27, 28, 100, 119, 182, 198, 199], "befor": [5, 11, 19, 22, 23, 24, 25, 26, 28, 45, 50, 53, 54, 59, 66, 83, 85, 87, 92, 93, 99, 101, 104, 107, 108, 112, 114, 123, 124, 129, 140, 143, 144, 145, 153, 158, 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168, 169, 172, 187, 190, 191, 192, 193, 194, 197, 199, 205, 207], "year": [6, 14, 163], "essenti": [6, 144, 145, 167, 185, 188, 205], "updat": [6, 7, 11, 12, 19, 20, 21, 28, 67, 76, 86, 93, 100, 102, 106, 115, 123, 128, 158, 161, 164, 167, 168, 169, 170, 172, 173, 174, 175, 177, 179, 182, 184, 186, 188, 192, 193, 196, 197, 199, 201, 202, 205, 206], "made": [6, 8, 28, 92, 99, 100, 102, 105, 136, 138, 158, 159, 161, 167, 168, 174, 177, 181, 182, 187, 188, 193, 197, 200, 202, 204, 205], "adapt": [6, 28, 93, 111, 166, 179, 185, 186, 187], "mont": [6, 28, 93, 185], "carlo": [6, 28, 93, 185], "written": [6, 28, 169, 172, 174, 175, 176, 177, 185, 193, 199, 200, 202, 204, 206], "embed": [6, 28, 167, 188, 189], "structur": [6, 8, 19, 28, 163, 168, 169, 177, 181, 186, 187, 189, 199, 202, 203, 206], "veri": [6, 7, 11, 14, 16, 18, 22, 24, 28, 104, 108, 113, 144, 161, 167, 169, 180, 182, 186, 187, 188, 192, 196, 205, 207], "sensit": [6, 92, 99, 118, 120, 144, 168, 169], "chang": [6, 11, 12, 13, 14, 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206], "multipl": [6, 11, 22, 24, 25, 28, 42, 45, 50, 53, 54, 59, 87, 92, 94, 108, 115, 116, 159, 163, 165, 166, 169, 170, 175, 176, 181, 184, 185, 186, 187, 188, 189, 190, 192, 194, 196, 199, 202, 204, 205], "strictli": [6, 145, 168], "65": [6, 107, 202], "reliabl": [6, 12, 45, 50, 53, 54, 59, 159, 163, 185, 187, 205], "particl": [6, 7, 28, 93, 162, 179, 188, 193], "filter": [6, 13, 30, 93, 99, 102, 113, 125, 184, 188, 192, 196, 199, 203, 204, 205, 208], "abil": [6, 7, 28, 92, 108, 168, 169, 170, 204], "read": [6, 8, 19, 28, 91, 92, 126, 159, 166, 179, 185, 192, 194, 199, 200, 202], "academ": 6, "significantli": [7, 9, 18, 23, 24, 25, 87, 108, 112, 144, 167, 169, 170, 179, 188, 199, 207], "leverag": [7, 11, 17, 27, 157, 159, 167, 183, 188, 190, 197, 199, 205], "multi": [7, 10, 11, 27, 28, 166, 167, 179, 181, 192], "processor": [7, 108, 170, 188], "core": [7, 18, 28, 168, 189, 190, 192], "seek": 7, "thread": [7, 11, 13, 27, 28, 92, 99, 108, 118, 169, 194], "parallel": [7, 13, 199, 204], "comput": [7, 18, 19, 20, 21, 22, 28, 42, 43, 44, 101, 106, 108, 110, 111, 115, 117, 143, 144, 145, 147, 151, 163, 167, 168, 169, 170, 172, 173, 175, 176, 179, 181, 182, 184, 185, 186, 188, 190, 192, 195, 196, 198, 205], "overal": [7, 19, 82, 101, 144, 169, 181, 185, 196, 199], "platform": [7, 102, 108, 115, 163, 166, 183, 186, 188, 196, 205, 206, 207], "cloud": [7, 28, 158, 159, 162, 165, 192], "popul": [7, 93, 95, 166, 167, 172, 177, 179, 185, 189, 190, 199], "evalu": [7, 108, 130, 133, 145, 181, 196], "voxel": [7, 17, 100, 168, 179, 185, 193, 203], "rai": [7, 185], "cast": 7, "student": [7, 161], "interest": [7, 10, 11, 14, 18, 27, 28, 158, 161, 177, 186, 188, 190, 194, 195, 197, 198, 201, 205, 206], "ideal": [7, 12, 167, 168, 172, 175, 176], "exposur": 7, "concept": [7, 19, 20, 163, 166, 181, 185, 186, 189, 200, 202, 205, 206], "Then": [7, 20, 166, 173, 174, 175, 176, 177, 184, 185, 192, 194, 195, 198, 205], "obtain": [7, 28, 29, 92, 101, 102, 165, 168, 184, 185, 191, 192, 196, 205], "while": [7, 9, 13, 19, 22, 24, 25, 27, 95, 105, 108, 111, 113, 123, 144, 154, 157, 158, 159, 166, 167, 168, 169, 170, 173, 177, 181, 182, 184, 185, 188, 189, 190, 192, 193, 194, 196, 198, 199, 200, 204, 205, 206, 207, 208], "great": [7, 14, 19, 161, 167, 194, 196, 199], "deal": [7, 28, 184, 186, 188], "valuabl": [7, 11, 161], "skillset": 7, "analysi": [7, 28, 161, 163, 195], "benefit": [7, 158, 188], "non": [7, 10, 27, 28, 92, 95, 99, 102, 105, 106, 108, 112, 115, 120, 122, 123, 127, 143, 144, 145, 158, 163, 167, 169, 170, 173, 177, 179, 181, 182, 186, 187, 188, 192, 194, 195, 196, 200, 204, 205, 207], "trivial": [7, 28, 161, 168, 172, 204, 205, 206], "quickli": [7, 102, 158, 161, 167, 186, 188, 206], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 20, 22, 24, 27, 28, 91, 107, 108, 115, 157, 159, 166, 167, 173, 181, 184, 185, 186, 187, 188, 190, 192, 194, 196, 199, 203, 206, 207], "signific": [8, 9, 108, 174, 188, 199], "stride": 8, "world": [8, 9, 27, 28, 158, 162, 163, 172, 184, 185, 186, 188, 192, 193, 197, 200, 201, 202, 203], "gain": [8, 108, 111], "reput": 8, "fair": 8, "unfair": 8, "rel": [8, 28, 62, 91, 92, 100, 102, 108, 118, 124, 126, 128, 129, 165, 169, 170, 181, 182, 184, 186, 188, 195, 196, 199, 205], "limit": [8, 28, 92, 99, 107, 108, 118, 127, 135, 143, 144, 145, 158, 166, 169, 175, 179, 181, 184, 188, 192, 197, 204, 208], "type": [8, 18, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 74, 77, 78, 79, 80, 81, 83, 85, 86, 87, 88, 90, 91, 92, 93, 94, 95, 98, 99, 100, 101, 102, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 158, 159, 162, 163, 165, 166, 167, 170, 172, 173, 174, 175, 176, 177, 179, 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202, 203, 204, 205, 206, 207], "doc": [8, 15, 157, 162, 165, 169, 188, 192, 199], "just": [8, 21, 22, 24, 25, 28, 87, 100, 108, 150, 159, 161, 167, 170, 173, 174, 182, 184, 185, 186, 187, 188, 192, 194, 195, 199, 200], "technic": [8, 22, 24, 25, 161, 172, 174, 175, 176, 177, 200], "analog": [8, 92, 166, 168, 169, 173, 194, 205, 207], "expans": [8, 109, 117, 144, 145, 166, 167, 168, 169, 179], "blog": 8, "highlight": [8, 18, 27, 98, 158, 181, 191, 192, 196, 206], "demo": [8, 10, 23, 28, 162, 167, 169, 170, 182, 189, 192, 199, 200, 202, 205], "come": [8, 13, 14, 28, 101, 108, 111, 139, 144, 161, 167, 168, 172, 175, 176, 177, 184, 186, 187], "element": [8, 164, 172, 183, 184, 187], "migrat": [8, 169, 170, 180], "document": [8, 10, 15, 19, 23, 28, 157, 158, 161, 162, 165, 184, 185, 186, 187, 192, 193, 194, 195, 196, 200, 201, 202], "edit": [8, 166, 179, 184, 185, 190, 205], "web": [8, 159], "technologi": [8, 14, 163, 196, 199], "watchdog": [9, 105, 150, 163, 165], "act": [9, 14, 28, 143, 165, 166, 183, 185, 187, 200, 204, 207], "properli": [9, 27, 146, 163, 167, 182, 183, 184, 185, 186, 187, 193, 199, 200, 202], "typic": [9, 19, 20, 28, 91, 92, 104, 144, 145, 161, 167, 175, 182, 184, 186, 188, 192, 193, 196, 200, 201, 202, 207], "rate": [9, 12, 19, 20, 85, 88, 90, 91, 92, 93, 99, 102, 104, 118, 119, 124, 129, 164, 166, 169, 172, 179, 187, 196, 197, 205], "contain": [9, 11, 18, 22, 24, 25, 28, 48, 52, 56, 97, 100, 108, 115, 118, 124, 129, 144, 145, 160, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 184, 185, 187, 188, 189, 190, 191, 194, 196, 200, 202, 204, 205, 207], "zone": [9, 28, 91, 92, 98, 101, 107, 123, 144, 145, 166, 167, 179, 185, 188, 199, 202, 204, 208], "wherea": [9, 42, 108, 144, 168, 188, 189], "locat": [9, 23, 27, 28, 102, 144, 145, 154, 162, 170, 172, 174, 175, 176, 177, 181, 184, 185, 187, 192, 199, 205], "around": [9, 14, 19, 23, 28, 39, 62, 87, 91, 92, 98, 100, 104, 108, 111, 122, 161, 166, 179, 185, 186, 187, 188, 191, 192, 199, 201, 207], "signal": [9, 113, 175, 179, 195, 199], "stop": [9, 21, 28, 74, 82, 92, 97, 99, 105, 108, 118, 119, 130, 139, 154, 165, 166, 168, 169, 170, 175, 179, 187, 192, 196, 204, 205], "less": [9, 68, 92, 94, 95, 99, 108, 110, 111, 116, 118, 119, 121, 144, 164, 167, 184, 193, 196, 199, 200, 207], "consum": [9, 167], "drop": [9, 104, 165, 169, 196, 206], "cost": [9, 19, 27, 28, 56, 91, 92, 94, 98, 100, 111, 115, 117, 122, 123, 133, 143, 144, 145, 158, 163, 166, 167, 174, 179, 185, 188, 193], "logic": [9, 18, 19, 22, 24, 25, 28, 168, 169, 170, 173, 177, 189, 206], "wouldn": [9, 188], "t": [9, 14, 39, 82, 102, 108, 143, 144, 145, 149, 156, 161, 162, 163, 166, 167, 169, 170, 172, 173, 175, 176, 177, 182, 186, 187, 188, 190, 192, 193, 194, 196, 197, 198, 199, 200, 201, 205], "certifi": [9, 92, 161], "safe": [9, 13, 28, 111, 157, 166, 172, 173, 181, 185, 186, 188], "injuri": 9, "sit": 9, "most": [9, 19, 22, 24, 25, 92, 93, 94, 95, 99, 108, 110, 112, 115, 116, 119, 167, 170, 173, 179, 184, 185, 186, 188, 190, 192, 194, 195, 196, 199, 207], "recent": [9, 57, 188, 196], "rgbd": 9, "n": [9, 28, 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, 68, 79, 80, 81, 86, 87, 91, 92, 95, 98, 101, 102, 105, 107, 108, 112, 120, 121, 123, 127, 130, 166, 169, 170, 184, 199, 205], "second": [9, 19, 20, 22, 24, 25, 28, 30, 31, 47, 49, 58, 60, 76, 77, 82, 83, 87, 92, 94, 95, 99, 105, 107, 108, 110, 112, 116, 119, 140, 141, 143, 144, 145, 166, 167, 169, 170, 173, 179, 184, 185, 186, 189, 191, 192, 193, 199, 200, 202], "result": [9, 20, 27, 28, 61, 62, 86, 92, 94, 95, 98, 99, 101, 102, 104, 108, 110, 111, 113, 114, 116, 117, 119, 161, 163, 165, 166, 170, 172, 173, 174, 177, 179, 188, 189, 191, 193, 196, 204, 205, 206, 207], "measur": [9, 26, 99, 108, 124, 129, 144, 145, 166, 168, 179, 184, 185, 186, 187, 193, 196, 199, 205], "scale": [9, 17, 28, 103, 104, 108, 111, 113, 130, 144, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 166, 179, 186, 187, 188, 200, 202, 204], "alwai": [9, 16, 21, 78, 91, 92, 95, 105, 118, 145, 156, 166, 167, 169, 170, 187, 188, 199, 200, 204, 205, 207], "flag": [9, 158, 184, 187, 191, 192, 194, 195], "m": [9, 26, 27, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 44, 47, 48, 51, 52, 55, 57, 60, 64, 66, 68, 74, 85, 87, 90, 92, 93, 99, 100, 101, 102, 104, 107, 108, 111, 115, 118, 129, 130, 132, 136, 137, 138, 139, 144, 150, 154, 161, 163, 166, 175, 184, 187, 202, 204], "bound": [9, 62, 92, 104, 111, 114, 143, 144, 145, 167, 174, 204], "enact": [9, 87, 163, 207], "safer": 9, "product": [9, 28, 147, 148, 151, 152, 158, 159, 163, 188, 192, 196, 205], "research": [9, 14, 28], "goe": [9, 20, 23, 127, 167, 172, 175, 176, 177, 190], "those": [9, 14, 28, 56, 113, 158, 167, 181, 185, 187, 188, 189, 190, 192, 194], "creation": [9, 165, 170, 188], "prevent": [9, 19, 28, 30, 92, 93, 97, 98, 104, 108, 111, 118, 124, 129, 144, 145, 150, 155, 158, 166, 167, 168, 169, 179, 188, 189, 193, 200], "40hz": 9, "adjust": [9, 11, 28, 29, 42, 85, 88, 90, 92, 94, 95, 99, 100, 108, 110, 116, 118, 119, 144, 163, 168, 169, 182, 187, 196, 202, 204, 205], "accordingli": [9, 92, 169, 170, 199, 200, 202], "major": [10, 13, 28, 115, 163, 166, 169, 172, 177, 180, 182, 187, 194], "enabl": [10, 13, 23, 57, 91, 92, 93, 100, 102, 104, 108, 111, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 140, 141, 142, 144, 145, 158, 159, 166, 167, 168, 170, 172, 175, 176, 177, 179, 184, 185, 187, 188, 189, 192, 196, 201, 203, 204, 205, 206], "represent": [10, 100, 144, 181, 185, 186, 199], "format": [10, 42, 91, 92, 98, 108, 141, 145, 158, 166, 184, 185, 187, 192, 199, 200, 202, 206], "repres": [10, 12, 19, 28, 108, 111, 144, 163, 166, 175, 180, 184, 185, 187, 194, 196, 199], "within": [10, 19, 20, 22, 28, 65, 91, 92, 93, 94, 95, 97, 99, 101, 102, 108, 110, 112, 116, 119, 122, 124, 125, 129, 143, 144, 145, 158, 159, 161, 167, 168, 169, 174, 177, 179, 184, 185, 187, 188, 189, 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84, 86, 93, 94, 95, 101, 108, 115, 119, 145, 157, 158, 159, 163, 167, 168, 170, 172, 175, 176, 177, 179, 181, 183, 185, 192, 199, 203, 204, 205], "purpos": [10, 28, 91, 161, 163, 168, 173, 177, 181, 187, 196, 197, 199, 201, 202], "differ": [10, 18, 19, 20, 22, 23, 24, 25, 28, 67, 91, 92, 96, 101, 102, 104, 111, 112, 115, 117, 120, 123, 125, 127, 144, 158, 159, 161, 162, 163, 165, 167, 168, 169, 170, 174, 177, 179, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 194, 196, 197, 199, 200, 202, 204, 205, 206, 207], "rule": [10, 28, 175, 176, 186], "room": [10, 108, 188, 198, 200, 202], "stori": 10, "info": [10, 14, 98, 103, 120, 123, 127, 159, 163, 166, 174, 184, 191, 192], "execut": [10, 11, 19, 21, 22, 24, 25, 27, 28, 46, 83, 87, 92, 95, 99, 112, 118, 119, 158, 159, 161, 165, 166, 167, 169, 173, 174, 177, 179, 181, 182, 184, 185, 186, 187, 189, 192, 193, 194, 195, 199, 200, 202, 205, 206], "manipul": [10, 27, 28, 100, 182, 187, 196], "percept": [10, 28, 102, 163, 179, 183, 185, 191, 192, 203], "motiv": [10, 167], "ticket2": [10, 11, 13], "admittedli": 11, "explain": [11, 19, 20, 23, 159, 161, 182, 194, 195, 201, 207], "someon": [11, 14], "unfamiliar": [11, 28, 196], "inner": [11, 204], "truli": [11, 188], "understand": [11, 22, 24, 25, 28, 117, 161, 177, 193, 194, 195, 199, 200, 203], "market": 11, "anyon": 11, "beforehand": [11, 199], "necessari": [11, 23, 27, 104, 108, 111, 144, 145, 158, 166, 168, 169, 172, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 193, 195, 202, 205, 207], "architectur": [11, 166, 196], "foxi": [11, 28, 171, 176], "singl": [11, 20, 22, 24, 25, 27, 28, 99, 107, 108, 119, 144, 145, 161, 164, 165, 166, 167, 170, 173, 174, 176, 179, 184, 185, 186, 187, 188, 189, 190, 194, 195, 196, 199, 203], "share": [11, 28, 92, 94, 95, 116, 143, 158, 162, 167, 172, 174, 175, 176, 177, 184, 185, 187, 188, 192, 198, 205, 207], "same": [11, 19, 27, 28, 42, 67, 69, 91, 92, 93, 95, 98, 108, 111, 118, 125, 143, 144, 145, 158, 159, 161, 162, 163, 164, 165, 167, 168, 169, 170, 172, 174, 177, 179, 185, 187, 188, 189, 192, 194, 195, 196, 199, 200, 202, 203, 204, 205, 207], "dd": [11, 158], "particip": [11, 161], "network": [11, 28, 158, 164, 167, 173, 192, 205], "import": [11, 17, 18, 27, 28, 42, 98, 108, 115, 118, 158, 161, 177, 180, 182, 185, 186, 187, 188, 189, 193, 194, 195, 199, 200, 202, 205, 206, 207], "overhead": [11, 188, 205], "each": [11, 19, 22, 24, 25, 26, 27, 28, 67, 91, 92, 93, 94, 95, 99, 100, 108, 110, 112, 116, 118, 142, 159, 161, 163, 164, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 181, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 199, 200, 202, 204, 205, 206], "usag": [11, 27, 120, 158, 169, 170, 186, 187, 189, 192, 199, 204], "executor": [11, 27, 28, 119, 166, 168], "further": [11, 20, 23, 104, 108, 114, 144, 145, 158, 161, 167, 169, 186, 194, 196], "dai": [11, 92, 192], "when": [11, 19, 20, 21, 22, 24, 28, 42, 62, 66, 70, 72, 77, 85, 87, 88, 90, 91, 92, 93, 94, 99, 100, 101, 102, 104, 105, 108, 110, 111, 112, 117, 118, 119, 120, 123, 125, 127, 141, 144, 145, 150, 154, 156, 158, 159, 161, 163, 165, 166, 167, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 199, 200, 202, 204, 205, 206, 207], "built": [11, 158, 161, 174, 182, 183, 184, 185, 187, 188, 191, 192, 193, 194, 199, 200, 201, 202, 203, 204, 205, 207], "were": [11, 14, 19, 28, 94, 164, 165, 166, 167, 168, 169, 170, 186, 187, 188, 189, 192, 200, 202, 204], "mani": [11, 18, 19, 22, 24, 25, 28, 83, 92, 93, 102, 163, 164, 165, 169, 174, 179, 185, 186, 188, 190, 192, 194, 195, 196, 197, 200, 202, 205, 206, 207], "handl": [11, 19, 23, 27, 28, 92, 94, 95, 99, 101, 102, 105, 107, 110, 116, 119, 158, 166, 167, 168, 172, 173, 174, 175, 176, 177, 185, 187, 188, 189, 194, 205], "action": [11, 19, 27, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 64, 83, 85, 86, 87, 88, 91, 92, 94, 95, 99, 100, 101, 102, 108, 110, 116, 119, 162, 163, 164, 168, 172, 173, 177, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 192, 197, 198, 199, 200, 202, 204, 206], "request": [11, 14, 19, 21, 27, 28, 94, 95, 99, 101, 106, 107, 108, 109, 110, 112, 116, 143, 144, 145, 158, 159, 161, 165, 166, 167, 168, 169, 170, 172, 173, 175, 177, 179, 188, 189, 190, 194, 201, 202, 205, 206, 207], "callback": [11, 13, 28, 166, 177], "now": [11, 19, 20, 22, 23, 92, 162, 164, 165, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 190, 192, 194, 195, 196, 197, 198, 199, 203, 205, 206], "spinner": 11, "group": [11, 13, 14, 28, 88, 121, 161, 168, 170, 179, 193], "individu": [11, 28, 91, 92, 97, 115, 161, 164, 167, 168, 188, 192, 201, 205], "f": [11, 111, 158, 163, 201], "bt": [11, 18, 19, 20, 21, 22, 23, 24, 25, 28, 57, 74, 84, 95, 98, 102, 162, 163, 165, 177, 179, 189, 197, 205, 206, 208], "spin": [11, 19, 20, 22, 23, 24, 25, 26, 27, 28, 37, 96, 155, 165, 166, 167, 168, 169, 172, 173, 179, 192], "messag": [11, 27, 28, 30, 31, 42, 43, 44, 45, 46, 47, 50, 53, 54, 59, 60, 63, 91, 92, 93, 94, 97, 99, 100, 102, 110, 124, 127, 129, 158, 161, 166, 168, 169, 170, 172, 173, 175, 177, 184, 189, 196, 199, 200, 202, 204, 205], "trigger": [11, 19, 20, 22, 24, 25, 28, 55, 85, 87, 89, 91, 92, 102, 104, 108, 111, 112, 120, 158, 165, 166, 167, 168, 179, 189, 190, 192, 204, 205, 207], "own": [11, 18, 28, 92, 93, 115, 158, 161, 164, 165, 166, 170, 172, 173, 174, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 189, 192, 195, 196, 199, 200, 201, 202, 204, 205], "suppli": [11, 28, 85, 88, 90, 95], "context": [11, 13, 19, 20, 22, 23, 24, 25, 96, 157, 173, 179, 192, 206], "trust": [11, 159, 163, 196, 199], "me": [11, 161, 169], "sai": [11, 19, 20, 28, 161, 194], "achiev": [11, 98, 108, 111, 115, 118, 119, 166, 167, 168, 169, 170, 187, 188, 196, 199], "goal": [11, 18, 19, 20, 21, 22, 24, 25, 27, 28, 34, 35, 43, 44, 48, 49, 51, 52, 56, 57, 61, 67, 68, 69, 75, 86, 87, 90, 94, 95, 96, 98, 99, 101, 102, 104, 109, 110, 111, 112, 116, 117, 119, 130, 136, 137, 138, 139, 143, 144, 145, 147, 148, 154, 155, 162, 164, 165, 172, 173, 175, 176, 177, 184, 187, 188, 189, 190, 197, 199, 201, 202, 204, 205, 207], "let": [11, 19, 20, 28, 101, 140, 142, 156, 159, 166, 167, 172, 173, 176, 184, 185, 186, 187, 188, 192, 196, 197, 199, 202, 204], "hood": [11, 167], "rclcpp": [11, 101, 174, 175, 176, 177], "give": [11, 92, 99, 108, 118, 125, 161, 162, 163, 165, 169, 172, 173, 180, 181, 184, 185, 186, 187, 188, 189, 192, 194, 202, 205, 207], "insight": [11, 167, 180, 188], "career": 11, "put": [11, 98, 167, 174, 179, 187, 189, 192, 199, 204], "know": [11, 14, 28, 101, 111, 115, 156, 161, 165, 166, 173, 174, 179, 186, 187, 192, 196, 199, 202, 205, 206], "degre": [11, 26, 91, 92, 144, 166, 169, 199], "remov": [11, 21, 22, 56, 57, 61, 62, 101, 107, 113, 121, 124, 129, 144, 145, 158, 164, 165, 179, 184, 185, 188, 190, 193, 194, 195, 196, 199, 203, 204, 206, 207], "excess": 11, "determinist": [11, 28, 105, 113, 189], "compos": [11, 167, 174, 188, 189, 192, 194, 195, 200, 205], "had": [12, 14, 167, 168, 169, 185, 199], "focu": [12, 19, 27, 187, 204, 206], "ci": [12, 14, 17, 157, 158, 159, 161, 180], "entir": [12, 20, 22, 24, 25, 92, 157, 158, 161, 179, 181, 188, 196, 204], "increas": [12, 28, 98, 102, 104, 108, 117, 122, 144, 167, 168, 186, 188, 189, 191, 192], "90": [12, 26, 92, 99, 111, 118, 180, 199], "realist": [12, 205], "activ": [12, 27, 28, 65, 79, 80, 81, 92, 94, 95, 99, 101, 105, 110, 116, 119, 156, 161, 162, 165, 166, 167, 168, 172, 175, 176, 177, 184, 185, 188, 189, 199, 205], "block": [12, 13, 27, 28, 92, 156, 167, 174, 176, 184, 187, 188, 203, 207], "worst": 12, "condit": [12, 19, 22, 24, 25, 28, 30, 31, 47, 60, 73, 75, 78, 114, 158, 167, 168, 170, 173, 179, 184, 187, 196, 199, 200, 206, 207], "line": [12, 27, 113, 117, 143, 165, 168, 172, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 190, 192, 194, 195, 199, 204], "report": [12, 93, 108, 161, 166, 168, 173, 185], "codecov": 12, "advantag": [12, 28, 168, 207], "fault": [12, 27, 28], "un": [12, 19], "gtest": 12, "repo": [12, 28, 117, 157, 159, 197, 199, 203], "compris": [13, 163, 187], "smaller": [13, 19, 28, 104, 111, 121, 144, 145, 167, 196, 200, 202], "easili": [13, 19, 28, 95, 158, 165, 166, 167, 169, 188, 195, 204, 205], "subproject": 13, "place": [13, 27, 28, 60, 100, 104, 111, 112, 122, 124, 128, 129, 143, 145, 161, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 181, 187, 190, 191, 193, 200, 202, 204, 207], "cmd_vel": [13, 91, 92, 106, 169, 170, 175, 184, 195, 204], "thing": [13, 28, 159, 167, 168, 174, 175, 176, 184, 187, 188, 192, 194, 195, 202], "yuk": 13, "previous": [13, 166, 167, 168, 169, 175, 177, 185, 192, 194, 195, 199, 204], "shown": [13, 19, 27, 108, 161, 162, 166, 173, 177, 181, 182, 184, 185, 189, 190, 197, 199, 202, 204, 205, 206], "onc": [13, 19, 20, 23, 78, 89, 92, 93, 101, 102, 105, 108, 112, 143, 144, 145, 157, 158, 159, 161, 162, 165, 166, 167, 169, 177, 185, 186, 187, 192, 194, 195, 198, 199, 204, 205, 207], "ve": [13, 27, 156, 161, 162, 173, 186, 189, 205, 207], "submit": [13, 161, 179], "pr": [13, 94, 95, 99, 110, 116, 119, 161, 165, 166, 167, 168, 169, 170], "instead": [13, 19, 22, 24, 25, 86, 91, 93, 94, 95, 102, 108, 109, 110, 112, 114, 117, 130, 135, 143, 144, 145, 157, 158, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 181, 184, 185, 186, 188, 189, 190, 192, 194, 196, 197, 198, 199, 200, 204, 205], "b": [13, 161, 163, 174, 191, 197, 201, 202, 203], "reconfigur": [13, 18, 166, 167, 181, 189, 199], "meantim": 13, "wait": [13, 19, 20, 22, 23, 24, 25, 27, 28, 38, 56, 93, 94, 95, 96, 100, 102, 119, 140, 142, 159, 162, 164, 167, 169, 172, 173, 179, 185, 189, 192, 205], "done": [13, 19, 20, 28, 92, 158, 164, 165, 166, 174, 175, 176, 177, 180, 181, 185, 194, 195, 196, 205, 206], "via": [13, 20, 21, 22, 24, 25, 28, 42, 45, 50, 53, 54, 70, 91, 92, 93, 97, 115, 157, 158, 159, 161, 163, 167, 168, 169, 170, 172, 177, 179, 186, 188, 189, 190, 195, 198, 201, 203, 205, 206], "remain": [13, 19, 20, 21, 28, 74, 98, 108, 133, 158, 159, 164, 165, 166, 167, 169, 172, 173, 174, 175, 176, 192, 193, 207], "miss": [13, 92, 99, 118, 157, 166, 169, 170, 187, 188, 192, 195, 206], "lock": [13, 175, 177], "atom": 13, "variabl": [13, 18, 42, 43, 44, 48, 51, 52, 58, 67, 68, 69, 70, 87, 90, 93, 95, 126, 156, 157, 158, 162, 169, 172, 173, 175, 176, 185, 190, 192, 200, 202, 203, 206], "lower": [14, 19, 72, 92, 94, 104, 108, 120, 144, 167, 168, 185, 188, 189], "barrier": 14, "entri": [14, 184, 190, 194, 195, 204, 205], "flagship": 14, "along": [14, 27, 28, 62, 73, 90, 104, 108, 111, 112, 120, 123, 127, 144, 145, 149, 165, 166, 167, 168, 179, 181, 185, 187, 189, 190, 194, 196, 199, 200, 202, 205], "wild": 14, "success": [14, 19, 20, 23, 28, 46, 63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 108, 166, 167, 168, 169, 172, 173, 179, 187, 193, 199, 205, 207], "nav": [14, 27, 101, 166, 167], "educ": 14, "industri": [14, 28, 92, 111, 166, 179, 181, 200], "thank": [14, 102, 169, 205], "david": [14, 103, 179], "lu": [14, 103, 163, 179], "mike": 14, "ferguson": [14, 163], "tireless": 14, "span": [14, 163, 199, 204], "keep": [14, 19, 28, 92, 101, 108, 158, 165, 166, 169, 170, 173, 175, 176, 179, 184, 186, 187, 192, 199, 200, 206], "aliv": 14, "happen": [14, 19, 161, 175, 192], "asla": 14, "move": [14, 19, 23, 28, 87, 91, 92, 104, 108, 120, 136, 138, 140, 144, 145, 150, 153, 163, 164, 165, 166, 167, 168, 170, 176, 179, 180, 186, 187, 188, 191, 192, 196, 197, 198, 199, 200, 201, 204, 205], "rememb": [14, 111, 156, 158, 186, 187, 199], "fondli": 14, "ish": 14, "With": [14, 18, 28, 144, 186, 192, 199, 203], "redesign": 14, "flexibl": [14, 95, 108, 172], "feedback": [14, 27, 28, 95, 104, 118, 161, 167, 170, 177, 205], "gather": [14, 28], "strive": [14, 161], "alik": 14, "pull": [14, 157, 158, 159, 161, 162, 165, 166, 167, 170, 179, 188, 192, 194, 206], "kept": [14, 121], "dedic": [14, 111], "past": [14, 17, 182, 184, 185, 187, 192, 199, 203], "contributor": [14, 161], "organ": [14, 157, 158, 175, 176, 192, 206], "sponsor": [14, 102, 169, 205], "lead": [14, 108, 141, 161, 166, 167, 202], "leadership": 14, "team": [14, 17, 159, 197], "id": [14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 42, 45, 46, 50, 53, 54, 58, 59, 62, 91, 92, 96, 101, 102, 109, 117, 143, 144, 145, 158, 159, 170, 173, 175, 176, 177, 179, 184, 192, 194, 197, 204, 205, 206], "role": [14, 28, 173, 177, 181, 182, 194], "ruffin": [14, 158, 163], "white": [14, 158, 163, 193, 200], "uc": 14, "san": [14, 196], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 179], "wallac": [14, 163, 179], "locu": 14, "joshuawallac": 14, "former": [14, 91, 92], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 179], "wilcox": [14, 179], "bpwilcox": 14, "carl": [14, 179], "delsei": [14, 179], "crdelsei": 14, "alexei": [14, 163, 179], "merzlyakov": [14, 163, 179], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 163], "org": [14, 15, 161, 163, 165, 187, 188], "intention": [14, 98, 200], "find": [14, 28, 62, 94, 95, 99, 101, 108, 110, 111, 116, 118, 119, 144, 145, 158, 159, 161, 162, 165, 166, 168, 169, 170, 175, 177, 181, 187, 188, 190, 192, 193, 194, 195, 197, 198, 205], "inquiri": 14, "bug": [14, 161, 180, 199], "privat": 14, "connect": [14, 20, 28, 101, 105, 109, 117, 121, 143, 158, 159, 165, 166, 167, 179, 181, 184, 185, 186, 187, 193, 199, 206], "independ": [14, 28, 94, 127, 163, 166, 168, 173, 185, 196, 204, 205], "consult": 14, "contractor": 14, "offici": [15, 157, 162, 182, 184, 185, 186, 187, 192], "websit": [15, 19, 169], "navigation2_tutori": [15, 169, 174, 182, 184, 187, 200, 202], "navigation2_dynam": 15, "robot_loc": [15, 28, 119, 184, 186, 196, 199], "tom": 15, "moor": [15, 163], "estim": [15, 92, 93, 113, 118, 162, 164, 166, 174, 175, 176, 177, 184, 185, 186, 198, 199], "odometri": [15, 18, 74, 91, 92, 93, 95, 99, 102, 106, 118, 133, 170, 177, 183, 185, 186, 208], "fusion": [15, 28, 184, 186, 196, 199], "gp": [15, 28, 42, 101, 119, 179, 180, 184, 185, 196, 208], "slam_toolbox": [15, 157, 194, 201], "default": [15, 18, 19, 20, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 72, 74, 77, 78, 79, 80, 81, 83, 85, 86, 87, 88, 90, 91, 92, 93, 95, 98, 101, 102, 103, 104, 105, 106, 107, 108, 109, 111, 112, 113, 114, 116, 117, 118, 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, 153, 154, 155, 157, 158, 159, 162, 164, 165, 167, 172, 173, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 188, 191, 192, 193, 196, 197, 199, 200, 204, 205, 206], "ship": [16, 27], "encount": [16, 181, 185, 194, 195], "click": [16, 159, 162, 170, 174, 175, 176, 177, 182, 185, 191, 198, 199, 206], "imag": [16, 23, 28, 98, 113, 141, 145, 164, 166, 187, 190, 191, 193, 199, 200, 202], "describ": [17, 19, 20, 108, 161, 162, 169, 174, 175, 176, 177, 181, 184, 187, 192, 194, 195, 199, 202, 203, 204, 206], "advic": [17, 181, 188], "2024": [17, 163, 169], "On": [17, 20, 179, 182, 185, 189, 193, 199], "dock": [17, 18, 19, 27, 28, 29, 46, 63, 94, 169, 179, 180, 181, 208], "fr": 17, "2023": [17, 27, 92, 111, 163, 196], "why": [17, 160, 194], "philosophi": 17, "behind": [17, 167, 202], "mppi": [17, 168, 179, 180, 181, 188], "bidirect": [17, 169], "2022": [17, 199], "smac": [17, 29, 98, 108, 111, 112, 123, 163, 166, 180, 181, 182, 207], "jp": 17, "2021": [17, 115, 158, 163, 188, 203], "present": [17, 23, 92, 118, 124, 125, 129, 158, 165, 167, 168, 169, 174, 175, 177, 179, 185, 188, 204], "chronicl": [17, 158], "cach": [17, 101, 144, 145, 157, 158, 167, 192], "containeris": [17, 158], "2020": [17, 163], "2019": 17, "toolbox": [17, 28, 163, 164, 185, 188, 194, 201], "overview": [17, 115, 159, 184, 186], "2018": 17, "spatio": [17, 179, 203], "tempor": [17, 179, 188, 203], "navegaci\u00f3n": 17, "robusta": 17, "en": 17, "ros2": [17, 156, 162, 167, 172, 174, 175, 176, 177, 182, 184, 185, 186, 187, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 67, 96, 163, 173, 179, 197, 206], "cpp": [17, 19, 28, 163, 164, 165, 166, 167, 173, 174, 179, 194, 206], "roadmap": 17, "radar": [17, 28, 184, 185, 203], "introduct": [18, 96, 187, 192], "To": [18, 21, 27, 28, 92, 99, 108, 117, 118, 143, 144, 146, 157, 158, 159, 161, 163, 166, 168, 169, 172, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 191, 193, 194, 195, 197, 199, 200, 201, 202, 203, 205, 206], "walkthrough": [18, 192], "pose": [18, 20, 21, 27, 28, 43, 44, 46, 49, 51, 61, 62, 63, 68, 70, 86, 93, 98, 102, 104, 108, 109, 111, 117, 135, 137, 139, 143, 144, 145, 147, 148, 156, 162, 163, 164, 165, 166, 167, 169, 170, 174, 175, 176, 177, 179, 184, 185, 187, 188, 196, 197, 199, 201, 204, 205], "paus": [18, 142, 162, 164, 166, 167, 168], "Near": 18, "replan": [18, 20, 21, 22, 24, 57, 85, 90, 96, 104, 130, 144, 145, 165, 166, 188, 197], "And": [18, 19, 169, 186, 187, 190, 191, 193, 200], "invalid": [18, 27, 158, 168, 177], "calibr": [18, 199, 208], "incredibli": 18, "across": [18, 28, 108, 114, 122, 144, 145, 158, 168, 169, 177, 180, 185, 186, 188, 192, 199, 206], "statu": [18, 28, 161, 163, 167, 170, 172, 173, 192, 200, 205], "checker": [18, 48, 99, 112, 130, 164, 172, 207], "section": [18, 19, 28, 92, 98, 108, 160, 161, 163, 167, 169, 174, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 192, 193, 194, 196, 202], "guid": [18, 19, 20, 157, 159, 165, 167, 168, 169, 170, 174, 176, 180, 181, 182, 184, 185, 186, 187, 189, 196, 203, 204], "These": [18, 19, 28, 108, 158, 163, 164, 165, 166, 167, 168, 169, 173, 174, 175, 177, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 199, 200, 202, 205, 206], "exemplari": 18, "nav2_bt_navig": [18, 19, 95, 165, 166, 169, 177, 197, 206], "ones": [18, 144, 145, 167, 181, 185, 199], "seen": [18, 23, 115, 145, 167, 169, 170, 173, 174, 184, 189, 192, 206], "root": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 157, 158, 159, 167, 172, 173, 175, 176, 177, 184, 185, 187, 192, 197, 205, 206], "main_tree_to_execut": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 173, 197], "maintre": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 173, 197], "pipelinesequ": [18, 19, 21, 22, 23, 24, 25, 96, 173, 197], "navigatewithreplan": [18, 19, 21, 22, 23, 24, 96, 173, 197], "distancecontrol": [18, 19, 96, 98, 165], "distanc": [18, 20, 21, 27, 28, 31, 47, 60, 61, 62, 66, 68, 85, 93, 94, 98, 101, 102, 104, 108, 111, 112, 130, 135, 144, 145, 150, 164, 165, 166, 169, 175, 179, 181, 184, 185, 186, 188, 197, 205, 207], "computepathtopos": [18, 19, 20, 21, 23, 24, 25, 53, 85, 88, 90, 96, 173, 177, 190, 197], "followpath": [18, 19, 20, 21, 22, 23, 24, 25, 27, 28, 34, 45, 50, 54, 96, 99, 103, 104, 108, 111, 112, 165, 168, 169, 173, 175, 177, 181, 197, 207], "simpli": [18, 108, 144, 158, 161, 166, 167, 169, 172, 173, 184, 187, 188, 192, 194, 200, 202, 203, 206], "everi": [18, 20, 22, 24, 25, 62, 89, 98, 100, 104, 108, 111, 124, 129, 144, 161, 166, 167, 169, 173, 174], "meter": [18, 26, 27, 28, 93, 100, 101, 109, 112, 143, 144, 145, 191, 193, 199, 207], "blackboard": [18, 42, 43, 44, 48, 51, 52, 58, 67, 68, 69, 70, 87, 90, 95, 167, 168, 173, 177, 189, 190, 206], "retri": [18, 22, 24, 25, 46, 83, 102, 170, 179, 205], "contextu": [18, 19, 22, 24, 25, 163, 168, 205], "automat": [18, 28, 95, 101, 108, 111, 126, 158, 161, 162, 166, 167, 169, 170, 182, 184, 186, 187, 188, 189, 192, 199, 200, 202, 205], "door": 18, "elev": [18, 28, 92, 99, 118, 159, 161, 169, 199], "api": [18, 28, 58, 163, 164, 166, 172, 174, 177, 185, 190, 192, 199], "subtre": [18, 20, 22, 23, 24, 25, 28, 39, 40, 41, 96, 173, 179], "serv": [19, 23, 163, 167, 185, 192], "behavior_tre": [19, 27, 51, 52, 95, 165, 169, 177, 206], "sometim": [19, 161, 188, 206], "walk": [19, 20, 28, 158, 196, 199], "navigate_to_pose_w_replanning_and_recoveri": [19, 177], "familiar": [19, 28, 187, 192], "short": [19, 65, 79, 80, 81, 145, 172, 185, 186, 196, 206], "explan": [19, 97, 115, 205], "v3": [19, 164, 165, 166], "global": [19, 22, 23, 24, 25, 27, 55, 67, 68, 69, 73, 87, 93, 94, 96, 98, 100, 104, 108, 110, 111, 119, 124, 126, 128, 129, 133, 144, 145, 151, 152, 164, 165, 167, 168, 174, 175, 176, 179, 182, 184, 185, 186, 187, 188, 193, 198, 200, 202, 203], "period": [19, 91, 92, 93, 94, 95, 96, 98, 99, 107, 110, 116, 118, 119, 158, 164, 167, 169, 174, 177, 179], "hz": [19, 21, 22, 23, 24, 25, 88, 90, 91, 92, 93, 96, 99, 102, 108, 118, 173, 184, 191, 197], "primarili": [19, 167, 182, 188], "recoverynod": [19, 20, 22, 23, 24, 25, 96, 173], "number_of_retri": [19, 20, 22, 23, 24, 25, 83, 96, 173], "navigaterecoveri": [19, 22, 23, 24, 25, 96, 173], "ratecontrol": [19, 21, 22, 23, 24, 25, 96, 173, 197], "planner_id": [19, 21, 22, 23, 24, 25, 27, 43, 44, 53, 96, 173, 190, 197], "gridbas": [19, 21, 22, 23, 24, 25, 43, 44, 53, 96, 109, 110, 117, 143, 144, 145, 166, 173, 176, 181, 190, 197], "reactivefallback": [19, 20, 22, 23, 24, 25, 96, 173], "computepathtoposerecoveryfallback": [19, 96], "goalupd": [19, 20, 22, 23, 24, 25, 67, 96, 173], "clearentirecostmap": [19, 22, 23, 24, 25, 96, 166, 173], "clearglobalcostmap": [19, 22, 23, 24, 25, 27, 96, 173], "service_nam": [19, 22, 23, 24, 25, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 55, 56, 96, 173], "global_costmap": [19, 22, 23, 24, 25, 56, 94, 96, 100, 113, 114, 116, 120, 123, 125, 127, 128, 170, 172, 173, 174, 182, 185, 190, 193, 199, 200, 202, 203], "clear_entirely_global_costmap": [19, 22, 23, 24, 25, 96, 173], "controller_id": [19, 21, 22, 23, 24, 25, 27, 45, 48, 96, 166, 169, 173, 197], "followpathrecoveryfallback": [19, 96], "clearlocalcostmap": [19, 20, 22, 23, 24, 25, 27, 39, 40, 41, 96, 173], "local_costmap": [19, 22, 23, 24, 25, 39, 40, 41, 92, 94, 96, 100, 102, 121, 123, 124, 126, 129, 170, 172, 173, 174, 182, 185, 193, 200, 202], "clear_entirely_local_costmap": [19, 22, 23, 24, 25, 41, 96, 173], "recoveryfallback": [19, 22, 23, 24, 96, 173], "roundrobin": [19, 22, 23, 24, 25, 96], "recoveryact": [19, 22, 23, 24, 25, 96, 173], "sequenc": [19, 20, 21, 22, 23, 24, 25, 26, 96, 108, 158, 168, 174, 179, 184, 189, 190, 192, 197], "clearingact": [19, 22, 23, 24, 25, 96], "spin_dist": [19, 22, 23, 24, 25, 26, 27, 60, 96, 173], "57": [19, 22, 23, 24, 25, 27, 60, 96, 102, 173, 199, 205], "wait_dur": [19, 22, 23, 24, 25, 64, 96, 173], "backup_dist": [19, 22, 23, 24, 25, 27, 31, 96, 166], "15": [19, 27, 31, 47, 76, 94, 95, 96, 98, 99, 100, 102, 110, 116, 119, 129, 169, 185, 187, 203, 205], "backup_spe": [19, 22, 23, 24, 25, 27, 31, 96, 166], "025": [19, 27, 31, 47, 96, 103, 135, 187], "still": [19, 20, 27, 105, 111, 118, 123, 156, 158, 159, 166, 167, 168, 169, 184, 185, 187, 188, 192, 194, 196, 199, 200], "bit": [19, 167, 188, 192, 194, 199], "overwhelm": 19, "broken": 19, "children": [19, 20, 23, 82, 83, 84, 87, 179, 195], "known": [19, 23, 27, 28, 93, 111, 167, 170, 177, 179, 188, 191, 199, 203], "mainli": [19, 185, 186, 187], "actual": [19, 58, 92, 98, 108, 112, 144, 167, 177, 182, 186, 187, 188, 191, 192, 196, 198, 199, 204, 207], "calcul": [19, 27, 91, 92, 111, 120, 167, 174, 175, 176, 181, 184, 193, 199], "dealt": 19, "intern": [19, 22, 24, 25, 112, 163, 168, 169, 174, 177, 184, 188, 189, 196, 199, 207], "hopefulli": [19, 108], "spend": 19, "fail": [19, 20, 22, 24, 25, 27, 28, 99, 102, 105, 119, 143, 144, 145, 164, 166, 167, 168, 172, 177, 179, 192, 194], "enough": [19, 74, 168, 182, 188, 191, 192, 199, 205], "return": [19, 20, 22, 23, 24, 25, 27, 28, 42, 58, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 85, 88, 89, 90, 104, 108, 124, 129, 143, 144, 145, 163, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 184, 185, 187, 189, 190, 192, 194, 200, 202, 205], "clear": [19, 20, 22, 23, 24, 25, 27, 28, 39, 40, 41, 100, 124, 125, 126, 128, 129, 161, 166, 167, 168, 169, 176, 179, 185, 188, 191, 196, 203, 205], "until": [19, 20, 21, 27, 28, 82, 92, 112, 130, 144, 145, 156, 158, 166, 170, 175, 177, 179, 184, 194, 197, 199, 203, 205], "parent": [19, 20, 78, 124, 125, 126, 128, 129, 158, 166, 170, 172, 174, 175, 176, 184, 185, 186, 187, 188, 194, 199], "exceed": [19, 100, 168], "gone": 19, "between": [19, 27, 28, 42, 91, 92, 93, 96, 101, 104, 106, 108, 109, 113, 117, 143, 144, 145, 158, 159, 165, 166, 167, 168, 170, 171, 177, 181, 182, 184, 185, 186, 187, 188, 192, 196, 199, 200, 205, 206, 207], "crux": 19, "tick": [19, 20, 22, 23, 24, 25, 28, 67, 82, 85, 88, 89, 90, 167, 173, 179], "succe": [19, 20, 82, 83, 179], "recomput": 19, "try": [19, 21, 22, 24, 25, 27, 92, 101, 105, 108, 118, 119, 144, 145, 156, 158, 162, 164, 186, 187, 192, 194, 197, 200, 205, 206], "recov": [19, 93, 105], "toler": [19, 28, 62, 68, 94, 95, 98, 100, 102, 104, 108, 109, 111, 112, 114, 116, 128, 130, 137, 139, 143, 144, 145, 154, 166, 167, 169, 176, 179, 190, 198, 205, 207], "outlin": [19, 21, 166, 182, 186, 192], "center": [19, 28, 39, 40, 101, 108, 123, 143, 144, 145, 167, 172, 182, 186, 187, 191, 198, 199], "decor": [19, 21, 23, 167, 173, 179, 197, 206], "specifi": [19, 22, 23, 24, 25, 27, 42, 51, 52, 62, 67, 69, 70, 72, 83, 90, 91, 92, 95, 99, 100, 102, 107, 108, 124, 126, 128, 129, 141, 142, 144, 145, 157, 158, 159, 165, 166, 167, 168, 169, 170, 173, 174, 175, 176, 179, 181, 184, 185, 186, 188, 191, 192, 195, 199, 204, 205], "frequenc": [19, 20, 91, 94, 99, 100, 102, 108, 110, 118, 144, 145, 169, 184, 196, 199], "flood": 19, "too": [19, 108, 117, 144, 145, 166, 167, 169, 188, 190], "useless": 19, "100hz": 19, "depend": [19, 28, 92, 104, 108, 127, 157, 158, 159, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 181, 182, 184, 187, 188, 192, 193, 194, 196, 198, 199, 200, 204, 205], "speedcontrol": [19, 96, 165], "big": [19, 199], "half": [19, 111, 144, 145, 185], "snippet": [19, 172, 175, 176, 177, 182, 184, 185, 187, 189, 194], "rest": [19, 39, 40, 92, 99, 108, 118, 141, 159, 169, 184, 185, 186, 189, 195, 199], "asynchron": [19, 20, 28, 165], "receiv": [19, 20, 27, 28, 45, 50, 53, 54, 59, 86, 91, 92, 99, 112, 115, 118, 126, 128, 165, 167, 168, 169, 172, 175, 177, 179, 184, 185, 186, 188, 197, 199, 207], "halt": [19, 20, 23, 169], "quick": [19, 144, 145, 186, 200], "reaction": 19, "preempt": [19, 21, 27, 165, 173, 177, 179], "portion": [19, 92, 99, 118, 169, 190], "common": [19, 27, 28, 92, 102, 108, 158, 159, 163, 166, 167, 177, 184, 192, 196, 199, 204, 205], "pattern": [19, 20, 101, 191], "unless": [19, 20, 104, 105, 111, 145, 161], "pair": [19, 20, 108, 114, 127, 166, 169, 188, 191, 196, 199, 200, 202, 207], "imagin": [19, 28, 172, 179, 199], "wrap": [19, 27, 28], "whole": [19, 62, 161, 169, 174, 185, 191, 202, 204], "isbatterylow": [19, 20, 96], "batteri": [19, 20, 28, 71, 72, 102, 167, 168, 179, 192, 197, 205], "enter": [19, 22, 24, 25, 28, 108, 172, 175, 176, 177, 200, 205], "recharg": [19, 28], "never": [19, 28, 108, 144, 145, 167, 192, 200, 202], "four": [19, 28], "renavig": 19, "child": [19, 20, 23, 78, 82, 83, 85, 88, 89, 90, 112, 167, 169, 179, 184, 185, 186, 187, 199], "sake": 19, "assum": [19, 20, 159, 166, 174, 175, 179, 182, 186, 187, 193, 194, 199, 200, 201, 202, 203, 204, 205, 206], "again": [19, 20, 21, 23, 83, 156, 158, 162, 164, 180, 184, 187, 192], "BUT": 19, "onto": [19, 22, 24, 108, 112, 167, 177, 179, 184, 186, 207], "hypothet": 19, "scenario": [19, 23, 104, 181, 204], "indefinit": [19, 20, 27, 56, 161, 197], "unlik": [19, 91, 172, 193], "vocabulari": 20, "larg": [20, 28, 92, 98, 104, 108, 111, 144, 145, 163, 165, 170, 180, 184, 187, 188, 191, 205], "confus": 20, "first": [20, 28, 42, 82, 83, 91, 92, 108, 122, 128, 157, 158, 161, 163, 167, 168, 169, 175, 179, 180, 182, 184, 185, 186, 187, 188, 189, 190, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206], "than": [20, 22, 24, 25, 28, 61, 62, 68, 72, 87, 92, 93, 94, 95, 99, 100, 101, 104, 105, 108, 110, 111, 112, 116, 118, 119, 120, 121, 144, 145, 158, 165, 166, 167, 168, 169, 170, 175, 177, 179, 186, 188, 192, 193, 194, 195, 196, 197, 199, 200, 201, 204, 205, 207], "actionnod": 20, "necessarili": 20, "often": [20, 28, 98, 167, 184, 192, 199], "quit": [20, 159, 167, 194, 196, 199], "fashion": 20, "commonli": [20, 45, 50, 53, 54, 59, 177, 185, 196, 199], "nav2_behavior_tre": [20, 28, 96, 165, 166, 169, 173, 177, 206], "folder": [20, 158, 159, 185, 191, 199], "client": [20, 28, 101, 164, 166, 167, 172, 173, 177, 190, 205], "clearcostmapservic": 20, "believ": [20, 196], "correctli": [20, 28, 162, 166, 167, 182, 184, 185, 186, 199, 200, 202, 204], "servic": [20, 28, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 55, 56, 93, 95, 107, 111, 158, 159, 165, 166, 168, 170, 172, 179, 181, 184, 191, 192, 199], "goalreach": [20, 85, 88, 90, 96, 169], "initialposereceiv": [20, 96], "intial_pos": 20, "listen": [20, 91, 92, 94, 156, 165, 192], "probe": [20, 158], "aspect": [20, 158, 159, 190, 191], "kei": [20, 93, 101, 157, 158, 161, 162, 177, 188, 189, 192, 193, 196, 199, 205], "Will": [20, 58, 92, 179], "travel": [20, 28, 47, 66, 85, 108, 143, 144, 145, 167, 179, 184, 185], "certain": [20, 56, 108, 165, 167, 170, 174, 181, 183, 185, 197], "constant": [20, 101, 104, 111, 169, 175, 187, 188], "expos": [20, 28, 116, 166, 168, 192, 199], "port": [20, 95, 161, 165, 166, 167, 173, 185, 190, 192, 197, 206], "subsequ": [20, 28, 93, 144, 145, 158, 179, 196], "proport": [20, 102, 108, 144, 145, 200, 203], "previou": [20, 25, 63, 92, 108, 144, 161, 166, 168, 169, 170, 174, 177, 179, 182, 183, 184, 185, 187, 188, 192, 199, 202, 203], "properti": [20, 92, 158, 184, 185, 204], "prior": [20, 87, 93, 112, 164, 167], "resembl": 20, "water": 20, "pipe": [20, 168], "action_a": 20, "action_b": 20, "action_c": 20, "idl": 20, "therefor": [20, 23, 91, 108, 187, 188, 189, 194, 199, 200, 202, 204, 206], "retick": 20, "ing": 20, "even": [20, 21, 22, 24, 107, 108, 111, 118, 122, 144, 159, 163, 165, 166, 167, 169, 170, 179, 181, 182, 183, 184, 188, 192, 194, 196, 200, 205], "though": [20, 22, 102, 108, 145, 188, 189, 192, 196, 199, 200, 202, 204], "recal": [20, 185], "loop": [20, 28, 91, 92, 99, 102, 104, 108, 111, 118, 167, 176, 177, 196, 205], "violat": 20, "usual": [20, 28, 45, 50, 53, 54, 115, 158, 166, 174, 184, 186, 189, 194, 195, 199, 200], "togeth": [20, 28, 101, 170, 184, 186, 196, 199], "suggest": [20, 98, 108, 181, 186, 187, 192], "promot": 20, "respons": [20, 22, 24, 25, 28, 39, 40, 41, 56, 92, 105, 167, 172, 177, 181, 189], "round": [20, 84, 92, 179, 183], "robin": [20, 84, 179], "untick": 20, "That": [20, 28, 144, 161, 166, 167, 181, 182, 192], "retain": [20, 67, 113, 114, 143, 144, 145], "rather": [20, 22, 24, 25, 28, 93, 98, 100, 108, 144, 158, 164, 165, 166, 167, 169, 170, 177, 179, 186, 188, 194, 201, 205], "step": [20, 28, 92, 94, 101, 102, 108, 145, 185, 187, 192, 194, 195, 196, 204], "did": [20, 21, 169, 170, 172, 175, 176, 185, 187, 194, 195, 205], "circl": [20, 28, 91, 92, 188, 191, 204], "person": [21, 23, 27, 158, 161, 197], "virtual": [21, 92, 108, 162, 167, 169, 172, 173, 174, 175, 176, 177, 184, 187, 205], "carrot": [21, 111, 169], "anyth": [21, 28, 91, 166, 173, 174, 177, 188, 192, 200, 206], "publish": [21, 45, 50, 53, 54, 59, 91, 92, 93, 94, 95, 99, 100, 102, 103, 106, 107, 108, 110, 111, 116, 118, 119, 120, 123, 127, 129, 130, 140, 144, 145, 162, 164, 165, 166, 167, 169, 172, 175, 177, 179, 182, 184, 185, 188, 190, 191, 192, 196, 197, 198, 199, 201, 204, 205], "goalupdat": [21, 96, 170, 197], "newest": [21, 102, 188], "truncatepath": [21, 96, 165, 197], "least": [21, 92, 158, 161, 166, 184, 204, 205], "awai": [21, 98, 104, 108, 112, 143, 168, 185, 188, 191, 205, 206, 207], "smooth": [21, 27, 28, 58, 90, 98, 102, 104, 108, 112, 113, 114, 116, 118, 143, 144, 145, 163, 166, 167, 168, 169, 179, 184, 188, 190, 199, 204, 207], "off": [21, 108, 112, 118, 120, 161, 167, 168, 169, 172, 187, 192, 194, 205, 207], "toward": [21, 75, 91, 92, 98, 108, 112, 144, 145, 167, 169, 176, 179, 188, 191, 198, 199, 207], "probabl": [21, 107, 126, 144, 145, 168, 185, 190], "occupi": [21, 28, 56, 100, 107, 108, 124, 126, 128, 129, 168, 185, 200], "truncat": [21, 61, 62, 98, 179], "pass": [21, 22, 24, 25, 45, 50, 53, 54, 56, 57, 77, 100, 105, 108, 112, 130, 146, 157, 167, 170, 179, 195, 197, 200, 205, 207], "keeprunninguntilfailur": [21, 197], "mode": [21, 92, 101, 108, 118, 158, 168, 169, 196, 199, 200, 202, 206], "infinit": [21, 99, 124, 129, 144, 145, 196, 205], "cancel": [21, 23, 27, 32, 33, 34, 35, 36, 37, 38, 111, 117, 143, 144, 145, 162, 173, 175, 177, 179, 197], "controllerselector": [21, 22, 23, 24, 25, 96, 166], "selected_control": [21, 22, 23, 24, 25, 45], "default_control": [21, 22, 23, 24, 25, 45], "topic_nam": [21, 22, 23, 24, 25, 45, 50, 53, 54, 59, 107, 170, 200, 202], "controller_selector": [21, 22, 23, 24, 25, 45], "plannerselector": [21, 22, 23, 24, 25, 96, 166], "selected_plann": [21, 22, 23, 24, 25, 53], "default_plann": [21, 22, 23, 24, 25, 53], "planner_selector": [21, 22, 23, 24, 25, 53], "input_go": [21, 22, 56, 57, 86, 197], "output_go": [21, 22, 56, 57, 86, 197], "updated_go": [21, 197], "error_code_id": [21, 22, 23, 24, 25, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 190], "compute_path_error_cod": [21, 22, 23, 24, 25, 43, 44, 95, 190], "input_path": [21, 61, 62, 197], "output_path": [21, 61, 62, 197], "truncated_path": [21, 61, 197], "follow_path_error_cod": [21, 22, 23, 24, 25, 48, 79, 95], "intermediari": [22, 145, 163, 166], "constraint": [22, 112, 118, 145, 166, 167, 177, 179, 181, 188, 207], "final": [22, 23, 27, 28, 104, 105, 108, 143, 144, 145, 158, 166, 173, 177, 185, 188, 189, 190, 192, 196, 199, 207], "freespac": [22, 24, 25, 188], "opportun": [22, 24, 25, 169, 173, 177], "computepaththroughpos": [22, 56, 57, 96], "util": [22, 23, 24, 25, 28, 42, 101, 108, 145, 158, 163, 166, 167, 168, 169, 173, 181, 182, 184, 187, 192, 195, 200, 202, 203, 205], "By": [22, 24, 25, 28, 72, 158, 161, 162, 165, 169, 182, 185, 192, 194, 196, 200, 204], "convent": [22, 24, 25, 28, 185, 186, 189, 199], "style": [22, 24, 25, 106, 170, 188, 203], "worri": [22, 24, 25, 28, 159, 188, 194], "want": [22, 24, 25, 27, 28, 91, 108, 158, 166, 169, 170, 172, 173, 174, 175, 176, 177, 184, 186, 187, 188, 189, 190, 192, 194, 195, 196, 198, 199, 201, 205, 206], "caller": [22, 24, 25, 205], "ampl": [22, 24, 25], "transient": [22, 24, 25, 45, 50, 53, 54, 59], "crowd": [22, 24, 25, 181], "temporari": [22, 23, 24, 25, 94, 95, 99, 110, 116, 119, 196, 202], "nomin": [22, 24, 25], "vector": [22, 28, 42, 56, 57, 67, 69, 90, 91, 92, 94, 95, 99, 100, 101, 102, 105, 108, 109, 110, 113, 116, 117, 118, 123, 124, 125, 126, 129, 130, 143, 167, 168, 169, 174, 176, 177, 179, 181, 182, 188, 194, 200, 202, 203], "removepassedgo": [22, 96, 166, 169], "cull": [22, 56, 57, 179], "awar": [22, 24, 25, 98, 108, 115, 117, 143, 144, 145, 163, 166, 185, 188, 205], "similarli": [22, 24, 91, 97, 111, 169, 184, 192], "impact": [22, 24, 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204, 205], "auxiliari": 27, "example_nav_through_pos": 27, "example_waypoint_follow": 27, "example_follow_path": 27, "example_assisted_teleop": 27, "coupl": [27, 192, 196, 207], "demo_secur": 27, "secur": [27, 28, 92, 99, 118, 158, 160, 169, 192], "patrol": [27, 28], "demo_pick": 27, "shelf": 27, "warehous": [27, 28, 182, 188, 200], "basket": 27, "deliv": 27, "destin": [27, 28, 67, 68, 69, 90, 162, 184, 185, 187], "demo_inspect": 27, "inspect": [27, 158], "pictur": [27, 28, 119, 174, 199, 200, 202, 204], "rfid": 27, "shelv": 27, "status": [27, 177], "roboticist": 28, "appreci": [28, 161], "middlewar": 28, "cli": [28, 107, 158, 159, 165, 166, 192, 195, 201], "canon": 28, "shovel": 28, "bulldoz": 28, "right": [28, 108, 117, 118, 144, 145, 161, 162, 167, 184, 186, 191, 192, 193, 195, 199], "permiss": [28, 92, 99, 118, 169], "occasion": [28, 115], "boolean": [28, 120, 168, 169, 170, 179, 185], "synchron": [28, 196], "regist": [28, 96, 172, 173, 174, 175, 176, 177, 185, 203], "highest": 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143, 161, 166, 179, 194, 204], "navigatetoposeact": 28, "among": [28, 117, 181, 188, 193], "hierarch": [28, 206], "hfsm": 28, "popular": [28, 188, 194], "demand": [28, 175, 176, 199], "natur": [28, 108, 169, 177, 188, 196], "difficult": [28, 112, 167, 188, 207], "offer": [28, 104, 181, 199, 203, 206], "nav2_hfsm_navig": 28, "pend": [28, 177], "heart": [28, 181], "host": [28, 94, 99, 107, 110, 116, 119, 158, 159, 164, 172, 181, 192, 195, 199], "runtim": [28, 166, 167, 172, 173, 174, 175, 176, 177, 199, 203], "alias": 28, "param": [28, 102, 112, 166, 174, 184, 187, 188, 194, 195, 199, 200, 202, 204, 205], "correspond": [28, 42, 87, 91, 92, 95, 108, 109, 117, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 143, 144, 145, 166, 167, 172, 173, 174, 185, 186, 193, 199, 200, 202], "class": [28, 92, 93, 95, 163, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 187, 188, 203], "charger": [28, 170], "costli": 28, "duplic": [28, 177], "special": [28, 87, 91, 92, 99, 101, 161, 168, 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115], "unknown": [28, 56, 79, 80, 81, 100, 109, 117, 122, 129, 143, 144, 145, 168, 189, 200], "fake": 28, "poor": [28, 196], "total": [28, 31, 108, 143, 144, 145, 193, 205], "attent": [28, 108, 188], "sm": [28, 172], "matrix": [28, 184], "hold": [28, 185, 206], "tf": [28, 78, 94, 95, 100, 104, 106, 108, 111, 116, 128, 130, 156, 163, 164, 167, 168, 172, 175, 176, 179, 184, 186, 187, 196, 199, 201, 205], "criteria": [28, 137, 139, 154, 161, 167, 179], "search": [28, 62, 104, 108, 111, 112, 115, 130, 143, 144, 145, 156, 166, 167, 169, 181, 188, 207], "compar": [28, 65, 79, 80, 81, 92, 95, 98, 115, 168, 169, 205], "realiti": 28, "refin": [28, 98, 114, 144, 145, 162, 167, 205], "introduc": [28, 91, 111, 159, 161, 162, 164, 166, 167, 170, 183, 185, 187, 189, 193], "ragged": 28, "abrupt": 28, "separ": [28, 91, 92, 100, 108, 123, 158, 163, 166, 167, 169, 174, 184, 186, 189, 190, 192, 194, 195, 200, 201, 205, 206], "combin": [28, 100, 125, 144, 147, 148, 151, 152, 166, 170, 179, 188, 201], 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196, 207], "unit": [28, 94, 95, 99, 101, 105, 106, 110, 116, 119, 161, 170, 180, 186], "aisl": [28, 143, 167, 181, 188], "proof": 28, "realli": [28, 98, 188, 200], "carri": [28, 165, 166, 167, 176, 197], "weight": [28, 62, 93, 98, 108, 114, 117, 143, 144, 145, 153, 165, 167, 169, 188, 196, 200], "mid": 28, "soon": [28, 169], "nav2_bt_waypoint_follow": 28, "subject": [28, 108, 184], "ti": [28, 145], "neither": 28, "highli": [28, 98, 108, 115, 153, 162, 163, 169, 179, 181, 186, 188, 190, 198, 199, 201, 203, 207], "distinct": [28, 186], "busi": 28, "navsat_transform": [28, 199], "fuse": [28, 163, 180, 184, 199], "follow_gps_waypoint": [28, 169, 199], "directli": [28, 101, 108, 142, 158, 159, 161, 166, 169, 173, 174, 187, 194, 199, 200, 202], "express": [28, 127, 169, 175, 199, 200, 202], "cartesian": [28, 42, 101, 108, 169, 179, 199], "accord": [28, 107, 184, 185, 199, 200, 202], "odom": [28, 78, 91, 92, 93, 94, 95, 99, 100, 102, 106, 118, 156, 172, 173, 182, 184, 185, 186, 196, 199, 201, 204, 205], "base_link": [28, 57, 62, 66, 68, 78, 85, 94, 95, 100, 102, 106, 113, 114, 116, 125, 172, 173, 174, 177, 182, 184, 185, 186, 187, 190, 196, 199, 205], "instruct": [28, 119, 162, 170, 172, 174, 175, 176, 177, 184, 185, 192, 194, 195, 201], "tri": [28, 165, 175], "equal": [28, 91, 92, 93, 94, 95, 99, 104, 107, 110, 116, 118, 119, 120, 169, 174, 191, 193, 200, 202], "vision": [28, 98, 102, 185, 192, 196, 205], "depth": [28, 92, 100, 124, 129, 179, 181, 185, 186, 187, 188, 196, 203], "rep": [28, 163, 166, 180, 184, 186, 199], "105": [28, 163, 184, 186, 199], "rich": 28, "nutshel": 28, "tf2": [28, 165, 183, 184, 186, 187, 188], "job": [28, 108], "captur": [28, 167, 181, 195, 196], "remaind": 28, "metadata": [28, 158, 177, 200, 202, 205, 206], "wheel": [28, 104, 184, 186, 187, 196, 199], "encod": [28, 120, 127, 184, 186, 196, 199, 200, 202], "vio": [28, 180, 184, 186, 208], "imu": [28, 184, 185, 186, 196, 199], "drift": [28, 184], "manner": [28, 163], "dead": 28, "reckon": 28, 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205], "server_timeout": [30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 47, 48, 51, 52, 55, 60, 64, 73, 95, 166], "timeout": [30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 44, 47, 48, 51, 52, 55, 60, 64, 80, 81, 92, 94, 95, 99, 101, 102, 105, 107, 110, 116, 118, 119, 140, 165, 172, 173, 204], "uint16": [30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 189, 205], "enumer": [30, 31, 42, 43, 44, 46, 47, 48, 58, 60, 63, 206], "assisted_teleop_serv": 30, "assisted_teleop_error_cod": 30, "displac": [31, 47], "linear": [31, 47, 92, 98, 101, 102, 104, 107, 111, 135, 144, 166, 168, 169, 175, 184, 200, 204], "translat": [31, 47, 93, 111, 132, 136, 166, 168, 179, 184, 186, 188, 205], "bool": [31, 42, 46, 47, 56, 58, 60, 63, 91, 92, 93, 94, 95, 98, 99, 100, 101, 102, 104, 105, 108, 109, 111, 112, 113, 114, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 133, 135, 137, 139, 140, 141, 142, 143, 144, 145, 146, 149, 166, 169, 170, 172, 177, 205], "disabl": 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"voxel-layer-parameters"]], "XYTheta Iterator": [[131, "xytheta-iterator"]], "Kinematic Parameters": [[132, "kinematic-parameters"]], "Publisher": [[133, "publisher"]], "LimitedAccelGenerator": [[134, "limitedaccelgenerator"]], "StandardTrajectoryGenerator": [[135, "standardtrajectorygenerator"]], "PoseProgressChecker": [[136, "poseprogresschecker"]], "SimpleGoalChecker": [[137, "simplegoalchecker"]], "SimpleProgressChecker": [[138, "simpleprogresschecker"]], "StoppedGoalChecker": [[139, "stoppedgoalchecker"]], "InputAtWaypoint": [[140, "inputatwaypoint"]], "PhotoAtWaypoint": [[141, "photoatwaypoint"]], "WaitAtWaypoint": [[142, "waitatwaypoint"]], "Smac 2D Planner": [[143, "smac-2d-planner"]], "Smac Hybrid-A* Planner": [[144, "smac-hybrid-a-planner"]], "Smac State Lattice Planner": [[145, "smac-state-lattice-planner"]], "BaseObstacleCritic": [[146, "baseobstaclecritic"]], "GoalAlignCritic": [[147, "goalaligncritic"]], "GoalDistCritic": [[148, "goaldistcritic"]], "ObstacleFootprintCritic": [[149, "obstaclefootprintcritic"]], "OscillationCritic": [[150, "oscillationcritic"]], "PathAlignCritic": [[151, "pathaligncritic"]], "PathDistCritic": [[152, "pathdistcritic"]], "PreferForwardCritic": [[153, "preferforwardcritic"]], "RotateToGoalCritic": [[154, "rotatetogoalcritic"]], "TwirlingCritic": [[155, "twirlingcritic"]], "Build Troubleshooting Guide": [[156, "build-troubleshooting-guide"]], "Common Nav2 Dependencies Build Failures": [[156, "common-nav2-dependencies-build-failures"]], "Reporting Issue": [[156, "reporting-issue"]], "Build and Install": [[157, "build-and-install"]], "Install": [[157, "install"]], "For Iron and Older": [[157, "for-iron-and-older"]], "For Jazzy and Newer": [[157, "for-jazzy-and-newer"]], "Build": [[157, "build"]], "Released Distribution Binaries": [[157, "released-distribution-binaries"]], "Rolling Development Source": [[157, "rolling-development-source"]], "Docker Container Images": [[157, "docker-container-images"]], "Generate Doxygen": [[157, "generate-doxygen"]], "Help": [[157, "help"]], "Dev Container Guide": [[158, "dev-container-guide"]], "Creating Dev Containers": [[158, "creating-dev-containers"]], "Building the image": [[158, "building-the-image"]], "Starting the container": [[158, "starting-the-container"]], "Using Dev Containers": [[158, "using-dev-containers"]], "Terminals": [[158, "terminals"]], "Lifecycle": [[158, "lifecycle"]], "Rebuilding": [[158, "rebuilding"]], "Dev Containers": [[159, "dev-containers"]], "What, Why, How?": [[159, "what-why-how"]], "What is a Dev Container?": [[159, "what-is-a-dev-container"]], "Why use a Dev Container?": [[159, "why-use-a-dev-container"]], "How do Dev Containers work?": [[159, "how-do-dev-containers-work"]], "Getting started": [[159, "getting-started"]], "Security": [[159, "security"]], "Development Guides": [[160, "development-guides"]], "Getting Involved": [[161, "getting-involved"], [161, "id1"]], "Process": [[161, "process"]], "Licensing": [[161, "licensing"]], "Developer Certification of Origin (DCO)": [[161, "developer-certification-of-origin-dco"]], "Getting Started": [[162, "getting-started"]], "Installation": [[162, "installation"]], "Running the Example": [[162, "running-the-example"]], "Navigating": [[162, "navigating"]], "Nav2": [[163, "lpn"]], "Our Sponsors": [[163, "our-sponsors"]], "Services": [[163, "services"]], "Citations": [[163, "citations"]], "Dashing to Eloquent": [[164, "dashing-to-eloquent"]], "New Packages": [[164, "new-packages"]], "New Plugins": [[164, "new-plugins"], [165, "new-plugins"], [166, "new-plugins"]], "Navigation2 Architectural Changes": [[164, "navigation2-architectural-changes"]], "Eloquent to Foxy": [[165, "eloquent-to-foxy"]], "General": [[165, "general"]], "Server Updates": [[165, "server-updates"]], "Map Server Re-Work": [[165, "map-server-re-work"]], "New Particle Filter Messages": [[165, "new-particle-filter-messages"]], "Selection of Behavior Tree in each navigation action": [[165, "selection-of-behavior-tree-in-each-navigation-action"]], "FollowPoint Capability": [[165, "followpoint-capability"]], "New Costmap Layer": [[165, "new-costmap-layer"]], "Foxy to Galactic": [[166, "foxy-to-galactic"]], "NavigateToPose Action Feedback updates": [[166, "navigatetopose-action-feedback-updates"]], "NavigateToPose BT-node Interface Changes": [[166, "navigatetopose-bt-node-interface-changes"]], "NavigateThroughPoses and ComputePathThroughPoses Actions Added": [[166, "navigatethroughposes-and-computepaththroughposes-actions-added"]], "ComputePathToPose BT-node Interface Changes": [[166, "computepathtopose-bt-node-interface-changes"]], "ComputePathToPose Action Interface Changes": [[166, "computepathtopose-action-interface-changes"]], "BackUp BT-node Interface Changes": [[166, "backup-bt-node-interface-changes"]], "BackUp Recovery Interface Changes": [[166, "backup-recovery-interface-changes"]], "Nav2 Controllers and Goal Checker Plugin Interface Changes": [[166, "nav2-controllers-and-goal-checker-plugin-interface-changes"]], "FollowPath goal_checker_id attribute": [[166, "followpath-goal-checker-id-attribute"]], "Groot Support": [[166, "groot-support"]], "SmacPlanner": [[166, "smacplanner"]], "ThetaStarPlanner": [[166, "thetastarplanner"]], "RegulatedPurePursuitController": [[166, "regulatedpurepursuitcontroller"]], "Costmap2D current_ Usage": [[166, "costmap2d-current-usage"]], "Standard time units in parameters": [[166, "standard-time-units-in-parameters"]], "Ray Tracing Parameters": [[166, "ray-tracing-parameters"]], "Obstacle Marking Parameters": [[166, "obstacle-marking-parameters"]], "Recovery Action Changes": [[166, "recovery-action-changes"]], "Default Behavior Tree Changes": [[166, "default-behavior-tree-changes"]], "NavFn Planner Parameters": [[166, "navfn-planner-parameters"]], "New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes": [[166, "new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes"]], "New Behavior Tree Nodes": [[166, "new-behavior-tree-nodes"]], "sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change": [[166, "sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change"]], "ControllerServer New Parameter failure_tolerance": [[166, "controllerserver-new-parameter-failure-tolerance"]], "Removed BT XML Launch Configurations": [[166, "removed-bt-xml-launch-configurations"]], "Nav2 RViz Panel Action Feedback Information": [[166, "nav2-rviz-panel-action-feedback-information"]], "Galactic to Humble": [[167, "galactic-to-humble"]], "Major improvements to Smac Planners": [[167, "major-improvements-to-smac-planners"]], "Simple (Python) Commander": [[167, "simple-python-commander"]], "Reduce Nodes and Executors": [[167, "reduce-nodes-and-executors"]], "API Change for nav2_core": [[167, "api-change-for-nav2-core"]], "Extending the BtServiceNode to process Service-Results": [[167, "extending-the-btservicenode-to-process-service-results"]], "Including new Rotation Shim Controller Plugin": [[167, "including-new-rotation-shim-controller-plugin"]], "Spawning the robot in Gazebo": [[167, "spawning-the-robot-in-gazebo"]], "Recovery Behavior Timeout": [[167, "recovery-behavior-timeout"]], "New parameter use_final_approach_orientation for the 3 2D planners": [[167, "new-parameter-use-final-approach-orientation-for-the-3-2d-planners"]], "SmacPlanner2D and Theta*: fix goal orientation being ignored": [[167, "smacplanner2d-and-theta-fix-goal-orientation-being-ignored"]], "SmacPlanner2D, NavFn and Theta*: fix small path corner cases": [[167, "smacplanner2d-navfn-and-theta-fix-small-path-corner-cases"]], "Change and fix behavior of dynamic parameter change detection": [[167, "change-and-fix-behavior-of-dynamic-parameter-change-detection"]], "Dynamic Parameters": [[167, "dynamic-parameters"]], "BT Action Nodes Exception Changes": [[167, "bt-action-nodes-exception-changes"]], "BT Navigator Groot Multiple Navigators": [[167, "bt-navigator-groot-multiple-navigators"]], "Removed Kinematic Limiting in RPP": [[167, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[167, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[167, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[167, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[167, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[167, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[167, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[167, "dynamic-composition"]], "BT Cancel Node": [[167, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[167, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[167, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[167, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[167, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[167, "euclidean-distance-2d"]], "Recovery To Behavior": [[167, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[167, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[167, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[167, "goal-checker-api-changed"]], "Added Assisted Teleop": [[167, "added-assisted-teleop"]], "Humble to Iron": [[168, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[168, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[168, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[168, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[168, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[168, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[168, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[168, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[168, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[168, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[168, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[168, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[168, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[168, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[168, "smootherselector-bt-node"]], "Publish Costmap Layers": [[168, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[168, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[168, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[168, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[168, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[168, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[168, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[168, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[168, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[168, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[168, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[168, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[168, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[168, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[168, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[168, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[168, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[169, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[169, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[169, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[169, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[169, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[169, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[169, "opennav-coverage-project"]], "opennav_docking Project": [[169, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[169, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[169, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[169, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[169, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[169, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[169, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[169, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[169, "mppi-acceleration"]], "Move Error Code Enumerations": [[169, "move-error-code-enumerations"]], "Substitution in parameter file": [[169, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[169, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[169, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[169, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[169, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[169, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[169, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[169, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[169, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[169, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[169, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[169, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[169, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[169, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[169, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[169, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[169, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[169, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[169, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[169, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[169, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[169, "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": [[169, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[169, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[169, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[169, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[169, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[169, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[169, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[169, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[169, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[169, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[169, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[169, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to Kilted": [[170, "jazzy-to-kilted"]], "TwistStamped Default CmdVel Change": [[170, "twiststamped-default-cmdvel-change"]], "New Nav2 Loopback Simulator": [[170, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[170, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[170, "new-rviz-panel-for-docking"]], "BT Nodes Changes": [[170, "bt-nodes-changes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[170, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[170, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[170, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[170, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Rotation Shim Disengagement Threshold": [[170, "rotation-shim-disengagement-threshold"]], "Added optional collision checking for the Docking Server": [[170, "added-optional-collision-checking-for-the-docking-server"]], "Revamped multirobot bringup and config files to use namespaces": [[170, "revamped-multirobot-bringup-and-config-files-to-use-namespaces"]], "Removed global map_topic from Costmap node": [[170, "removed-global-map-topic-from-costmap-node"]], "Simplified Costmap2DROS constructors": [[170, "simplified-costmap2dros-constructors"]], "Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions": [[170, "option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions"]], "New Plugin Container Layer": [[170, "new-plugin-container-layer"]], "Iterative Target Selection for the Graceful Controller": [[170, "iterative-target-selection-for-the-graceful-controller"]], "Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file": [[170, "conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file"]], "ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector": [[170, "computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped"]], "MPPI controller re-implemented using Eigen library and performance improved by 40-45%": [[170, "mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45"]], "Migration Guides": [[171, "migration-guides"]], "Writing a New Behavior Plugin": [[172, "writing-a-new-behavior-plugin"]], "Requirements": [[172, "requirements"], [173, "requirements"], [174, "requirements"], [175, "requirements"], [176, "requirements"], [177, "requirements"], [190, "requirements"], [191, "requirements"], [193, "requirements"], [198, "requirements"], [199, "requirements"], [200, "requirements"], [201, "requirements"], [202, "requirements"], [204, "requirements"], [205, "requirements"]], "Tutorial Steps": [[172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [175, "tutorial-steps"], [176, "tutorial-steps"], [177, "tutorial-steps"], [190, "tutorial-steps"], [191, "tutorial-steps"], [193, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"], [201, "tutorial-steps"], [202, "tutorial-steps"], [203, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[172, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[172, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[172, "pass-the-plugin-name-through-params-file"], [176, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[172, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[173, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[173, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[173, "exporting-the-planner-plugin"], [176, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[173, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[173, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[174, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[174, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[174, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[174, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[174, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[175, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[175, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[175, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[175, "pass-the-plugin-name-through-the-params-file"], [177, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[175, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[176, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[176, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[176, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[177, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[177, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[177, "exporting-the-navigator-plugin"]], "4- Run plugin": [[177, "run-plugin"]], "Plugin Tutorials": [[178, "plugin-tutorials"]], "Navigation Plugins": [[179, "navigation-plugins"]], "Behavior-Tree Navigators": [[179, "behavior-tree-navigators"]], "Costmap Layers": [[179, "costmap-layers"]], "Waypoint Task Executors": [[179, "waypoint-task-executors"]], "Goal Checkers": [[179, "goal-checkers"]], "Progress Checkers": [[179, "progress-checkers"]], "Behavior Tree Nodes": [[179, "behavior-tree-nodes"]], "Roadmaps": [[180, "roadmaps"]], "Jazzy Roadmap": [[180, "jazzy-roadmap"]], "Iron Roadmap": [[180, "iron-roadmap"]], "Humble Roadmap": [[180, "humble-roadmap"]], "Setting Up Navigation Plugins": [[181, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[181, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[181, "selecting-the-algorithm-plugins"]], "Summary": [[181, "summary"], [181, "id1"]], "Example Configuration": [[181, "example-configuration"], [181, "id2"]], "Conclusion": [[181, "conclusion"], [182, "conclusion"], [184, "conclusion"], [185, "conclusion"], [186, "conclusion"], [187, "conclusion"], [189, "conclusion"], [192, "conclusion"], [199, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[182, 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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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204, 205, 208], "costmap": [1, 2, 4, 5, 7, 10, 19, 20, 21, 22, 24, 25, 29, 39, 40, 41, 56, 92, 94, 97, 98, 99, 102, 104, 110, 111, 116, 117, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 143, 144, 145, 146, 149, 163, 164, 167, 174, 175, 176, 181, 182, 188, 193, 199, 208], "sensor": [1, 5, 7, 9, 22, 24, 25, 28, 91, 92, 97, 100, 102, 121, 124, 125, 129, 158, 163, 165, 166, 168, 179, 181, 182, 183, 184, 186, 187, 188, 189, 192, 193, 196, 199, 203, 204, 205], "data": [1, 4, 7, 9, 10, 27, 28, 91, 92, 94, 95, 97, 99, 108, 114, 118, 124, 126, 129, 143, 144, 145, 158, 163, 166, 168, 169, 179, 184, 185, 186, 188, 189, 191, 192, 195, 196, 199, 200, 202, 203, 204, 205], "order": [1, 11, 28, 42, 100, 101, 105, 108, 119, 122, 127, 163, 164, 166, 167, 169, 170, 173, 174, 175, 177, 179, 182, 184, 185, 187, 188, 189, 190, 191, 192, 196, 200, 202, 205, 206], "avoid": [1, 28, 56, 92, 94, 95, 97, 98, 99, 100, 102, 104, 108, 110, 111, 116, 119, 123, 126, 145, 158, 163, 166, 167, 169, 170, 174, 181, 182, 184, 185, 186, 187, 188, 192, 204], "take": [1, 9, 12, 18, 22, 23, 27, 28, 42, 43, 44, 48, 51, 52, 67, 68, 69, 70, 87, 90, 91, 92, 93, 94, 95, 99, 101, 105, 108, 110, 112, 113, 114, 116, 119, 128, 141, 143, 144, 158, 161, 162, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 202, 205, 207], "posit": [1, 4, 62, 91, 92, 94, 99, 102, 104, 137, 138, 139, 162, 164, 166, 167, 169, 173, 174, 175, 176, 177, 184, 185, 186, 187, 188, 193, 196, 197, 198, 199, 201], "veloc": [1, 4, 9, 13, 29, 74, 90, 91, 92, 94, 97, 99, 102, 104, 106, 111, 112, 127, 131, 132, 135, 139, 150, 153, 154, 163, 166, 169, 172, 175, 179, 180, 181, 184, 188, 204, 207], "command": [1, 9, 23, 30, 45, 50, 53, 54, 59, 86, 92, 99, 106, 111, 112, 118, 135, 157, 158, 159, 163, 165, 170, 172, 174, 175, 176, 177, 179, 181, 184, 185, 186, 187, 194, 196, 197, 198, 201, 202, 207], "attempt": [1, 19, 21, 22, 24, 25, 27, 28, 87, 102, 105, 107, 108, 114, 121, 143, 144, 145, 159, 169, 192, 194, 196, 200, 205], "follow": [1, 2, 3, 9, 10, 18, 19, 22, 24, 25, 27, 29, 48, 58, 86, 92, 94, 98, 99, 100, 104, 107, 110, 111, 118, 125, 127, 140, 141, 142, 144, 145, 157, 159, 161, 162, 163, 164, 165, 166, 167, 168, 170, 172, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 198, 200, 201, 202, 203, 204, 205, 207, 208], "exampl": [1, 7, 15, 16, 18, 19, 20, 23, 28, 115, 124, 126, 128, 129, 157, 158, 159, 165, 166, 167, 169, 170, 172, 173, 174, 175, 176, 177, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 198, 200, 201, 202, 203, 204, 205, 206, 207], "applic": [1, 3, 6, 10, 12, 14, 17, 18, 19, 22, 23, 24, 25, 27, 28, 42, 62, 91, 92, 94, 95, 98, 99, 102, 108, 110, 116, 119, 156, 158, 163, 164, 167, 168, 169, 170, 172, 174, 177, 179, 181, 188, 189, 192, 193, 194, 195, 196, 197, 199, 202, 203, 205, 206, 207], "drive": [1, 26, 27, 36, 47, 98, 108, 111, 115, 144, 145, 163, 166, 175, 179, 181, 182, 184, 185, 187, 188, 199, 200, 205], "through": [1, 9, 18, 19, 20, 23, 24, 25, 27, 28, 29, 42, 43, 105, 108, 117, 124, 129, 144, 145, 158, 161, 162, 163, 165, 166, 167, 168, 169, 174, 179, 181, 183, 184, 185, 186, 187, 188, 189, 192, 194, 195, 196, 199, 200, 201, 202, 203, 205, 207], "space": [1, 4, 10, 21, 28, 91, 92, 93, 100, 107, 108, 109, 111, 117, 120, 124, 128, 129, 143, 144, 145, 158, 159, 166, 167, 179, 181, 184, 188, 192, 193, 198, 200, 205], "visit": [1, 28, 144, 145, 161, 199], "offic": 1, "build": [1, 5, 7, 10, 14, 18, 19, 27, 28, 159, 160, 162, 163, 167, 168, 172, 173, 174, 175, 176, 177, 186, 193, 194, 195, 197, 199, 200, 202, 203, 204, 205], "hospit": 1, "deliveri": 1, "stuck": [1, 19, 22, 24, 25, 28, 30, 31, 47, 60, 75, 167, 170, 179, 188], "back": [1, 9, 22, 24, 25, 27, 28, 31, 63, 98, 101, 108, 112, 120, 145, 161, 163, 164, 167, 168, 169, 173, 175, 176, 177, 179, 186, 187, 188, 192, 199, 205, 206], "open": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 144, 145, 156, 158, 159, 161, 163, 169, 174, 182, 184, 185, 186, 187, 188, 191, 192, 194, 195, 196, 197, 198, 200, 201, 202, 203, 206], "continu": [1, 12, 19, 20, 21, 22, 23, 24, 25, 28, 101, 104, 108, 119, 142, 144, 145, 159, 161, 162, 163, 164, 165, 166, 167, 168, 169, 177, 184, 187, 188, 192, 196, 199, 201, 204], "its": [1, 6, 8, 9, 11, 12, 19, 20, 22, 23, 24, 25, 27, 28, 42, 85, 88, 89, 90, 92, 98, 99, 100, 108, 109, 112, 114, 115, 117, 128, 143, 144, 145, 157, 161, 163, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 200, 202, 203, 204, 205, 206, 207], "excel": [1, 7, 9, 199, 207], "chanc": [1, 7, 9, 20, 167], "substanti": [1, 108, 144, 161, 164, 188], "system": [1, 6, 7, 8, 10, 11, 12, 17, 19, 20, 22, 24, 25, 28, 92, 93, 99, 105, 106, 108, 118, 157, 158, 159, 161, 162, 163, 164, 167, 169, 170, 177, 181, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 198, 204, 205], "hundr": [1, 28], "futur": [1, 4, 8, 11, 17, 22, 28, 91, 92, 93, 102, 120, 123, 127, 165, 167, 169, 170, 197], "could": [1, 2, 3, 6, 7, 9, 10, 21, 28, 91, 92, 99, 117, 158, 159, 165, 166, 167, 168, 170, 173, 174, 175, 179, 186, 188, 190, 192, 194, 197, 199, 200, 202, 203, 204], "also": [1, 3, 4, 6, 7, 11, 19, 20, 21, 22, 23, 24, 25, 27, 28, 91, 92, 93, 94, 96, 99, 100, 101, 102, 105, 107, 108, 110, 111, 112, 113, 115, 116, 118, 119, 122, 144, 145, 157, 158, 159, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 199, 200, 201, 202, 203, 204, 205, 207], "good": [1, 6, 28, 93, 108, 117, 118, 144, 161, 163, 169, 172, 174, 175, 176, 177, 182, 183, 187, 188, 191, 192, 194, 196, 199], "candid": [1, 7, 101, 108, 161, 181], "roscon": [1, 201, 203], "talk": [1, 158, 163, 184, 186, 192, 194, 201, 203], "event": [1, 13, 161, 167, 192, 205], "difficulti": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "medium": [1, 7, 8, 9, 11, 12, 13, 180], "steve": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 108, 163, 179, 192, 194, 196], "macenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 111, 163, 179], "stevemacenski": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 201, 203], "contact": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 102, 161, 163, 188, 189, 205], "link": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 20, 117, 161, 167, 184, 185, 186, 187, 192, 199, 204], "abov": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19, 20, 23, 28, 56, 90, 102, 108, 117, 125, 126, 145, 157, 164, 166, 172, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 189, 192, 193, 194, 195, 199, 200, 201, 202, 203, 205, 206, 207], "profil": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 108, 194, 208], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 28, 92, 100, 101, 106, 108, 143, 144, 145, 163, 166, 167, 170, 173, 174, 181, 184, 185, 186, 187, 189, 190, 194, 195, 196, 199, 200, 202, 204, 205, 206], "either": [1, 19, 20, 27, 28, 92, 93, 102, 107, 108, 126, 128, 158, 159, 168, 169, 179, 181, 184, 185, 188, 192, 195, 202, 205, 206], "set": [1, 2, 3, 9, 10, 13, 18, 22, 24, 25, 27, 28, 30, 31, 42, 43, 44, 46, 47, 48, 49, 56, 58, 60, 62, 63, 65, 72, 91, 92, 93, 98, 99, 100, 101, 102, 104, 105, 107, 108, 109, 111, 112, 115, 117, 118, 119, 120, 124, 125, 127, 128, 129, 130, 143, 144, 145, 156, 157, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 183, 188, 189, 190, 191, 192, 194, 195, 197, 198, 199, 200, 201, 202, 203, 204, 205, 207], "successfulli": [1, 19, 28, 167, 172, 177, 184, 186, 187, 189, 192, 197, 205], "user": [1, 2, 3, 7, 9, 14, 18, 22, 23, 24, 25, 27, 28, 29, 42, 83, 87, 91, 92, 93, 114, 119, 124, 126, 128, 129, 140, 144, 158, 159, 161, 163, 165, 166, 167, 168, 169, 170, 177, 179, 183, 185, 188, 189, 192, 194, 195, 196, 199, 201, 203, 204, 205, 207], "without": [1, 4, 14, 27, 28, 62, 91, 92, 98, 99, 104, 106, 108, 113, 121, 123, 124, 126, 128, 129, 144, 158, 159, 165, 166, 167, 169, 170, 174, 177, 182, 183, 185, 188, 192, 194, 196, 197, 199, 200, 201, 207], "collis": [1, 7, 9, 28, 29, 30, 31, 47, 56, 58, 60, 94, 98, 100, 102, 104, 108, 111, 112, 116, 122, 123, 126, 154, 163, 164, 166, 167, 172, 179, 180, 181, 182, 184, 185, 187, 188, 207, 208], "allot": [1, 9, 11], "tune": [1, 9, 17, 26, 107, 108, 112, 117, 144, 167, 183, 196, 199, 200, 202, 204, 207], "ad": [1, 9, 10, 13, 22, 24, 25, 42, 93, 95, 108, 144, 145, 158, 159, 161, 164, 165, 172, 174, 175, 176, 177, 181, 182, 186, 188, 193, 194, 195, 196, 199, 200, 202, 203, 204, 207, 208], "critic": [1, 7, 9, 28, 130, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 164, 181, 188, 189, 194], "dwb": [1, 3, 9, 22, 24, 25, 28, 29, 131, 132, 133, 134, 135, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 164, 165, 179, 181, 188, 207], "planner": [1, 2, 4, 9, 10, 17, 18, 19, 20, 22, 23, 24, 25, 29, 43, 44, 53, 80, 92, 97, 98, 100, 101, 108, 111, 112, 113, 114, 118, 123, 133, 151, 152, 163, 164, 165, 170, 172, 174, 178, 180, 182, 183, 189, 190, 197, 200, 203, 207], "improv": [1, 7, 9, 11, 12, 26, 28, 98, 113, 115, 144, 145, 158, 164, 165, 166, 168, 169, 180, 195, 196], "perform": [1, 3, 4, 7, 9, 11, 18, 23, 27, 29, 31, 47, 60, 91, 92, 93, 97, 98, 104, 108, 115, 119, 144, 145, 158, 163, 166, 167, 168, 169, 172, 173, 174, 175, 176, 182, 185, 188, 189, 192, 193, 194, 196, 197, 199, 205, 206], "box": [1, 9, 28, 92, 102, 119, 167, 168, 169, 170, 182, 184, 185, 187, 188, 196, 203, 204, 205, 206], "skill": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 194], "c": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 27, 94, 116, 161, 168, 184, 191, 194, 195, 205], "xml": [1, 2, 18, 19, 28, 29, 51, 52, 95, 102, 163, 165, 167, 169, 172, 173, 174, 175, 176, 177, 184, 187, 189, 197, 205, 206], "experi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 26, 157, 158, 159, 163, 167, 187, 194, 196, 198], "recommend": [1, 2, 3, 4, 5, 6, 7, 9, 10, 12, 28, 91, 92, 102, 105, 108, 111, 113, 114, 158, 161, 162, 167, 169, 175, 181, 182, 184, 185, 186, 187, 188, 190, 192, 196, 198, 199, 201, 203, 204, 205, 206, 207], "gazebo": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 106, 156, 162, 169, 170, 172, 173, 174, 175, 176, 177, 182, 183, 187, 188, 192, 193, 198, 200, 202, 203], "simul": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 29, 92, 95, 104, 108, 112, 125, 134, 135, 156, 162, 169, 172, 174, 175, 176, 177, 182, 183, 187, 188, 192, 194, 195, 198, 199, 200, 201, 202, 203], "relev": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19, 101, 108, 163, 164, 169, 172, 173, 177, 196, 199], "sourc": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 28, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 118, 119, 124, 129, 156, 158, 160, 161, 162, 163, 167, 172, 173, 174, 175, 176, 177, 182, 183, 184, 185, 186, 187, 191, 192, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "softwar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 111, 161, 168, 185, 188, 189, 192, 194, 198, 201], "repositori": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 111, 157, 158, 159, 163, 172, 174, 175, 176, 180, 182, 184, 185, 187, 188, 192, 198, 200, 201, 202, 203], "ref": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ticket": [1, 4, 7, 9, 10, 11, 13, 14, 28, 156, 161, 165, 166, 167, 188, 194, 206], "licens": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 160], "all": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 18, 19, 20, 27, 28, 40, 82, 92, 93, 94, 95, 101, 105, 108, 111, 113, 115, 117, 118, 121, 126, 144, 149, 157, 158, 159, 161, 163, 164, 165, 166, 167, 169, 170, 172, 175, 176, 177, 179, 181, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 199, 200, 202, 203, 206, 207], "contribut": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 28, 101, 144, 161, 169, 185, 188, 189], "under": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 21, 95, 124, 128, 129, 158, 159, 161, 165, 166, 167, 168, 170, 172, 173, 179, 181, 182, 184, 185, 187, 188, 190, 192, 194, 196, 199, 203, 205], "apach": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 161], "0": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 30, 31, 42, 46, 47, 49, 56, 57, 58, 60, 61, 62, 63, 64, 66, 68, 72, 74, 77, 85, 87, 88, 90, 91, 92, 93, 94, 95, 96, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 118, 119, 120, 122, 123, 124, 125, 126, 127, 128, 129, 130, 132, 133, 135, 136, 137, 138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 161, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 191, 192, 194, 200, 202, 204, 205, 207], "No": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 20, 92, 108, 168, 172, 173, 174, 175, 177, 202], "other": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 18, 19, 20, 23, 66, 68, 92, 95, 100, 101, 108, 111, 113, 118, 123, 124, 125, 126, 128, 129, 145, 158, 159, 161, 162, 163, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 189, 190, 191, 192, 193, 194, 195, 196, 197, 199, 200, 202, 203, 204, 205, 206, 207], "cla": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "ha": [2, 3, 4, 6, 8, 11, 12, 14, 19, 20, 22, 23, 24, 25, 27, 56, 57, 66, 67, 69, 76, 77, 91, 92, 94, 95, 96, 97, 98, 99, 104, 108, 110, 111, 116, 117, 119, 126, 136, 137, 138, 139, 143, 144, 145, 156, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 177, 179, 182, 184, 185, 186, 187, 188, 194, 195, 196, 198, 199, 200, 202, 204, 205, 206, 207], "long": [2, 4, 9, 14, 23, 28, 74, 94, 95, 99, 110, 115, 116, 119, 124, 129, 133, 145, 167, 169, 177, 181, 185, 188, 192, 193, 199, 205], "qt": 2, "setup": [2, 28, 102, 156, 157, 158, 159, 162, 169, 174, 182, 185, 186, 187, 188, 189, 192, 194, 196, 200, 201, 202, 204, 205], "help": [2, 3, 4, 5, 8, 11, 16, 22, 24, 25, 28, 42, 98, 108, 111, 145, 160, 161, 164, 166, 167, 168, 169, 170, 172, 174, 176, 179, 181, 183, 184, 186, 187, 188, 189, 192, 195, 196, 200, 203, 206, 207], "udrf": 2, "need": [2, 4, 11, 13, 22, 23, 24, 25, 27, 28, 42, 45, 50, 53, 54, 59, 87, 92, 94, 95, 98, 99, 100, 101, 108, 110, 111, 116, 119, 144, 157, 158, 159, 161, 163, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 198, 199, 200, 202, 204, 205, 206], "A": [2, 3, 6, 10, 13, 18, 19, 20, 23, 27, 28, 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, 68, 79, 80, 81, 85, 86, 87, 88, 90, 91, 92, 93, 95, 98, 101, 102, 104, 105, 107, 108, 109, 112, 115, 117, 119, 120, 123, 127, 130, 143, 145, 158, 159, 161, 163, 165, 166, 167, 168, 170, 173, 179, 181, 182, 184, 185, 186, 188, 189, 190, 191, 192, 194, 196, 197, 198, 199, 202, 203, 205, 207], "extrem": [2, 19, 91, 104, 108, 123, 166, 185], "benefici": [2, 28, 108, 123, 177, 194], "wai": [2, 9, 19, 22, 24, 25, 28, 87, 95, 105, 108, 119, 121, 144, 145, 155, 157, 166, 167, 168, 169, 182, 186, 188, 189, 190, 192, 194, 199, 201, 203, 205, 207], "minim": [2, 11, 108, 157, 162, 167, 168, 177, 181, 184, 188, 196], "friction": 2, "provid": [2, 4, 7, 11, 18, 19, 20, 22, 24, 25, 27, 28, 29, 42, 45, 50, 53, 54, 59, 65, 92, 93, 95, 96, 100, 102, 107, 108, 113, 118, 124, 129, 151, 152, 157, 158, 159, 161, 162, 163, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 180, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 196, 197, 198, 199, 201, 205, 206], "gui": [2, 159, 162, 184, 187, 191, 192, 199, 206], "tool": [2, 4, 15, 28, 156, 157, 158, 159, 161, 163, 165, 166, 177, 183, 185, 186, 187, 192, 194, 195, 199, 200, 205], "cover": [2, 28, 92, 126, 161, 166, 169, 181, 188, 189, 192, 194, 199, 200, 202, 204], "broad": [2, 7, 183, 188, 205], "stroke": [2, 183], "visual": [2, 91, 92, 95, 96, 100, 111, 158, 159, 163, 167, 169, 184, 188, 190, 195, 196, 199, 201, 202, 203, 204], "show": [2, 27, 127, 145, 159, 162, 167, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "what": [2, 6, 17, 20, 28, 108, 130, 160, 161, 162, 167, 170, 180, 184, 185, 186, 187, 189, 190, 192, 198, 199, 205], "like": [2, 4, 8, 13, 14, 18, 19, 20, 21, 22, 24, 25, 27, 28, 95, 107, 108, 115, 119, 143, 144, 158, 159, 161, 162, 163, 166, 167, 169, 172, 173, 174, 177, 179, 182, 183, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 197, 199, 200, 201, 202, 203, 205, 206, 207], "select": [2, 3, 5, 7, 18, 28, 45, 50, 53, 54, 59, 91, 92, 93, 104, 108, 109, 112, 117, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 143, 144, 145, 158, 159, 166, 168, 173, 174, 179, 182, 183, 185, 187, 190, 193, 194, 195, 197, 200, 202, 205, 206, 207], "layer": [2, 4, 7, 10, 11, 17, 100, 120, 123, 126, 127, 143, 144, 146, 158, 163, 164, 166, 167, 174, 185, 188, 192, 199, 200, 203], "recoveri": [2, 18, 22, 23, 24, 25, 30, 31, 60, 64, 83, 94, 95, 96, 163, 164, 165, 168, 172, 173, 177, 179, 190], "paramet": [2, 13, 19, 20, 26, 28, 29, 42, 51, 52, 72, 85, 88, 90, 103, 158, 164, 165, 170, 172, 173, 174, 175, 176, 177, 181, 182, 184, 185, 187, 188, 189, 190, 191, 193, 194, 195, 196, 198, 199, 200, 202, 204, 205, 206, 207], "urdf": [2, 28, 162, 182, 183, 186, 188, 196, 201], "footprint": [2, 56, 91, 92, 94, 100, 102, 108, 116, 123, 124, 128, 129, 144, 145, 149, 167, 168, 169, 170, 174, 179, 181, 183, 187, 204], "frame": [2, 28, 42, 57, 62, 66, 68, 78, 85, 91, 92, 93, 94, 95, 98, 100, 101, 102, 106, 107, 116, 119, 120, 123, 124, 127, 129, 133, 156, 164, 175, 176, 182, 184, 185, 186, 187, 191, 196, 199, 204, 205], "option": [2, 3, 6, 9, 43, 44, 91, 92, 93, 98, 101, 108, 144, 159, 166, 167, 168, 172, 174, 175, 176, 177, 185, 187, 190, 191, 192, 193, 194, 195, 196, 197, 203, 205, 206], "compli": [2, 181, 184, 199], "standard": [2, 6, 10, 93, 108, 161, 170, 185, 186, 191, 199, 200, 202, 205, 206], "control": [2, 4, 7, 9, 11, 13, 17, 18, 19, 21, 22, 23, 24, 25, 27, 29, 34, 45, 48, 61, 62, 79, 80, 81, 83, 84, 85, 86, 90, 92, 100, 102, 111, 115, 118, 127, 129, 131, 132, 133, 134, 135, 136, 137, 138, 139, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 163, 164, 165, 172, 173, 174, 177, 178, 180, 182, 183, 184, 187, 189, 190, 192, 194, 195, 196, 197, 198, 201, 202, 203, 204, 205, 206, 208], "minimum": [2, 9, 28, 72, 90, 91, 92, 93, 94, 98, 100, 101, 102, 104, 107, 108, 111, 118, 121, 124, 129, 132, 136, 138, 144, 145, 150, 153, 166, 167, 168, 169, 170, 179, 181, 185, 186], "maximum": [2, 28, 46, 58, 62, 63, 90, 91, 92, 93, 94, 98, 99, 100, 101, 102, 104, 107, 108, 111, 112, 114, 118, 124, 127, 129, 132, 136, 138, 143, 144, 145, 166, 167, 168, 169, 175, 179, 185, 193, 196, 200, 202, 205], "speed": [2, 7, 9, 20, 26, 27, 28, 31, 47, 90, 92, 94, 98, 99, 100, 104, 107, 108, 111, 118, 123, 132, 143, 144, 145, 157, 158, 166, 167, 169, 175, 177, 179, 181, 188, 196, 199, 204, 205, 208], "kinemat": [2, 102, 103, 108, 112, 114, 115, 163, 166, 169, 179, 181, 184, 187, 188, 199, 207], "from": [2, 5, 6, 7, 8, 9, 11, 12, 19, 20, 21, 22, 23, 24, 25, 27, 28, 42, 45, 49, 50, 53, 54, 56, 57, 59, 62, 63, 67, 68, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 104, 106, 107, 108, 111, 112, 113, 117, 118, 119, 124, 127, 128, 129, 143, 144, 145, 147, 150, 151, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 172, 173, 174, 175, 176, 177, 179, 180, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 193, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "dropdown": 2, "possibl": [2, 14, 28, 94, 104, 108, 111, 158, 163, 166, 167, 168, 169, 170, 175, 177, 181, 182, 188, 193, 194, 196, 199, 200, 202, 204], "note": [2, 18, 20, 21, 22, 23, 24, 27, 28, 42, 92, 93, 94, 98, 99, 100, 101, 102, 105, 106, 107, 110, 111, 116, 118, 119, 123, 125, 127, 145, 161, 163, 167, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 202, 203, 205, 206, 207], "throughout": [2, 67, 158, 164, 167, 187, 189, 196], "prompt": [2, 159, 192, 194], "aid": [2, 23], "appropri": [2, 19, 99, 108, 110, 118, 127, 161, 162, 167, 168, 169, 170, 177, 181, 184, 186, 187, 188, 194, 196, 204, 206], "more": [2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 18, 19, 24, 25, 28, 42, 62, 91, 92, 93, 98, 99, 102, 103, 104, 108, 111, 112, 118, 120, 123, 127, 143, 144, 145, 153, 157, 158, 159, 161, 163, 165, 166, 167, 169, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "specif": [2, 3, 6, 11, 18, 19, 22, 23, 24, 25, 27, 28, 31, 47, 96, 100, 108, 111, 145, 158, 159, 164, 165, 166, 167, 168, 169, 170, 173, 175, 176, 177, 181, 184, 185, 186, 188, 190, 191, 192, 194, 200, 201, 205, 206, 207], "after": [2, 10, 21, 22, 24, 25, 27, 28, 92, 93, 95, 102, 104, 108, 111, 112, 113, 118, 128, 130, 137, 139, 142, 143, 144, 145, 161, 162, 166, 167, 169, 170, 174, 175, 176, 177, 182, 184, 185, 187, 188, 189, 191, 192, 193, 194, 195, 197, 199, 200, 202, 203, 204, 205, 206, 207], "item": [2, 11, 19, 27, 28, 170, 180], "preview": 2, "how": [2, 7, 17, 18, 27, 28, 83, 92, 93, 96, 98, 104, 108, 117, 124, 129, 133, 147, 148, 151, 152, 158, 160, 161, 164, 168, 170, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207], "effect": [2, 4, 92, 98, 126, 143, 158, 165, 167, 184, 188, 200], "high": [2, 3, 4, 5, 6, 8, 28, 92, 104, 108, 111, 114, 117, 118, 129, 143, 144, 145, 161, 163, 164, 166, 179, 181, 184, 188, 193, 196], "cooper": 2, "juzhenatpku": 2, "gmail": 2, "base": [2, 5, 6, 9, 19, 21, 28, 57, 62, 66, 68, 85, 90, 91, 92, 93, 94, 95, 98, 100, 102, 104, 106, 107, 108, 113, 115, 116, 120, 123, 127, 136, 144, 145, 146, 147, 148, 149, 151, 152, 157, 158, 159, 161, 163, 164, 166, 167, 168, 170, 172, 173, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 193, 194, 196, 199, 200, 202, 203, 204, 206], "support": [2, 6, 13, 14, 27, 28, 45, 50, 53, 54, 59, 91, 111, 115, 156, 158, 159, 163, 164, 165, 168, 170, 179, 181, 185, 187, 188, 192, 193, 200, 202, 203, 205, 206], "panel": [2, 115, 187, 206], "displai": [2, 91, 110, 144, 145, 166, 170, 182, 184, 185, 187, 188, 192, 193, 199, 202, 206], "python3": [2, 12, 13, 27, 163, 166, 167, 168], "json": [2, 158, 159], "pars": [2, 28, 101, 158, 170], "3d": [2, 4, 9, 28, 108, 129, 162, 179, 184, 185, 187, 188, 198, 199, 203], "program": [2, 27, 28, 98, 115, 144, 145, 158, 163, 167, 192, 194, 195, 197], "mayb": 2, "origin": [2, 5, 6, 8, 14, 27, 61, 62, 86, 92, 98, 100, 143, 144, 145, 160, 165, 166, 169, 182, 184, 185, 187, 190, 199, 200, 202], "number": [3, 11, 27, 28, 42, 46, 83, 91, 92, 93, 98, 99, 100, 101, 102, 108, 113, 114, 117, 121, 129, 131, 143, 144, 145, 164, 165, 166, 167, 168, 169, 170, 172, 173, 176, 179, 184, 185, 186, 187, 188, 191, 192, 193, 194, 202, 205, 206], "interfac": [3, 5, 13, 20, 28, 92, 95, 116, 158, 159, 163, 164, 165, 168, 170, 172, 173, 174, 177, 179, 185, 190, 192, 198, 199, 203], "plan": [3, 10, 17, 18, 19, 21, 22, 23, 28, 58, 85, 98, 101, 104, 108, 109, 111, 114, 115, 117, 124, 128, 129, 130, 133, 143, 144, 145, 161, 163, 164, 166, 167, 168, 169, 170, 173, 175, 176, 177, 179, 180, 181, 182, 185, 186, 188, 190, 200, 203, 205], "two": [3, 19, 20, 28, 83, 91, 92, 98, 109, 115, 117, 143, 158, 166, 167, 168, 169, 170, 172, 175, 176, 177, 181, 184, 185, 186, 187, 189, 192, 193, 195, 196, 199, 202, 203, 204, 205], "area": [3, 7, 28, 39, 40, 92, 100, 120, 123, 126, 127, 143, 144, 145, 161, 166, 167, 168, 169, 172, 174, 179, 185, 187, 188, 191, 192, 195, 200, 202], "algorithm": [3, 15, 18, 22, 24, 25, 28, 98, 102, 108, 111, 113, 114, 115, 143, 161, 163, 164, 166, 167, 168, 169, 174, 175, 179, 182, 185, 187, 188, 190, 193, 195, 196], "path": [3, 4, 17, 18, 19, 20, 21, 22, 23, 24, 27, 28, 29, 42, 43, 44, 48, 49, 51, 52, 58, 61, 62, 73, 76, 85, 87, 95, 96, 98, 99, 101, 102, 104, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 130, 141, 143, 144, 145, 146, 151, 152, 156, 157, 158, 163, 165, 166, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 184, 185, 187, 188, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 205, 206, 207], "refer": [3, 19, 28, 66, 68, 85, 92, 94, 95, 99, 100, 104, 111, 113, 115, 120, 123, 127, 157, 158, 159, 164, 165, 167, 168, 169, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 192, 193, 197, 199, 200, 202, 204, 205, 206], "trajectori": [3, 4, 10, 92, 97, 104, 118, 130, 133, 135, 146, 147, 148, 149, 151, 152, 153, 166, 168, 169, 176, 179, 181, 182, 188], "simpl": [3, 28, 29, 102, 113, 121, 144, 145, 159, 161, 164, 172, 173, 174, 176, 179, 181, 182, 186, 187, 188, 190, 194, 197, 199, 201, 205, 206, 207], "tutori": [3, 8, 15, 19, 91, 92, 95, 96, 166, 168, 169, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 192, 194, 195, 196, 204, 205, 206, 207], "found": [3, 8, 20, 23, 27, 28, 78, 92, 97, 108, 112, 115, 130, 143, 144, 145, 158, 159, 163, 164, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 179, 180, 181, 182, 184, 185, 187, 189, 195, 198, 199, 200, 201, 202, 203], "current": [3, 9, 11, 12, 14, 19, 20, 25, 27, 28, 47, 57, 62, 67, 85, 88, 90, 91, 92, 95, 101, 102, 108, 110, 111, 112, 118, 119, 120, 123, 126, 127, 145, 157, 161, 163, 165, 166, 167, 168, 169, 170, 172, 173, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 192, 197, 199, 204, 205, 206, 207], "one": [3, 5, 7, 8, 11, 14, 19, 27, 28, 42, 82, 86, 92, 98, 105, 108, 113, 145, 158, 159, 165, 166, 167, 169, 170, 173, 174, 177, 181, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 202, 204, 205, 206, 207], "navfn": [3, 29, 108, 112, 113, 115, 164, 179, 181, 182, 188, 190, 207], "which": [3, 9, 17, 19, 20, 23, 25, 27, 28, 29, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 56, 60, 61, 62, 63, 64, 74, 85, 86, 88, 90, 91, 92, 93, 94, 95, 98, 99, 100, 102, 104, 105, 107, 108, 110, 111, 115, 116, 118, 119, 120, 121, 123, 125, 126, 127, 158, 162, 164, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 196, 197, 198, 199, 200, 201, 202, 204, 205, 206], "implement": [3, 5, 6, 7, 10, 21, 22, 24, 25, 28, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 60, 63, 64, 83, 93, 94, 95, 99, 100, 101, 102, 104, 105, 107, 108, 109, 110, 111, 115, 116, 117, 118, 119, 124, 125, 126, 128, 129, 143, 144, 145, 159, 161, 164, 166, 167, 168, 169, 172, 175, 176, 177, 179, 181, 182, 184, 185, 188, 189, 190, 201, 203, 205, 206], "dijkstra": [3, 109, 167, 179, 181], "teb": [3, 108, 164, 168, 179, 181, 188, 207], "dwa": [3, 179, 181], "elast": [3, 164, 181, 207], "band": [3, 164, 181, 199, 207], "optim": [3, 18, 23, 28, 98, 101, 108, 115, 122, 123, 143, 144, 158, 163, 166, 167, 168, 169, 170, 179, 181, 182, 188, 189, 191, 196, 205, 207], "techniqu": [3, 4, 6, 28, 92, 102, 113, 114, 115, 166, 185, 188, 196, 199], "There": [3, 14, 19, 20, 28, 107, 108, 156, 157, 161, 164, 166, 167, 170, 174, 179, 181, 185, 186, 192, 194, 199, 200, 205, 207], "hybrid": [3, 112, 115, 143, 145, 158, 163, 166, 167, 168, 179, 181, 182, 188, 207], "ompl": 3, "develop": [3, 4, 5, 8, 11, 14, 22, 24, 25, 28, 92, 115, 117, 156, 158, 159, 167, 169, 180, 187, 188, 189, 194, 205, 207, 208], "your": [3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 27, 28, 92, 95, 105, 107, 108, 111, 112, 115, 117, 118, 124, 126, 128, 129, 144, 145, 156, 157, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 172, 174, 175, 176, 177, 179, 181, 182, 183, 185, 186, 187, 188, 189, 191, 194, 195, 196, 197, 199, 200, 201, 202, 203, 204, 205, 206, 207], "qualiti": [3, 8, 26, 28, 98, 108, 114, 115, 144, 145, 161, 163, 167, 169, 184, 196, 199, 205], "altern": [3, 23, 28, 62, 158, 159, 166, 169, 182, 184, 194], "consid": [3, 14, 19, 30, 31, 47, 56, 60, 74, 91, 92, 93, 95, 96, 100, 108, 139, 144, 145, 154, 161, 165, 166, 168, 169, 172, 173, 175, 176, 177, 179, 181, 183, 188, 189, 192, 196, 199, 200, 204, 205], "approv": [3, 161], "phase": [3, 6, 145], "discuss": [3, 6, 20, 28, 95, 161, 165, 166, 167, 175, 176, 181, 182, 183, 184, 185, 186, 187, 189, 192, 199, 205, 207], "d": [3, 21, 106, 126, 161, 169, 170, 177, 182, 184, 187, 192, 194, 195, 196, 198, 201, 205, 206, 207], "variant": [3, 6, 28, 108, 111, 166, 179, 181, 192], "vornoi": 3, "graph": [3, 10, 117, 145, 168, 180, 195], "rout": [3, 10, 27, 28, 42, 101, 108, 144, 177, 180, 188, 189], "state": [3, 15, 20, 22, 24, 25, 27, 67, 92, 98, 99, 100, 102, 103, 104, 105, 108, 111, 112, 115, 118, 120, 137, 139, 143, 162, 163, 165, 166, 167, 170, 172, 173, 175, 176, 177, 179, 181, 182, 184, 185, 186, 188, 189, 199, 201, 202, 205, 206, 207], "lattic": [3, 112, 115, 143, 144, 163, 167, 168, 179, 180, 181, 188, 207], "kinodynam": 3, "method": [3, 4, 6, 18, 22, 24, 25, 27, 28, 101, 102, 105, 108, 124, 129, 147, 148, 151, 152, 161, 166, 167, 168, 169, 172, 173, 174, 175, 176, 177, 194, 195, 205, 206], "given": [3, 6, 17, 23, 27, 28, 31, 34, 35, 47, 58, 60, 92, 94, 101, 108, 113, 114, 120, 165, 166, 167, 168, 169, 173, 174, 175, 176, 179, 181, 184, 188, 190, 192, 195, 199, 205, 206], "static": [3, 28, 91, 92, 93, 100, 124, 125, 129, 144, 145, 161, 163, 167, 173, 179, 182, 185, 188, 189, 193, 199, 203, 204, 205], "cilqr": 3, "ilqr": 3, "mpc": [3, 108, 168, 179, 181], "spline": 3, "addit": [3, 11, 20, 22, 23, 24, 25, 28, 42, 91, 92, 95, 97, 144, 157, 158, 166, 167, 168, 173, 177, 181, 184, 185, 187, 188, 194, 195, 196, 199, 204], "complet": [3, 4, 5, 12, 18, 19, 20, 23, 27, 28, 35, 58, 92, 101, 102, 104, 108, 111, 112, 137, 139, 144, 145, 154, 158, 161, 162, 163, 164, 165, 166, 167, 168, 169, 172, 173, 177, 179, 180, 181, 182, 184, 185, 187, 189, 190, 191, 192, 195, 196, 198, 199, 201, 203, 205, 206, 207], "50": [3, 92, 102, 108, 120, 167, 170, 185, 194, 199, 202, 205], "greater": [3, 104, 108, 117, 144, 158, 175, 189], "coverag": [3, 4, 6, 12, 18, 28, 29, 35, 42, 163, 169, 177, 179, 180, 188, 189], "motion": [3, 4, 28, 93, 98, 102, 104, 144, 145, 153, 154, 166, 170, 179, 181, 184, 186, 196, 199, 204, 206], "pluginlib": [3, 28, 164, 172, 174, 175, 176, 177, 190, 192, 203], "robust": [4, 6, 28, 206], "wide": [4, 19, 28, 144, 169, 172, 188, 196], "rang": [4, 7, 72, 91, 92, 93, 100, 111, 124, 127, 129, 158, 165, 166, 169, 170, 174, 179, 180, 187, 188, 189, 193, 194, 196, 200, 202, 204, 205], "environ": [4, 5, 9, 10, 12, 28, 102, 104, 115, 156, 157, 158, 159, 161, 162, 163, 181, 182, 184, 185, 186, 188, 192, 196, 199, 200, 203, 204, 205], "been": [4, 6, 14, 17, 19, 20, 22, 24, 25, 28, 57, 66, 91, 94, 95, 97, 99, 104, 108, 110, 115, 116, 117, 119, 143, 144, 145, 158, 161, 165, 166, 167, 168, 169, 170, 174, 175, 176, 179, 182, 185, 186, 187, 188, 192, 195, 199, 203, 204, 205], "oper": [4, 5, 22, 24, 25, 28, 92, 98, 101, 104, 108, 111, 118, 120, 159, 162, 163, 166, 167, 168, 169, 172, 174, 175, 176, 177, 181, 184, 185, 186, 188, 189, 191, 192, 196, 199, 204, 206], "presenc": [4, 17, 108, 170, 188, 200], "explicitli": [4, 27, 159, 200], "model": [4, 28, 29, 91, 92, 93, 98, 102, 115, 124, 129, 144, 158, 162, 163, 165, 166, 179, 181, 184, 185, 187, 188, 198, 199, 203, 204], "characterist": [4, 12, 114, 184], "howev": [4, 6, 9, 14, 21, 22, 24, 25, 28, 91, 92, 95, 108, 113, 144, 158, 165, 166, 167, 170, 172, 177, 182, 184, 187, 188, 190, 192, 194, 196, 199, 200, 202, 203, 204, 205, 207], "field": [4, 27, 42, 46, 68, 91, 92, 93, 99, 101, 127, 143, 165, 166, 167, 168, 169, 172, 174, 176, 177, 184, 185, 187, 189, 191, 192, 194, 196, 199, 200, 202, 203, 205], "progress": [4, 75, 99, 108, 111, 136, 138, 158, 161, 168, 180, 188, 207], "deploi": [4, 108, 163, 169, 181, 192], "fill": [4, 161, 165, 173, 191, 200, 202, 206], "consider": [4, 108, 188, 192], "must": [4, 14, 20, 27, 28, 66, 74, 93, 100, 101, 104, 107, 111, 114, 118, 121, 124, 129, 136, 138, 144, 145, 146, 157, 161, 165, 167, 168, 169, 172, 173, 175, 176, 177, 179, 181, 184, 185, 186, 189, 190, 191, 192, 195, 198, 201, 203, 204, 205, 206], "taken": [4, 68, 83, 91, 92, 98, 108, 127, 141, 166, 174, 177, 200, 202], "respect": [4, 28, 112, 123, 166, 167, 173, 180, 181, 184, 185, 187, 188, 199, 203, 207], "peopl": [4, 9, 22, 24, 25, 92, 183], "cart": 4, "anim": [4, 193], "exist": [4, 8, 11, 12, 28, 42, 91, 92, 102, 107, 108, 121, 143, 156, 158, 161, 165, 166, 167, 169, 170, 175, 177, 188, 192, 195, 196, 197, 199, 205, 206], "machin": [4, 28, 158, 159, 184, 185, 186, 189, 192, 206], "learn": [4, 7, 11, 19, 28, 96, 159, 163, 172, 173, 176, 185, 186, 187, 192], "complexyolo": 4, "yolo3d": 4, "etc": [4, 10, 13, 18, 27, 28, 91, 92, 95, 99, 100, 101, 106, 118, 120, 158, 159, 161, 166, 168, 169, 170, 172, 177, 181, 183, 184, 186, 188, 192, 196, 199, 201, 206], "tie": 4, "them": [4, 7, 17, 22, 27, 28, 91, 99, 101, 108, 119, 123, 124, 129, 145, 158, 159, 161, 163, 164, 166, 167, 168, 169, 172, 173, 174, 175, 176, 182, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 198, 199, 200, 201, 202, 204, 205, 206, 207], "scope": [4, 158, 169, 184, 185, 196, 197, 204], "retrain": 4, "otherwis": [4, 20, 65, 68, 71, 72, 73, 74, 75, 76, 79, 80, 81, 93, 108, 113, 126, 144, 145, 166, 167, 169, 179, 184, 188, 189, 192, 202], "becom": [4, 11, 18, 19, 28, 100, 105, 108, 117, 164, 167, 169, 184, 186, 187, 196], "expert": [4, 14], "some": [4, 7, 11, 13, 18, 19, 20, 22, 27, 28, 45, 50, 51, 52, 53, 54, 59, 91, 94, 95, 99, 108, 110, 113, 115, 116, 118, 119, 123, 144, 158, 161, 162, 164, 166, 167, 169, 170, 173, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 192, 193, 194, 196, 197, 199, 200, 204, 205, 206], "basic": [4, 5, 18, 19, 27, 28, 145, 164, 166, 167, 174, 177, 181, 182, 183, 184, 185, 186, 192, 194, 196, 203], "knowledg": [4, 7, 11, 161, 194, 203], "alreadi": [4, 7, 108, 165, 166, 167, 172, 182, 184, 187, 188, 192, 194, 196, 199, 205], "start": [4, 5, 12, 20, 21, 22, 24, 25, 27, 28, 43, 44, 62, 91, 92, 98, 102, 104, 108, 111, 112, 129, 144, 160, 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19, 98, 108, 159, 163, 167, 188, 192], "intel": [4, 14, 108, 167], "cpu": [4, 7, 92, 158, 167, 188, 189, 196], "nvidia": [4, 102, 169, 192, 196, 205], "jetson": [4, 192, 196, 205], "soc": 4, "extern": [4, 22, 24, 25, 27, 91, 99, 102, 105, 140, 157, 158, 164, 165, 168, 169, 189, 192, 196, 208], "next": [4, 5, 17, 19, 20, 22, 23, 24, 25, 28, 42, 108, 118, 119, 140, 142, 158, 162, 164, 165, 172, 174, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 192, 193, 202, 206], "mark": [4, 28, 98, 100, 124, 125, 126, 129, 149, 168, 177, 185, 188, 193, 200, 202, 203, 206], "ensur": [4, 9, 11, 13, 21, 22, 24, 25, 28, 92, 99, 105, 108, 111, 118, 158, 159, 161, 164, 166, 167, 168, 169, 181, 182, 186, 187, 188, 189, 192, 195, 203], "doe": [4, 9, 20, 22, 23, 24, 25, 91, 92, 97, 102, 108, 123, 126, 144, 145, 157, 158, 166, 167, 168, 169, 172, 175, 176, 177, 182, 184, 188, 189, 190, 192, 199, 200, 202, 205, 206], "collid": [4, 9, 104, 182], "permit": [4, 161, 200], "direct": [4, 62, 92, 98, 108, 111, 115, 118, 131, 144, 145, 150, 157, 158, 166, 169, 180, 181, 186, 191, 198, 199, 204], "collabor": [4, 14, 161], "member": [4, 161, 172, 175, 176, 177], "detect": [4, 28, 58, 62, 91, 92, 97, 98, 102, 111, 158, 169, 182, 184, 185, 188, 191, 197, 205], "real": [4, 9, 12, 28, 92, 99, 118, 161, 184, 185, 186, 187, 191, 192, 197, 199], "live": [4, 28, 159, 166, 172, 186, 188, 192, 198, 201, 206], "demonstr": [4, 10, 27, 92, 157, 167, 169, 170, 174, 199, 203, 204, 205], "85": [4, 12], "higher": [4, 6, 9, 12, 19, 28, 92, 98, 99, 100, 101, 102, 104, 106, 108, 118, 120, 144, 145, 163, 166, 167, 168, 169, 170, 177, 188, 189, 197, 200, 202, 205, 206], "python": [4, 10, 145, 163, 166, 169, 184, 199, 200, 202, 205], "geometri": [4, 5, 9, 92, 184, 185, 187, 192], "statist": [4, 9, 195], "relat": [4, 11, 13, 14, 26, 28, 92, 97, 120, 121, 123, 127, 157, 158, 166, 167, 169, 183, 186, 187, 199], "wa": [5, 11, 19, 20, 22, 24, 27, 28, 46, 58, 63, 91, 92, 94, 95, 99, 108, 109, 110, 111, 116, 117, 119, 141, 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197, 199, 200, 202, 204, 205], "expect": [5, 11, 27, 93, 108, 110, 124, 129, 161, 163, 165, 166, 169, 177, 184, 189, 190, 192, 199, 205], "full": [5, 7, 12, 20, 28, 93, 100, 108, 123, 130, 144, 156, 161, 165, 166, 167, 180, 181, 182, 183, 184, 186, 187, 188, 192, 193, 196, 197, 199, 200, 202, 204, 205, 206, 207], "process": [5, 7, 8, 11, 23, 27, 28, 29, 58, 93, 95, 99, 100, 108, 110, 111, 113, 126, 144, 145, 157, 158, 160, 162, 165, 166, 168, 169, 172, 173, 177, 179, 183, 187, 188, 189, 192, 193, 194, 195, 196, 199, 203, 204, 205, 206, 207], "over": [5, 6, 8, 11, 14, 17, 19, 21, 27, 28, 56, 57, 90, 92, 100, 108, 146, 161, 163, 166, 167, 168, 169, 177, 181, 182, 184, 185, 188, 189, 191, 192, 196, 199, 200, 203, 204, 207], "cours": [5, 11, 158, 187, 196], "summer": [5, 11], "earli": [5, 11, 16], "design": [5, 6, 8, 27, 28, 97, 102, 108, 113, 115, 166, 168, 174, 188, 193, 200, 202, 204, 206], "gradient": [5, 28, 98, 113, 167, 174], "complement": [5, 165, 199], "startup": [5, 28, 105, 125, 156, 158, 162, 165, 189, 191, 192, 200, 202], "merg": [5, 13, 158, 161, 165, 174], "branch": [5, 13, 23, 144, 145, 156, 157, 158, 161, 167, 190, 192], "2d": [5, 15, 27, 28, 29, 91, 92, 104, 112, 114, 115, 124, 129, 144, 162, 163, 165, 166, 174, 175, 176, 177, 179, 181, 182, 188, 196, 198, 199, 200, 203, 207], "low": [5, 19, 20, 72, 102, 108, 113, 118, 144, 164, 179, 188], "level": [5, 9, 19, 22, 24, 25, 28, 92, 97, 106, 114, 161, 163, 166, 167, 168, 170, 189, 195, 196, 200, 202, 204, 205, 206], "object": [5, 10, 11, 27, 28, 42, 86, 101, 108, 125, 163, 166, 167, 168, 169, 170, 172, 174, 177, 183, 185, 187, 188, 199, 203, 208], "reimplement": [5, 6, 170], "mechan": [5, 11, 91, 92, 93, 94, 95, 99, 107, 110, 116, 118, 119, 170, 174, 194, 196], "git": [5, 157, 159, 161, 191, 192, 200, 201, 202, 203], "pick": [5, 27, 28, 100, 119, 182, 198, 199], "befor": [5, 11, 19, 22, 23, 24, 25, 26, 28, 45, 50, 53, 54, 59, 66, 83, 85, 87, 92, 93, 99, 101, 104, 107, 108, 112, 114, 123, 124, 129, 140, 143, 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144, 145, 153, 166, 168, 169, 170, 172, 187, 190, 191, 192, 193, 194, 197, 199, 205, 207], "year": [6, 14, 163], "essenti": [6, 144, 145, 167, 185, 188, 205], "updat": [6, 7, 11, 12, 19, 20, 21, 28, 67, 76, 86, 93, 100, 102, 106, 115, 123, 128, 158, 161, 164, 167, 168, 169, 170, 172, 173, 174, 175, 177, 179, 182, 184, 186, 188, 192, 193, 196, 197, 199, 201, 202, 205, 206], "made": [6, 8, 28, 92, 99, 100, 102, 105, 136, 138, 158, 159, 161, 167, 168, 174, 177, 181, 182, 187, 188, 193, 197, 200, 202, 204, 205], "adapt": [6, 28, 93, 111, 166, 179, 185, 186, 187], "mont": [6, 28, 93, 185], "carlo": [6, 28, 93, 185], "written": [6, 28, 169, 172, 174, 175, 176, 177, 185, 193, 199, 200, 202, 204, 206], "embed": [6, 28, 167, 188, 189], "structur": [6, 8, 19, 28, 163, 168, 169, 177, 181, 186, 187, 189, 199, 202, 203, 206], "veri": [6, 7, 11, 14, 16, 18, 22, 24, 28, 104, 108, 113, 144, 161, 167, 169, 180, 182, 186, 187, 188, 192, 196, 205, 207], "sensit": [6, 92, 99, 118, 120, 144, 168, 169], 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107, 124, 129, 133, 179, 181, 182, 185, 187, 199, 201, 203], "reason": [6, 28, 91, 92, 108, 143, 144, 145, 161, 167, 174, 177, 182, 186, 188, 192, 194, 199, 204], "left": [6, 28, 43, 44, 95, 104, 111, 117, 144, 145, 158, 162, 167, 175, 176, 182, 184, 185, 187, 191, 192, 193, 195, 198, 199, 202, 206], "end": [6, 11, 21, 28, 91, 92, 102, 108, 109, 111, 112, 113, 143, 145, 167, 169, 172, 174, 175, 176, 177, 179, 187, 188, 189, 192, 193, 194, 199, 204], "creativ": [6, 8], "novelti": 6, "feel": [6, 156, 159, 187, 188], "best": [6, 8, 11, 28, 29, 92, 108, 130, 143, 144, 145, 158, 161, 167, 168, 181, 185, 186, 188, 193, 194, 196, 200, 203], "modifi": [6, 18, 61, 62, 95, 96, 103, 113, 158, 161, 166, 167, 169, 170, 172, 173, 175, 176, 177, 179, 181, 182, 184, 187, 192, 194, 195, 197, 206], "modular": [6, 159, 163, 179], "compon": [6, 42, 82, 83, 84, 85, 86, 87, 88, 89, 90, 108, 117, 118, 153, 166, 167, 169, 183, 187, 189, 196, 200, 202], "sampl": [6, 28, 108, 112, 131, 135, 141, 168, 169, 181, 182, 184, 185, 188, 197, 199], "lidar": [6, 9, 28, 124, 182, 184, 185, 188, 193, 199, 203], "ndt": 6, "scan": [6, 9, 27, 91, 92, 93, 100, 106, 124, 125, 129, 170, 179, 185, 186, 204], "match": [6, 42, 65, 79, 80, 81, 93, 94, 95, 108, 116, 144, 145, 168, 173, 175, 182, 188, 189, 192, 199, 204], "dure": [6, 23, 91, 92, 98, 105, 108, 144, 145, 158, 165, 166, 167, 168, 169, 173, 174, 182, 187, 188, 195, 198, 201, 205, 206], "sinc": [6, 28, 42, 98, 101, 108, 111, 112, 114, 123, 144, 145, 166, 167, 169, 170, 174, 177, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 194, 196, 199, 200, 202, 204, 205, 206, 207], "yet": [6, 20, 27, 108, 158, 167, 169, 186, 188, 199], "slam": [6, 15, 17, 128, 163, 164, 165, 185, 186, 188, 194, 196, 198, 208], "emerg": [6, 9, 92, 97], "accept": [6, 27, 68, 93, 104, 117, 144, 145, 161, 169, 177, 181, 182, 196, 197, 205], "input": [6, 20, 27, 28, 92, 95, 98, 108, 113, 114, 124, 126, 129, 140, 163, 166, 168, 169, 170, 172, 173, 174, 175, 176, 179, 184, 187, 190, 192, 194, 197, 199, 204, 206], "multipl": [6, 11, 22, 24, 25, 28, 42, 45, 50, 53, 54, 59, 87, 92, 94, 108, 115, 116, 159, 163, 165, 166, 169, 170, 175, 176, 181, 184, 185, 186, 187, 188, 189, 190, 192, 194, 196, 199, 202, 204, 205], "strictli": [6, 145, 168], "65": [6, 107, 202], "reliabl": [6, 12, 45, 50, 53, 54, 59, 159, 163, 185, 187, 205], "particl": [6, 7, 28, 93, 162, 179, 188, 193], "filter": [6, 13, 30, 93, 99, 102, 113, 125, 184, 188, 192, 196, 199, 203, 204, 205, 208], "abil": [6, 7, 28, 92, 108, 168, 169, 170, 204], "read": [6, 8, 19, 28, 91, 92, 126, 159, 166, 179, 185, 192, 194, 199, 200, 202], "academ": 6, "significantli": [7, 9, 18, 23, 24, 25, 87, 108, 112, 144, 167, 169, 170, 179, 188, 199, 207], "leverag": [7, 11, 17, 27, 157, 159, 167, 183, 188, 190, 197, 199, 205], "multi": [7, 10, 11, 27, 28, 166, 167, 179, 181, 192], "processor": [7, 108, 170, 188], "core": [7, 18, 28, 168, 189, 190, 192], "seek": 7, "thread": [7, 11, 13, 27, 28, 92, 99, 108, 118, 169, 194], 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168, 184, 185, 191, 192, 196, 205], "while": [7, 9, 13, 19, 22, 24, 25, 27, 95, 105, 108, 111, 113, 123, 144, 154, 157, 158, 159, 166, 167, 168, 169, 170, 173, 177, 181, 182, 184, 185, 188, 189, 190, 192, 193, 194, 196, 198, 199, 200, 204, 205, 206, 207, 208], "great": [7, 14, 19, 161, 167, 194, 196, 199], "deal": [7, 28, 184, 186, 188], "valuabl": [7, 11, 161], "skillset": 7, "analysi": [7, 28, 161, 163, 195], "benefit": [7, 158, 188], "non": [7, 10, 27, 28, 92, 95, 99, 102, 105, 106, 108, 112, 115, 120, 122, 123, 127, 143, 144, 145, 158, 163, 167, 169, 170, 173, 177, 179, 181, 182, 186, 187, 188, 192, 194, 195, 196, 200, 204, 205, 207], "trivial": [7, 28, 161, 168, 172, 204, 205, 206], "quickli": [7, 102, 158, 161, 167, 186, 188, 206], "tbb": 7, "openmp": 7, "opencl": 7, "cuda": 7, "similar": [7, 9, 10, 20, 22, 24, 27, 28, 91, 107, 108, 115, 157, 159, 166, 167, 173, 181, 184, 185, 186, 187, 188, 190, 192, 194, 196, 199, 203, 206, 207], "signific": [8, 9, 108, 174, 188, 199], 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170, 172, 173, 174, 175, 176, 177, 179, 181, 184, 185, 187, 188, 189, 190, 192, 193, 194, 196, 197, 199, 200, 202, 203, 204, 205, 206, 207], "accomplish": [8, 172, 179, 184, 187, 192, 194, 205], "longer": [8, 23, 87, 101, 143, 167, 168, 169, 172, 192, 194], "true": [8, 20, 27, 28, 30, 42, 46, 56, 58, 60, 63, 70, 72, 91, 92, 93, 94, 95, 98, 99, 100, 101, 102, 103, 104, 105, 106, 108, 109, 111, 112, 113, 114, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 133, 135, 137, 139, 140, 141, 142, 143, 144, 145, 162, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 187, 188, 189, 190, 193, 195, 196, 199, 200, 201, 202, 203, 204, 205, 207], "As": [8, 23, 27, 28, 92, 100, 108, 123, 161, 164, 165, 166, 167, 173, 175, 176, 181, 182, 184, 185, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 199, 200, 202, 204, 207], "initi": [8, 27, 70, 78, 93, 95, 102, 104, 108, 114, 156, 158, 159, 162, 163, 165, 167, 168, 172, 174, 175, 176, 177, 179, 187, 188, 197, 199, 200, 204, 205], "effort": [8, 14, 28, 101, 102, 118, 161, 163, 166, 181, 185, 188, 203, 205], "differenti": [8, 93, 104, 108, 112, 115, 117, 163, 166, 167, 169, 179, 181, 182, 184, 185, 187, 188, 196, 199, 207], "moveit": [8, 14], "land": 8, "consist": [8, 18, 108, 159, 161, 166, 167, 179, 184, 185, 186, 188, 189, 199, 205, 206], "graphic": [8, 159, 192, 200, 202], "color": [8, 98, 141, 185, 187, 188, 193, 200, 202, 203], "scheme": [8, 185], "logo": 8, "catchi": 8, "name": [8, 14, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 55, 56, 59, 60, 64, 91, 92, 93, 94, 95, 96, 97, 99, 100, 102, 105, 108, 109, 110, 116, 117, 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, 153, 154, 155, 157, 158, 161, 165, 166, 167, 170, 174, 179, 180, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 199, 200, 202, 203, 204, 205, 206, 207], "doc": [8, 15, 157, 162, 165, 169, 188, 192, 199], "just": [8, 21, 22, 24, 25, 28, 87, 100, 108, 150, 159, 161, 167, 170, 173, 174, 182, 184, 185, 186, 187, 188, 192, 194, 195, 199, 200], "technic": [8, 22, 24, 25, 161, 172, 174, 175, 176, 177, 200], "analog": [8, 92, 166, 168, 169, 173, 194, 205, 207], "expans": [8, 109, 117, 144, 145, 166, 167, 168, 169, 179], "blog": 8, "highlight": [8, 18, 27, 98, 158, 181, 191, 192, 196, 206], "demo": [8, 10, 23, 28, 162, 167, 169, 170, 182, 189, 192, 199, 200, 202, 205], "come": [8, 13, 14, 28, 101, 108, 111, 139, 144, 161, 167, 168, 172, 175, 176, 177, 184, 186, 187], "element": [8, 164, 172, 183, 184, 187], "migrat": [8, 169, 170, 180], "document": [8, 10, 15, 19, 23, 28, 157, 158, 161, 162, 165, 184, 185, 186, 187, 192, 193, 194, 195, 196, 200, 201, 202], "edit": [8, 166, 179, 184, 185, 190, 205], "web": [8, 159], "technologi": [8, 14, 163, 196, 199], "watchdog": [9, 105, 150, 163, 165], "act": [9, 14, 28, 143, 165, 166, 183, 185, 187, 200, 204, 207], "properli": [9, 27, 146, 163, 167, 182, 183, 184, 185, 186, 187, 193, 199, 200, 202], "typic": [9, 19, 20, 28, 91, 92, 104, 144, 145, 161, 167, 175, 182, 184, 186, 188, 192, 193, 196, 200, 201, 202, 207], "rate": [9, 12, 19, 20, 85, 88, 90, 91, 92, 93, 94, 99, 102, 104, 118, 119, 124, 129, 164, 166, 169, 172, 179, 187, 196, 197, 205], "contain": [9, 11, 18, 22, 24, 25, 28, 48, 52, 56, 97, 100, 108, 115, 118, 124, 129, 144, 145, 160, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 184, 185, 187, 188, 189, 190, 191, 194, 196, 200, 202, 204, 205, 207], "zone": [9, 28, 91, 92, 98, 101, 107, 123, 144, 145, 166, 167, 179, 185, 188, 199, 202, 204, 208], "wherea": [9, 42, 108, 144, 168, 188, 189], "locat": [9, 23, 27, 28, 102, 144, 145, 154, 162, 170, 172, 174, 175, 176, 177, 181, 184, 185, 187, 192, 199, 205], "around": [9, 14, 19, 23, 28, 39, 62, 87, 91, 92, 98, 100, 104, 108, 111, 122, 161, 166, 179, 185, 186, 187, 188, 191, 192, 199, 201, 207], "signal": [9, 113, 175, 179, 195, 199], "stop": [9, 21, 28, 74, 82, 92, 97, 99, 105, 108, 118, 119, 130, 139, 154, 165, 166, 168, 169, 170, 175, 179, 187, 192, 196, 204, 205], "less": [9, 68, 92, 94, 95, 99, 108, 110, 111, 116, 118, 119, 121, 144, 164, 167, 184, 193, 196, 199, 200, 207], "consum": [9, 167], "drop": [9, 104, 165, 169, 196, 206], "cost": [9, 19, 27, 28, 56, 91, 92, 94, 98, 100, 111, 115, 117, 122, 123, 133, 143, 144, 145, 158, 163, 166, 167, 174, 179, 185, 188, 193], "logic": [9, 18, 19, 22, 24, 25, 28, 168, 169, 170, 173, 177, 189, 206], "wouldn": [9, 188], "t": [9, 14, 39, 82, 102, 108, 143, 144, 145, 149, 156, 161, 162, 163, 166, 167, 169, 170, 172, 173, 175, 176, 177, 182, 186, 187, 188, 190, 192, 193, 194, 196, 197, 198, 199, 200, 201, 205], "certifi": [9, 92, 161], "safe": [9, 13, 28, 111, 157, 166, 172, 173, 181, 185, 186, 188], "injuri": 9, "sit": 9, "most": [9, 19, 22, 24, 25, 92, 93, 94, 95, 99, 108, 110, 112, 115, 116, 119, 167, 170, 173, 179, 184, 185, 186, 188, 190, 192, 194, 195, 196, 199, 207], "recent": [9, 57, 188, 196], "rgbd": 9, "n": [9, 28, 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, 68, 79, 80, 81, 86, 87, 91, 92, 95, 98, 101, 102, 105, 107, 108, 112, 120, 121, 123, 127, 130, 166, 169, 170, 184, 199, 205], "second": [9, 19, 20, 22, 24, 25, 28, 30, 31, 47, 49, 58, 60, 76, 77, 82, 83, 87, 92, 94, 95, 99, 105, 107, 108, 110, 112, 116, 119, 140, 141, 143, 144, 145, 166, 167, 169, 170, 173, 179, 184, 185, 186, 189, 191, 192, 193, 199, 200, 202], "result": [9, 20, 27, 28, 61, 62, 86, 92, 94, 95, 98, 99, 101, 102, 104, 108, 110, 111, 113, 114, 116, 117, 119, 161, 163, 165, 166, 170, 172, 173, 174, 177, 179, 188, 189, 191, 193, 196, 204, 205, 206, 207], "measur": [9, 26, 99, 108, 124, 129, 144, 145, 166, 168, 179, 184, 185, 186, 187, 193, 196, 199, 205], "scale": [9, 17, 28, 103, 104, 108, 111, 113, 130, 144, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 166, 179, 186, 187, 188, 200, 202, 204], "alwai": [9, 16, 21, 78, 91, 92, 95, 105, 118, 145, 156, 166, 167, 169, 170, 187, 188, 199, 200, 204, 205, 207], "flag": [9, 158, 184, 187, 191, 192, 194, 195], "m": [9, 26, 27, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 44, 47, 48, 51, 52, 55, 57, 60, 64, 66, 68, 74, 85, 87, 90, 92, 93, 94, 99, 100, 101, 102, 104, 107, 108, 111, 115, 118, 129, 130, 132, 136, 137, 138, 139, 144, 150, 154, 161, 163, 166, 175, 184, 187, 202, 204], "bound": [9, 62, 92, 104, 111, 114, 143, 144, 145, 167, 174, 204], "enact": [9, 87, 163, 207], "safer": 9, "product": [9, 28, 147, 148, 151, 152, 158, 159, 163, 188, 192, 196, 205], "research": [9, 14, 28], "goe": [9, 20, 23, 127, 167, 172, 175, 176, 177, 190], "those": [9, 14, 28, 56, 113, 158, 167, 181, 185, 187, 188, 189, 190, 192, 194], "creation": [9, 165, 170, 188], "prevent": [9, 19, 28, 30, 92, 93, 97, 98, 104, 108, 111, 118, 124, 129, 144, 145, 150, 155, 158, 166, 167, 168, 169, 179, 188, 189, 193, 200], "40hz": 9, "adjust": [9, 11, 28, 29, 42, 85, 88, 90, 92, 94, 95, 99, 100, 108, 110, 116, 118, 119, 144, 163, 168, 169, 182, 187, 196, 202, 204, 205], "accordingli": [9, 92, 169, 170, 199, 200, 202], "major": [10, 13, 28, 115, 163, 166, 169, 172, 177, 180, 182, 187, 194], "enabl": [10, 13, 23, 57, 91, 92, 93, 100, 102, 104, 108, 111, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 140, 141, 142, 144, 145, 158, 159, 166, 167, 168, 170, 172, 175, 176, 177, 179, 184, 185, 187, 188, 189, 192, 196, 201, 203, 204, 205, 206], "represent": [10, 100, 144, 181, 185, 186, 199], "format": [10, 42, 91, 92, 98, 108, 141, 145, 158, 166, 184, 185, 187, 192, 199, 200, 202, 206], "repres": [10, 12, 19, 28, 108, 111, 144, 163, 166, 175, 180, 184, 185, 187, 194, 196, 199], "within": [10, 19, 20, 22, 28, 65, 91, 92, 93, 94, 95, 97, 99, 101, 102, 108, 110, 112, 116, 119, 122, 124, 125, 129, 143, 144, 145, 158, 159, 161, 167, 168, 169, 174, 177, 179, 184, 185, 187, 188, 189, 192, 195, 203, 204, 205, 206, 207], "server": [10, 11, 13, 18, 19, 20, 23, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 55, 58, 59, 60, 63, 64, 79, 80, 81, 87, 92, 93, 95, 100, 103, 105, 108, 113, 114, 118, 119, 120, 123, 127, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 146, 147, 148, 149, 150, 153, 154, 155, 156, 162, 163, 164, 166, 172, 173, 174, 175, 176, 177, 179, 180, 184, 188, 190, 192, 194, 195, 199, 203, 204, 206, 207, 208], "pre": [10, 68, 92, 94, 95, 96, 107, 108, 111, 145, 158, 163, 179, 188, 198, 199, 200, 205, 207], "free": [10, 28, 100, 107, 108, 126, 143, 156, 159, 164, 179, 184, 185, 187, 188, 193, 196, 198, 199, 200], "choic": [10, 27, 28, 188, 189, 196, 201], "hard": [10, 14, 22, 58, 92, 99, 118, 164, 166, 169, 177, 188, 199], "easi": [10, 11, 14, 19, 28, 42, 158, 159, 161, 163, 169, 183, 185, 192, 196, 201, 205], "retriev": [10, 170, 175, 176, 177], "custom": [10, 18, 19, 20, 22, 24, 25, 27, 28, 61, 62, 84, 86, 93, 94, 95, 101, 108, 115, 119, 145, 157, 158, 159, 163, 167, 168, 170, 172, 175, 176, 177, 179, 181, 183, 185, 192, 199, 203, 204, 205], "purpos": [10, 28, 91, 161, 163, 168, 173, 177, 181, 187, 196, 197, 199, 201, 202], "differ": [10, 18, 19, 20, 22, 23, 24, 25, 28, 67, 91, 92, 96, 101, 102, 104, 111, 112, 115, 117, 120, 123, 125, 127, 144, 158, 159, 161, 162, 163, 165, 167, 168, 169, 170, 174, 177, 179, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 194, 196, 197, 199, 200, 202, 204, 205, 206, 207], "rule": [10, 28, 175, 176, 186], "room": [10, 108, 188, 198, 200, 202], "stori": 10, "info": [10, 14, 98, 103, 120, 123, 127, 159, 163, 166, 174, 184, 191, 192], "execut": [10, 11, 19, 21, 22, 24, 25, 27, 28, 46, 83, 87, 92, 95, 99, 112, 118, 119, 158, 159, 161, 165, 166, 167, 169, 173, 174, 177, 179, 181, 182, 184, 185, 186, 187, 189, 192, 193, 194, 195, 199, 200, 202, 205, 206], "manipul": [10, 27, 28, 100, 182, 187, 196], "percept": [10, 28, 102, 163, 179, 183, 185, 191, 192, 203], "motiv": [10, 167], "ticket2": [10, 11, 13], "admittedli": 11, "explain": [11, 19, 20, 23, 159, 161, 182, 194, 195, 201, 207], "someon": [11, 14], "unfamiliar": [11, 28, 196], "inner": [11, 204], "truli": [11, 188], "understand": [11, 22, 24, 25, 28, 117, 161, 177, 193, 194, 195, 199, 200, 203], "market": 11, "anyon": 11, "beforehand": [11, 199], "necessari": [11, 23, 27, 104, 108, 111, 144, 145, 158, 166, 168, 169, 172, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 193, 195, 202, 205, 207], "architectur": [11, 166, 196], "foxi": [11, 28, 171, 176], "singl": [11, 20, 22, 24, 25, 27, 28, 99, 107, 108, 119, 144, 145, 161, 164, 165, 166, 167, 170, 173, 174, 176, 179, 184, 185, 186, 187, 188, 189, 190, 194, 195, 196, 199, 203], "share": [11, 28, 92, 94, 95, 116, 143, 158, 162, 167, 172, 174, 175, 176, 177, 184, 185, 187, 188, 192, 198, 205, 207], "same": [11, 19, 27, 28, 42, 67, 69, 91, 92, 93, 95, 98, 108, 111, 118, 125, 143, 144, 145, 158, 159, 161, 162, 163, 164, 165, 167, 168, 169, 170, 172, 174, 177, 179, 185, 187, 188, 189, 192, 194, 195, 196, 199, 200, 202, 203, 204, 205, 207], "dd": [11, 158], "particip": [11, 161], "network": [11, 28, 158, 164, 167, 173, 192, 205], "import": [11, 17, 18, 27, 28, 42, 98, 108, 115, 118, 158, 161, 177, 180, 182, 185, 186, 187, 188, 189, 193, 194, 195, 199, 200, 202, 205, 206, 207], "overhead": [11, 188, 205], "each": [11, 19, 22, 24, 25, 26, 27, 28, 67, 91, 92, 93, 94, 95, 99, 100, 108, 110, 112, 116, 118, 142, 159, 161, 163, 164, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 181, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 199, 200, 202, 204, 205, 206], "usag": [11, 27, 120, 158, 169, 170, 186, 187, 189, 192, 199, 204], "executor": [11, 27, 28, 119, 166, 168], "further": [11, 20, 23, 104, 108, 114, 144, 145, 158, 161, 167, 169, 186, 194, 196], "dai": [11, 92, 192], "when": [11, 19, 20, 21, 22, 24, 28, 42, 62, 66, 70, 72, 77, 85, 87, 88, 90, 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166, 167, 168, 169, 172, 173, 179, 192], "messag": [11, 27, 28, 30, 31, 42, 43, 44, 45, 46, 47, 50, 53, 54, 59, 60, 63, 91, 92, 93, 94, 97, 99, 100, 102, 110, 124, 127, 129, 158, 161, 166, 168, 169, 170, 172, 173, 175, 177, 184, 189, 196, 199, 200, 202, 204, 205], "trigger": [11, 19, 20, 22, 24, 25, 28, 55, 85, 87, 89, 91, 92, 102, 104, 108, 111, 112, 120, 158, 165, 166, 167, 168, 179, 189, 190, 192, 204, 205, 207], "own": [11, 18, 28, 92, 93, 115, 158, 161, 164, 165, 166, 170, 172, 173, 174, 175, 176, 177, 179, 181, 184, 185, 186, 187, 188, 189, 192, 195, 196, 199, 200, 201, 202, 204, 205], "suppli": [11, 28, 85, 88, 90, 95], "context": [11, 13, 19, 20, 22, 23, 24, 25, 96, 157, 173, 179, 192, 206], "trust": [11, 159, 163, 196, 199], "me": [11, 161, 169], "sai": [11, 19, 20, 28, 161, 194], "achiev": [11, 98, 108, 111, 115, 118, 119, 166, 167, 168, 169, 170, 187, 188, 196, 199], "goal": [11, 18, 19, 20, 21, 22, 24, 25, 27, 28, 34, 35, 43, 44, 48, 49, 51, 52, 56, 57, 61, 67, 68, 69, 75, 86, 87, 90, 94, 95, 96, 98, 99, 101, 102, 104, 109, 110, 111, 112, 116, 117, 119, 130, 136, 137, 138, 139, 143, 144, 145, 147, 148, 154, 155, 162, 164, 165, 172, 173, 175, 176, 177, 184, 187, 188, 189, 190, 197, 199, 201, 202, 204, 205, 207], "let": [11, 19, 20, 28, 101, 140, 142, 156, 159, 166, 167, 172, 173, 176, 184, 185, 186, 187, 188, 192, 196, 197, 199, 202, 204], "hood": [11, 167], "rclcpp": [11, 101, 174, 175, 176, 177], "give": [11, 92, 99, 108, 118, 125, 161, 162, 163, 165, 169, 172, 173, 180, 181, 184, 185, 186, 187, 188, 189, 192, 194, 202, 205, 207], "insight": [11, 167, 180, 188], "career": 11, "put": [11, 98, 167, 174, 179, 187, 189, 192, 199, 204], "know": [11, 14, 28, 101, 111, 115, 156, 161, 165, 166, 173, 174, 179, 186, 187, 192, 196, 199, 202, 205, 206], "degre": [11, 26, 91, 92, 144, 166, 169, 199], "remov": [11, 21, 22, 56, 57, 61, 62, 101, 107, 113, 121, 124, 129, 144, 145, 158, 164, 165, 179, 184, 185, 188, 190, 193, 194, 195, 196, 199, 203, 204, 206, 207], "excess": 11, "determinist": [11, 28, 105, 113, 189], "compos": [11, 167, 174, 188, 189, 192, 194, 195, 200, 205], "had": [12, 14, 167, 168, 169, 185, 199], "focu": [12, 19, 27, 187, 204, 206], "ci": [12, 14, 17, 157, 158, 159, 161, 180], "entir": [12, 20, 22, 24, 25, 92, 157, 158, 161, 179, 181, 188, 196, 204], "increas": [12, 28, 94, 98, 102, 104, 108, 117, 122, 144, 167, 168, 186, 188, 189, 191, 192], "90": [12, 26, 92, 99, 111, 118, 180, 199], "realist": [12, 205], "activ": [12, 27, 28, 65, 79, 80, 81, 92, 94, 95, 99, 101, 105, 110, 116, 119, 156, 161, 162, 165, 166, 167, 168, 172, 175, 176, 177, 184, 185, 188, 189, 199, 205], "block": [12, 13, 27, 28, 92, 156, 167, 174, 176, 184, 187, 188, 203, 207], "worst": 12, "condit": [12, 19, 22, 24, 25, 28, 30, 31, 47, 60, 73, 75, 78, 114, 158, 167, 168, 170, 173, 179, 184, 187, 196, 199, 200, 206, 207], "line": [12, 27, 113, 117, 143, 165, 168, 172, 174, 175, 176, 177, 181, 182, 184, 185, 186, 187, 188, 190, 192, 194, 195, 199, 204], "report": [12, 93, 108, 161, 166, 168, 173, 185], "codecov": 12, "advantag": [12, 28, 168, 207], "fault": [12, 27, 28], "un": [12, 19], "gtest": 12, "repo": [12, 28, 117, 157, 159, 197, 199, 203], "compris": [13, 163, 187], "smaller": [13, 19, 28, 104, 111, 121, 144, 145, 167, 196, 200, 202], "easili": [13, 19, 28, 95, 158, 165, 166, 167, 169, 188, 195, 204, 205], "subproject": 13, "place": [13, 27, 28, 60, 100, 104, 111, 112, 122, 124, 128, 129, 143, 145, 161, 166, 167, 168, 169, 172, 174, 175, 176, 177, 179, 181, 187, 190, 191, 193, 200, 202, 204, 207], "cmd_vel": [13, 91, 92, 106, 169, 170, 175, 184, 195, 204], "thing": [13, 28, 159, 167, 168, 174, 175, 176, 184, 187, 188, 192, 194, 195, 202], "yuk": 13, "previous": [13, 166, 167, 168, 169, 175, 177, 185, 192, 194, 195, 199, 204], "shown": [13, 19, 27, 108, 161, 162, 166, 173, 177, 181, 182, 184, 185, 189, 190, 197, 199, 202, 204, 205, 206], "onc": [13, 19, 20, 23, 78, 89, 92, 93, 101, 102, 105, 108, 112, 143, 144, 145, 157, 158, 159, 161, 162, 165, 166, 167, 169, 177, 185, 186, 187, 192, 194, 195, 198, 199, 204, 205, 207], "ve": [13, 27, 156, 161, 162, 173, 186, 189, 205, 207], "submit": [13, 161, 179], "pr": [13, 94, 95, 99, 110, 116, 119, 161, 165, 166, 167, 168, 169, 170], "instead": [13, 19, 22, 24, 25, 86, 91, 93, 94, 95, 102, 108, 109, 110, 112, 114, 117, 130, 135, 143, 144, 145, 157, 158, 164, 165, 166, 167, 168, 169, 172, 174, 175, 176, 177, 181, 184, 185, 186, 188, 189, 190, 192, 194, 196, 197, 198, 199, 200, 204, 205], "b": [13, 161, 163, 174, 191, 197, 201, 202, 203], "reconfigur": [13, 18, 166, 167, 181, 189, 199], "meantim": 13, "wait": [13, 19, 20, 22, 23, 24, 25, 27, 28, 38, 56, 93, 94, 95, 96, 100, 102, 119, 140, 142, 159, 162, 164, 167, 169, 172, 173, 179, 185, 189, 192, 205], "done": [13, 19, 20, 28, 92, 158, 164, 165, 166, 174, 175, 176, 177, 180, 181, 185, 194, 195, 196, 205, 206], "via": [13, 20, 21, 22, 24, 25, 28, 42, 45, 50, 53, 54, 70, 91, 92, 93, 97, 115, 157, 158, 159, 161, 163, 167, 168, 169, 170, 172, 177, 179, 186, 188, 189, 190, 195, 198, 201, 203, 205, 206], "remain": [13, 19, 20, 21, 28, 74, 98, 108, 133, 158, 159, 164, 165, 166, 167, 169, 172, 173, 174, 175, 176, 192, 193, 207], "miss": [13, 92, 99, 118, 157, 166, 169, 170, 187, 188, 192, 195, 206], "lock": [13, 175, 177], "atom": 13, "variabl": [13, 18, 42, 43, 44, 48, 51, 52, 58, 67, 68, 69, 70, 87, 90, 93, 95, 126, 156, 157, 158, 162, 169, 172, 173, 175, 176, 185, 190, 192, 200, 202, 203, 206], "lower": [14, 19, 72, 92, 94, 104, 108, 120, 144, 167, 168, 185, 188, 189], "barrier": 14, "entri": [14, 184, 190, 194, 195, 204, 205], "flagship": 14, "along": [14, 27, 28, 62, 73, 90, 104, 108, 111, 112, 120, 123, 127, 144, 145, 149, 165, 166, 167, 168, 179, 181, 185, 187, 189, 190, 194, 196, 199, 200, 202, 205], "wild": 14, "success": [14, 19, 20, 23, 28, 46, 63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 83, 108, 166, 167, 168, 169, 172, 173, 179, 187, 193, 199, 205, 207], "nav": [14, 27, 101, 166, 167], "educ": 14, "industri": [14, 28, 92, 111, 166, 179, 181, 200], "thank": [14, 102, 169, 205], "david": [14, 103, 179], "lu": [14, 103, 163, 179], "mike": 14, "ferguson": [14, 163], "tireless": 14, "span": [14, 163, 199, 204], "keep": [14, 19, 28, 92, 101, 108, 158, 165, 166, 169, 170, 173, 175, 176, 179, 184, 186, 187, 192, 199, 200, 206], "aliv": 14, "happen": [14, 19, 161, 175, 192], "asla": 14, "move": [14, 19, 23, 28, 87, 91, 92, 94, 104, 108, 120, 136, 138, 140, 144, 145, 150, 153, 163, 164, 165, 166, 167, 168, 170, 176, 179, 180, 186, 187, 188, 191, 192, 196, 197, 198, 199, 200, 201, 204, 205], "rememb": [14, 111, 156, 158, 186, 187, 199], "fondli": 14, "ish": 14, "With": [14, 18, 28, 144, 186, 192, 199, 203], "redesign": 14, "flexibl": [14, 95, 108, 172], "feedback": [14, 27, 28, 95, 104, 118, 161, 167, 170, 177, 205], "gather": [14, 28], "strive": [14, 161], "alik": 14, "pull": [14, 157, 158, 159, 161, 162, 165, 166, 167, 170, 179, 188, 192, 194, 206], "kept": [14, 121], "dedic": [14, 111], "past": [14, 17, 182, 184, 185, 187, 192, 199, 203], "contributor": [14, 161], "organ": [14, 157, 158, 175, 176, 192, 206], "sponsor": [14, 102, 169, 205], "lead": [14, 108, 141, 161, 166, 167, 202], "leadership": 14, "team": [14, 17, 159, 197], "id": [14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 42, 45, 46, 50, 53, 54, 58, 59, 62, 91, 92, 96, 101, 102, 109, 117, 143, 144, 145, 158, 159, 170, 173, 175, 176, 177, 179, 184, 192, 194, 197, 204, 205, 206], "role": [14, 28, 173, 177, 181, 182, 194], "ruffin": [14, 158, 163], "white": [14, 158, 163, 193, 200], "uc": 14, "san": [14, 196], "diego": 14, "ruffsl": 14, "wizard": 14, "joshua": [14, 179], "wallac": [14, 163, 179], "locu": 14, "joshuawallac": 14, "former": [14, 91, 92], "matt": 14, "hansen": 14, "corpor": 14, "mkhansen": 14, "brian": [14, 179], "wilcox": [14, 179], "bpwilcox": 14, "carl": [14, 179], "delsei": [14, 179], "crdelsei": 14, "alexei": [14, 163, 179], "merzlyakov": [14, 163, 179], "samsung": 14, "alexeymerzlyakov": 14, "leader": 14, "opennav": [14, 163], "org": [14, 15, 161, 163, 165, 187, 188], "intention": [14, 98, 200], "find": [14, 28, 62, 94, 95, 99, 101, 108, 110, 111, 116, 118, 119, 144, 145, 158, 159, 161, 162, 165, 166, 168, 169, 170, 175, 177, 181, 187, 188, 190, 192, 193, 194, 195, 197, 198, 205], "inquiri": 14, "bug": [14, 161, 180, 199], "privat": 14, "connect": [14, 20, 28, 101, 105, 109, 117, 121, 143, 158, 159, 165, 166, 167, 179, 181, 184, 185, 186, 187, 193, 199, 206], "independ": [14, 28, 94, 127, 163, 166, 168, 173, 185, 196, 204, 205], "consult": 14, "contractor": 14, "offici": [15, 157, 162, 182, 184, 185, 186, 187, 192], "websit": [15, 19, 169], "navigation2_tutori": [15, 169, 174, 182, 184, 187, 200, 202], "navigation2_dynam": 15, "robot_loc": [15, 28, 119, 184, 186, 196, 199], "tom": 15, "moor": [15, 163], "estim": [15, 92, 93, 113, 118, 162, 164, 166, 174, 175, 176, 177, 184, 185, 186, 198, 199], "odometri": [15, 18, 74, 91, 92, 93, 95, 99, 102, 106, 118, 133, 170, 177, 183, 185, 186, 208], "fusion": [15, 28, 184, 186, 196, 199], "gp": [15, 28, 42, 101, 119, 179, 180, 184, 185, 196, 208], "slam_toolbox": [15, 157, 194, 201], "default": [15, 18, 19, 20, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 72, 74, 77, 78, 79, 80, 81, 83, 85, 86, 87, 88, 90, 91, 92, 93, 95, 98, 101, 102, 103, 104, 105, 106, 107, 108, 109, 111, 112, 113, 114, 116, 117, 118, 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, 153, 154, 155, 157, 158, 159, 162, 164, 165, 167, 172, 173, 174, 175, 176, 177, 179, 181, 182, 183, 184, 185, 188, 191, 192, 193, 196, 197, 199, 200, 204, 205, 206], "ship": [16, 27], "encount": [16, 181, 185, 194, 195], "click": [16, 159, 162, 170, 174, 175, 176, 177, 182, 185, 191, 198, 199, 206], "imag": [16, 23, 28, 98, 113, 141, 145, 164, 166, 187, 190, 191, 193, 199, 200, 202], "describ": [17, 19, 20, 108, 161, 162, 169, 174, 175, 176, 177, 181, 184, 187, 192, 194, 195, 199, 202, 203, 204, 206], "advic": [17, 181, 188], "2024": [17, 163, 169], "On": [17, 20, 179, 182, 185, 189, 193, 199], "dock": [17, 18, 19, 27, 28, 29, 46, 63, 94, 169, 179, 180, 181, 208], "fr": 17, "2023": [17, 27, 92, 111, 163, 196], "why": [17, 160, 194], "philosophi": 17, "behind": [17, 167, 202], "mppi": [17, 168, 179, 180, 181, 188], "bidirect": [17, 169], "2022": [17, 199], "smac": [17, 29, 98, 108, 111, 112, 123, 163, 166, 180, 181, 182, 207], "jp": 17, "2021": [17, 115, 158, 163, 188, 203], "present": [17, 23, 92, 118, 124, 125, 129, 158, 165, 167, 168, 169, 174, 175, 177, 179, 185, 188, 204], "chronicl": [17, 158], "cach": [17, 101, 144, 145, 157, 158, 167, 192], "containeris": [17, 158], "2020": [17, 163], "2019": 17, "toolbox": [17, 28, 163, 164, 185, 188, 194, 201], "overview": [17, 115, 159, 184, 186], "2018": 17, "spatio": [17, 179, 203], "tempor": [17, 179, 188, 203], "navegaci\u00f3n": 17, "robusta": 17, "en": 17, "ros2": [17, 156, 162, 167, 172, 174, 175, 176, 177, 182, 184, 185, 186, 187, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205], "behaviortre": [17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 67, 96, 163, 173, 179, 197, 206], "cpp": [17, 19, 28, 163, 164, 165, 166, 167, 173, 174, 179, 194, 206], "roadmap": 17, "radar": [17, 28, 184, 185, 203], "introduct": [18, 96, 187, 192], "To": [18, 21, 27, 28, 92, 99, 108, 117, 118, 143, 144, 146, 157, 158, 159, 161, 163, 166, 168, 169, 172, 175, 176, 177, 181, 182, 183, 184, 185, 186, 187, 191, 193, 194, 195, 197, 199, 200, 201, 202, 203, 205, 206], "walkthrough": [18, 192], "pose": [18, 20, 21, 27, 28, 43, 44, 46, 49, 51, 61, 62, 63, 68, 70, 86, 93, 98, 102, 104, 108, 109, 111, 117, 135, 137, 139, 143, 144, 145, 147, 148, 156, 162, 163, 164, 165, 166, 167, 169, 170, 174, 175, 176, 177, 179, 184, 185, 187, 188, 196, 197, 199, 201, 204, 205], "paus": [18, 142, 162, 164, 166, 167, 168], "Near": 18, "replan": [18, 20, 21, 22, 24, 57, 85, 90, 96, 104, 130, 144, 145, 165, 166, 188, 197], "And": [18, 19, 169, 186, 187, 190, 191, 193, 200], "invalid": [18, 27, 158, 168, 177], "calibr": [18, 199, 208], "incredibli": 18, "across": [18, 28, 108, 114, 122, 144, 145, 158, 168, 169, 177, 180, 185, 186, 188, 192, 199, 206], "statu": [18, 28, 161, 163, 167, 170, 172, 173, 192, 200, 205], "checker": [18, 48, 99, 112, 130, 164, 172, 207], "section": [18, 19, 28, 92, 98, 108, 160, 161, 163, 167, 169, 174, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 192, 193, 194, 196, 202], "guid": [18, 19, 20, 157, 159, 165, 167, 168, 169, 170, 174, 176, 180, 181, 182, 184, 185, 186, 187, 189, 196, 203, 204], "These": [18, 19, 28, 108, 158, 163, 164, 165, 166, 167, 168, 169, 173, 174, 175, 177, 181, 183, 184, 185, 186, 187, 188, 189, 190, 192, 194, 195, 196, 199, 200, 202, 205, 206], "exemplari": 18, "nav2_bt_navig": [18, 19, 95, 165, 166, 169, 177, 197, 206], "ones": [18, 144, 145, 167, 181, 185, 199], "seen": [18, 23, 115, 145, 167, 169, 170, 173, 174, 184, 189, 192, 206], "root": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 157, 158, 159, 167, 172, 173, 175, 176, 177, 184, 185, 187, 192, 197, 205, 206], "main_tree_to_execut": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 173, 197], "maintre": [18, 19, 20, 21, 22, 23, 24, 25, 26, 96, 173, 197], "pipelinesequ": [18, 19, 21, 22, 23, 24, 25, 96, 173, 197], "navigatewithreplan": [18, 19, 21, 22, 23, 24, 96, 173, 197], "distancecontrol": [18, 19, 96, 98, 165], "distanc": [18, 20, 21, 27, 28, 31, 47, 60, 61, 62, 66, 68, 85, 93, 94, 98, 101, 102, 104, 108, 111, 112, 130, 135, 144, 145, 150, 164, 165, 166, 169, 175, 179, 181, 184, 185, 186, 188, 197, 205, 207], "computepathtopos": [18, 19, 20, 21, 23, 24, 25, 53, 85, 88, 90, 96, 173, 177, 190, 197], "followpath": [18, 19, 20, 21, 22, 23, 24, 25, 27, 28, 34, 45, 50, 54, 96, 99, 103, 104, 108, 111, 112, 165, 168, 169, 173, 175, 177, 181, 197, 207], "simpli": [18, 108, 144, 158, 161, 166, 167, 169, 172, 173, 184, 187, 188, 192, 194, 200, 202, 203, 206], "everi": [18, 20, 22, 24, 25, 62, 89, 98, 100, 104, 108, 111, 124, 129, 144, 161, 166, 167, 169, 173, 174], "meter": [18, 26, 27, 28, 93, 100, 101, 109, 112, 143, 144, 145, 191, 193, 199, 207], "blackboard": [18, 42, 43, 44, 48, 51, 52, 58, 67, 68, 69, 70, 87, 90, 95, 167, 168, 173, 177, 189, 190, 206], "retri": [18, 22, 24, 25, 46, 83, 102, 170, 179, 205], "contextu": [18, 19, 22, 24, 25, 163, 168, 205], "automat": [18, 28, 95, 101, 108, 111, 126, 158, 161, 162, 166, 167, 169, 170, 182, 184, 186, 187, 188, 189, 192, 199, 200, 202, 205], "door": 18, "elev": [18, 28, 92, 99, 118, 159, 161, 169, 199], "api": [18, 28, 58, 163, 164, 166, 172, 174, 177, 185, 190, 192, 199], "subtre": [18, 20, 22, 23, 24, 25, 28, 39, 40, 41, 96, 173, 179], "serv": [19, 23, 163, 167, 185, 192], "behavior_tre": [19, 27, 51, 52, 95, 165, 169, 177, 206], "sometim": [19, 161, 188, 206], "walk": [19, 20, 28, 158, 196, 199], "navigate_to_pose_w_replanning_and_recoveri": [19, 177], "familiar": [19, 28, 187, 192], "short": [19, 65, 79, 80, 81, 145, 172, 185, 186, 196, 206], "explan": [19, 97, 115, 205], "v3": [19, 164, 165, 166], "global": [19, 22, 23, 24, 25, 27, 55, 67, 68, 69, 73, 87, 93, 94, 96, 98, 100, 104, 108, 110, 111, 119, 124, 126, 128, 129, 133, 144, 145, 151, 152, 164, 165, 167, 168, 174, 175, 176, 179, 182, 184, 185, 186, 187, 188, 193, 198, 200, 202, 203], "period": [19, 91, 92, 93, 94, 95, 96, 98, 99, 107, 110, 116, 118, 119, 158, 164, 167, 169, 174, 177, 179], "hz": [19, 21, 22, 23, 24, 25, 88, 90, 91, 92, 93, 96, 99, 102, 108, 118, 173, 184, 191, 197], "primarili": [19, 167, 182, 188], "recoverynod": [19, 20, 22, 23, 24, 25, 96, 173], "number_of_retri": [19, 20, 22, 23, 24, 25, 83, 96, 173], "navigaterecoveri": [19, 22, 23, 24, 25, 96, 173], "ratecontrol": [19, 21, 22, 23, 24, 25, 96, 173, 197], "planner_id": [19, 21, 22, 23, 24, 25, 27, 43, 44, 53, 96, 173, 190, 197], "gridbas": [19, 21, 22, 23, 24, 25, 43, 44, 53, 96, 109, 110, 117, 143, 144, 145, 166, 173, 176, 181, 190, 197], "reactivefallback": [19, 20, 22, 23, 24, 25, 96, 173], "computepathtoposerecoveryfallback": [19, 96], "goalupd": [19, 20, 22, 23, 24, 25, 67, 96, 173], "clearentirecostmap": [19, 22, 23, 24, 25, 96, 166, 173], "clearglobalcostmap": [19, 22, 23, 24, 25, 27, 96, 173], "service_nam": [19, 22, 23, 24, 25, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 55, 56, 96, 173], "global_costmap": [19, 22, 23, 24, 25, 56, 94, 96, 100, 113, 114, 116, 120, 123, 125, 127, 128, 170, 172, 173, 174, 182, 185, 190, 193, 199, 200, 202, 203], "clear_entirely_global_costmap": [19, 22, 23, 24, 25, 96, 173], "controller_id": [19, 21, 22, 23, 24, 25, 27, 45, 48, 96, 166, 169, 173, 197], "followpathrecoveryfallback": [19, 96], "clearlocalcostmap": [19, 20, 22, 23, 24, 25, 27, 39, 40, 41, 96, 173], "local_costmap": [19, 22, 23, 24, 25, 39, 40, 41, 92, 94, 96, 100, 102, 121, 123, 124, 126, 129, 170, 172, 173, 174, 182, 185, 193, 200, 202], "clear_entirely_local_costmap": [19, 22, 23, 24, 25, 41, 96, 173], "recoveryfallback": [19, 22, 23, 24, 96, 173], "roundrobin": [19, 22, 23, 24, 25, 96], "recoveryact": [19, 22, 23, 24, 25, 96, 173], "sequenc": [19, 20, 21, 22, 23, 24, 25, 26, 96, 108, 158, 168, 174, 179, 184, 189, 190, 192, 197], "clearingact": [19, 22, 23, 24, 25, 96], "spin_dist": [19, 22, 23, 24, 25, 26, 27, 60, 96, 173], "57": [19, 22, 23, 24, 25, 27, 60, 96, 102, 173, 199, 205], "wait_dur": [19, 22, 23, 24, 25, 64, 96, 173], "backup_dist": [19, 22, 23, 24, 25, 27, 31, 96, 166], "15": [19, 27, 31, 47, 76, 94, 95, 96, 98, 99, 100, 102, 110, 116, 119, 129, 169, 185, 187, 203, 205], "backup_spe": [19, 22, 23, 24, 25, 27, 31, 96, 166], "025": [19, 27, 31, 47, 96, 103, 135, 187], "still": [19, 20, 27, 105, 111, 118, 123, 156, 158, 159, 166, 167, 168, 169, 184, 185, 187, 188, 192, 194, 196, 199, 200], "bit": [19, 167, 188, 192, 194, 199], "overwhelm": 19, "broken": 19, "children": [19, 20, 23, 82, 83, 84, 87, 179, 195], "known": [19, 23, 27, 28, 93, 111, 167, 170, 177, 179, 188, 191, 199, 203], "mainli": [19, 185, 186, 187], "actual": [19, 58, 92, 98, 108, 112, 144, 167, 177, 182, 186, 187, 188, 191, 192, 196, 198, 199, 204, 207], "calcul": [19, 27, 91, 92, 111, 120, 167, 174, 175, 176, 181, 184, 193, 199], "dealt": 19, "intern": [19, 22, 24, 25, 112, 163, 168, 169, 174, 177, 184, 188, 189, 196, 199, 207], "hopefulli": [19, 108], "spend": 19, "fail": [19, 20, 22, 24, 25, 27, 28, 99, 102, 105, 119, 143, 144, 145, 164, 166, 167, 168, 172, 177, 179, 192, 194], "enough": [19, 74, 168, 182, 188, 191, 192, 199, 205], "return": [19, 20, 22, 23, 24, 25, 27, 28, 42, 58, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 85, 88, 89, 90, 104, 108, 124, 129, 143, 144, 145, 163, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 179, 184, 185, 187, 189, 190, 192, 194, 200, 202, 205], "clear": [19, 20, 22, 23, 24, 25, 27, 28, 39, 40, 41, 100, 124, 125, 126, 128, 129, 161, 166, 167, 168, 169, 176, 179, 185, 188, 191, 196, 203, 205], "until": [19, 20, 21, 27, 28, 82, 92, 112, 130, 144, 145, 156, 158, 166, 170, 175, 177, 179, 184, 194, 197, 199, 203, 205], "parent": [19, 20, 78, 124, 125, 126, 128, 129, 158, 166, 170, 172, 174, 175, 176, 184, 185, 186, 187, 188, 194, 199], "exceed": [19, 100, 168], "gone": 19, "between": [19, 27, 28, 42, 91, 92, 93, 96, 101, 104, 106, 108, 109, 113, 117, 143, 144, 145, 158, 159, 165, 166, 167, 168, 170, 171, 177, 181, 182, 184, 185, 186, 187, 188, 192, 196, 199, 200, 205, 206, 207], "crux": 19, "tick": [19, 20, 22, 23, 24, 25, 28, 67, 82, 85, 88, 89, 90, 167, 173, 179], "succe": [19, 20, 82, 83, 179], "recomput": 19, "try": [19, 21, 22, 24, 25, 27, 92, 101, 105, 108, 118, 119, 144, 145, 156, 158, 162, 164, 186, 187, 192, 194, 197, 200, 205, 206], "recov": [19, 93, 105], "toler": [19, 28, 62, 68, 94, 95, 98, 100, 102, 104, 108, 109, 111, 112, 114, 116, 128, 130, 137, 139, 143, 144, 145, 154, 166, 167, 169, 176, 179, 190, 198, 205, 207], "outlin": [19, 21, 166, 182, 186, 192], "center": [19, 28, 39, 40, 101, 108, 123, 143, 144, 145, 167, 172, 182, 186, 187, 191, 198, 199], "decor": [19, 21, 23, 167, 173, 179, 197, 206], "specifi": [19, 22, 23, 24, 25, 27, 42, 51, 52, 62, 67, 69, 70, 72, 83, 90, 91, 92, 95, 99, 100, 102, 107, 108, 124, 126, 128, 129, 141, 142, 144, 145, 157, 158, 159, 165, 166, 167, 168, 169, 170, 173, 174, 175, 176, 179, 181, 184, 185, 186, 188, 191, 192, 195, 199, 204, 205], "frequenc": [19, 20, 91, 94, 99, 100, 102, 108, 110, 118, 144, 145, 169, 184, 196, 199], "flood": 19, "too": [19, 108, 117, 144, 145, 166, 167, 169, 188, 190], "useless": 19, "100hz": 19, "depend": [19, 28, 92, 104, 108, 127, 157, 158, 159, 164, 166, 167, 168, 169, 172, 173, 175, 176, 177, 181, 182, 184, 187, 188, 192, 193, 194, 196, 198, 199, 200, 204, 205], "speedcontrol": [19, 96, 165], "big": [19, 199], "half": [19, 111, 144, 145, 185], "snippet": [19, 172, 175, 176, 177, 182, 184, 185, 187, 189, 194], "rest": [19, 39, 40, 92, 99, 108, 118, 141, 159, 169, 184, 185, 186, 189, 195, 199], "asynchron": [19, 20, 28, 165], "receiv": [19, 20, 27, 28, 45, 50, 53, 54, 59, 86, 91, 92, 99, 112, 115, 118, 126, 128, 165, 167, 168, 169, 172, 175, 177, 179, 184, 185, 186, 188, 197, 199, 207], "halt": [19, 20, 23, 169], "quick": [19, 144, 145, 186, 200], "reaction": 19, "preempt": [19, 21, 27, 165, 173, 177, 179], "portion": [19, 92, 99, 118, 169, 190], "common": [19, 27, 28, 92, 102, 108, 158, 159, 163, 166, 167, 177, 184, 192, 196, 199, 204, 205], "pattern": [19, 20, 101, 191], "unless": [19, 20, 104, 105, 111, 145, 161], "pair": [19, 20, 108, 114, 127, 166, 169, 188, 191, 196, 199, 200, 202, 207], "imagin": [19, 28, 172, 179, 199], "wrap": [19, 27, 28], "whole": [19, 62, 161, 169, 174, 185, 191, 202, 204], "isbatterylow": [19, 20, 96], "batteri": [19, 20, 28, 71, 72, 102, 167, 168, 179, 192, 197, 205], "enter": [19, 22, 24, 25, 28, 108, 172, 175, 176, 177, 200, 205], "recharg": [19, 28], "never": [19, 28, 108, 144, 145, 167, 192, 200, 202], "four": [19, 28], "renavig": 19, "child": [19, 20, 23, 78, 82, 83, 85, 88, 89, 90, 112, 167, 169, 179, 184, 185, 186, 187, 199], "sake": 19, "assum": [19, 20, 159, 166, 174, 175, 179, 182, 186, 187, 193, 194, 199, 200, 201, 202, 203, 204, 205, 206], "again": [19, 20, 21, 23, 83, 156, 158, 162, 164, 180, 184, 187, 192], "BUT": 19, "onto": [19, 22, 24, 108, 112, 167, 177, 179, 184, 186, 207], "hypothet": 19, "scenario": [19, 23, 104, 181, 204], "indefinit": [19, 20, 27, 56, 161, 197], "unlik": [19, 91, 172, 193], "vocabulari": 20, "larg": [20, 28, 92, 98, 104, 108, 111, 144, 145, 163, 165, 170, 180, 184, 187, 188, 191, 205], "confus": 20, "first": [20, 28, 42, 82, 83, 91, 92, 108, 122, 128, 157, 158, 161, 163, 167, 168, 169, 175, 179, 180, 182, 184, 185, 186, 187, 188, 189, 190, 193, 194, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206], "than": [20, 22, 24, 25, 28, 61, 62, 68, 72, 87, 92, 93, 94, 95, 99, 100, 101, 104, 105, 108, 110, 111, 112, 116, 118, 119, 120, 121, 144, 145, 158, 165, 166, 167, 168, 169, 170, 175, 177, 179, 186, 188, 192, 193, 194, 195, 196, 197, 199, 200, 201, 204, 205, 207], "actionnod": 20, "necessarili": 20, "often": [20, 28, 98, 167, 184, 192, 199], "quit": [20, 159, 167, 194, 196, 199], "fashion": 20, "commonli": [20, 45, 50, 53, 54, 59, 177, 185, 196, 199], "nav2_behavior_tre": [20, 28, 96, 165, 166, 169, 173, 177, 206], "folder": [20, 158, 159, 185, 191, 199], "client": [20, 28, 101, 164, 166, 167, 172, 173, 177, 190, 205], "clearcostmapservic": 20, "believ": [20, 196], "correctli": [20, 28, 162, 166, 167, 182, 184, 185, 186, 199, 200, 202, 204], "servic": [20, 28, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 55, 56, 93, 95, 107, 111, 158, 159, 165, 166, 168, 170, 172, 179, 181, 184, 191, 192, 199], "goalreach": [20, 85, 88, 90, 96, 169], "initialposereceiv": [20, 96], "intial_pos": 20, "listen": [20, 91, 92, 94, 156, 165, 192], "probe": [20, 158], "aspect": [20, 158, 159, 190, 191], "kei": [20, 93, 101, 157, 158, 161, 162, 177, 188, 189, 192, 193, 196, 199, 205], "Will": [20, 58, 92, 179], "travel": [20, 28, 47, 66, 85, 108, 143, 144, 145, 167, 179, 184, 185], "certain": [20, 56, 108, 165, 167, 170, 174, 181, 183, 185, 197], "constant": [20, 101, 104, 111, 169, 175, 187, 188], "expos": [20, 28, 116, 166, 168, 192, 199], "port": [20, 95, 161, 165, 166, 167, 173, 185, 190, 192, 197, 206], "subsequ": [20, 28, 93, 144, 145, 158, 179, 196], "proport": [20, 102, 108, 144, 145, 200, 203], "previou": [20, 25, 63, 92, 108, 144, 161, 166, 168, 169, 170, 174, 177, 179, 182, 183, 184, 185, 187, 188, 192, 199, 202, 203], "properti": [20, 92, 158, 184, 185, 204], "prior": [20, 87, 93, 112, 164, 167], "resembl": 20, "water": 20, "pipe": [20, 168], "action_a": 20, "action_b": 20, "action_c": 20, "idl": 20, "therefor": [20, 23, 91, 108, 187, 188, 189, 194, 199, 200, 202, 204, 206], "retick": 20, "ing": 20, "even": [20, 21, 22, 24, 107, 108, 111, 118, 122, 144, 159, 163, 165, 166, 167, 169, 170, 179, 181, 182, 183, 184, 188, 192, 194, 196, 200, 205], "though": [20, 22, 102, 108, 145, 188, 189, 192, 196, 199, 200, 202, 204], "recal": [20, 185], "loop": [20, 28, 91, 92, 99, 102, 104, 108, 111, 118, 167, 176, 177, 196, 205], "violat": 20, "usual": [20, 28, 45, 50, 53, 54, 115, 158, 166, 174, 184, 186, 189, 194, 195, 199, 200], "togeth": [20, 28, 101, 170, 184, 186, 196, 199], "suggest": [20, 98, 108, 181, 186, 187, 192], "promot": 20, "respons": [20, 22, 24, 25, 28, 39, 40, 41, 56, 92, 105, 167, 172, 177, 181, 189], "round": [20, 84, 92, 179, 183], "robin": [20, 84, 179], "untick": 20, "That": [20, 28, 144, 161, 166, 167, 181, 182, 192], "retain": [20, 67, 113, 114, 143, 144, 145], "rather": [20, 22, 24, 25, 28, 93, 98, 100, 108, 144, 158, 164, 165, 166, 167, 169, 170, 177, 179, 186, 188, 194, 201, 205], "step": [20, 28, 92, 94, 101, 102, 108, 145, 185, 187, 192, 194, 195, 196, 204], "did": [20, 21, 169, 170, 172, 175, 176, 185, 187, 194, 195, 205], "circl": [20, 28, 91, 92, 188, 191, 204], "person": [21, 23, 27, 158, 161, 197], "virtual": [21, 92, 108, 162, 167, 169, 172, 173, 174, 175, 176, 177, 184, 187, 205], "carrot": [21, 111, 169], "anyth": [21, 28, 91, 166, 173, 174, 177, 188, 192, 200, 206], "publish": [21, 45, 50, 53, 54, 59, 91, 92, 93, 94, 95, 99, 100, 102, 103, 106, 107, 108, 110, 111, 116, 118, 119, 120, 123, 127, 129, 130, 140, 144, 145, 162, 164, 165, 166, 167, 169, 172, 175, 177, 179, 182, 184, 185, 188, 190, 191, 192, 196, 197, 198, 199, 201, 204, 205], "goalupdat": [21, 96, 170, 197], "newest": [21, 102, 188], "truncatepath": [21, 96, 165, 197], "least": [21, 92, 158, 161, 166, 184, 204, 205], "awai": [21, 98, 104, 108, 112, 143, 168, 185, 188, 191, 205, 206, 207], "smooth": [21, 27, 28, 58, 90, 98, 102, 104, 108, 112, 113, 114, 116, 118, 143, 144, 145, 163, 166, 167, 168, 169, 179, 184, 188, 190, 199, 204, 207], "off": [21, 108, 112, 118, 120, 161, 167, 168, 169, 172, 187, 192, 194, 205, 207], "toward": [21, 75, 91, 92, 98, 108, 112, 144, 145, 167, 169, 176, 179, 188, 191, 198, 199, 207], "probabl": [21, 107, 126, 144, 145, 168, 185, 190], "occupi": [21, 28, 56, 100, 107, 108, 124, 126, 128, 129, 168, 185, 200], "truncat": [21, 61, 62, 98, 179], "pass": [21, 22, 24, 25, 45, 50, 53, 54, 56, 57, 77, 100, 105, 108, 112, 130, 146, 157, 167, 170, 179, 195, 197, 200, 205, 207], "keeprunninguntilfailur": [21, 197], "mode": [21, 92, 101, 108, 118, 158, 168, 169, 196, 199, 200, 202, 206], "infinit": [21, 99, 124, 129, 144, 145, 196, 205], "cancel": [21, 23, 27, 32, 33, 34, 35, 36, 37, 38, 111, 117, 143, 144, 145, 162, 173, 175, 177, 179, 197], "controllerselector": [21, 22, 23, 24, 25, 96, 166], "selected_control": [21, 22, 23, 24, 25, 45], "default_control": [21, 22, 23, 24, 25, 45], "topic_nam": [21, 22, 23, 24, 25, 45, 50, 53, 54, 59, 107, 170, 200, 202], "controller_selector": [21, 22, 23, 24, 25, 45], "plannerselector": [21, 22, 23, 24, 25, 96, 166], "selected_plann": [21, 22, 23, 24, 25, 53], "default_plann": [21, 22, 23, 24, 25, 53], "planner_selector": [21, 22, 23, 24, 25, 53], "input_go": [21, 22, 56, 57, 86, 197], "output_go": [21, 22, 56, 57, 86, 197], "updated_go": [21, 197], "error_code_id": [21, 22, 23, 24, 25, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 190], "compute_path_error_cod": [21, 22, 23, 24, 25, 43, 44, 95, 190], "input_path": [21, 61, 62, 197], "output_path": [21, 61, 62, 197], "truncated_path": [21, 61, 197], "follow_path_error_cod": [21, 22, 23, 24, 25, 48, 79, 95], "intermediari": [22, 145, 163, 166], "constraint": [22, 112, 118, 145, 166, 167, 177, 179, 181, 188, 207], "final": [22, 23, 27, 28, 104, 105, 108, 143, 144, 145, 158, 166, 173, 177, 185, 188, 189, 190, 192, 196, 199, 207], "freespac": [22, 24, 25, 188], "opportun": [22, 24, 25, 169, 173, 177], "computepaththroughpos": [22, 56, 57, 96], "util": [22, 23, 24, 25, 28, 42, 101, 108, 145, 158, 163, 166, 167, 168, 169, 173, 181, 182, 184, 187, 192, 195, 200, 202, 203, 205], "By": [22, 24, 25, 28, 72, 158, 161, 162, 165, 169, 182, 185, 192, 194, 196, 200, 204], "convent": [22, 24, 25, 28, 185, 186, 189, 199], "style": [22, 24, 25, 106, 170, 188, 203], "worri": [22, 24, 25, 28, 159, 188, 194], "want": [22, 24, 25, 27, 28, 91, 108, 158, 166, 169, 170, 172, 173, 174, 175, 176, 177, 184, 186, 187, 188, 189, 190, 192, 194, 195, 196, 198, 199, 201, 205, 206], "caller": [22, 24, 25, 205], "ampl": [22, 24, 25], "transient": [22, 24, 25, 45, 50, 53, 54, 59], "crowd": [22, 24, 25, 181], "temporari": [22, 23, 24, 25, 94, 95, 99, 110, 116, 119, 196, 202], "nomin": [22, 24, 25], "vector": [22, 28, 42, 56, 57, 67, 69, 90, 91, 92, 94, 95, 99, 100, 101, 102, 105, 108, 109, 110, 113, 116, 117, 118, 123, 124, 125, 126, 129, 130, 143, 167, 168, 169, 174, 176, 177, 179, 181, 182, 188, 194, 200, 202, 203], "removepassedgo": [22, 96, 166, 169], "cull": [22, 56, 57, 179], "awar": [22, 24, 25, 98, 108, 115, 117, 143, 144, 145, 163, 166, 185, 188, 205], "similarli": [22, 24, 91, 97, 111, 169, 184, 192], "impact": [22, 24, 101, 108, 169, 188, 194], "worth": [22, 24, 28, 108, 183, 188, 192, 193], "reactiv": [22, 24, 197], "fallback": [22, 24, 25, 92, 204, 205], "exit": [22, 24, 28, 99, 102, 105, 165, 167, 192, 194, 195, 205], "preemption": [22, 24, 169, 173, 177], "immedi": [22, 24, 92, 105, 166, 169, 172, 175, 177, 184, 187, 192, 194, 205], "reserv": [22, 24, 25, 168, 189, 196], "resolv": [22, 24, 25, 105, 165, 167, 190, 203], "bad": [22, 24, 25, 28, 93, 172, 196], "spot": [22, 24, 25, 145, 162, 172], "iter": [22, 24, 25, 27, 28, 42, 57, 92, 95, 98, 103, 104, 108, 114, 117, 118, 143, 144, 145, 168, 169, 174, 196], "reattempt": [22, 24, 25], "goalcheckerselector": [22, 24, 25, 96, 166], "hardcod": [22, 24, 25, 168, 173, 177], "advis": [22, 24, 25, 28, 184], "uniqu": [22, 24, 25, 28, 92, 158, 163, 165, 166, 169, 172, 173, 177], "selector": [22, 24, 25, 169, 179], "better": [22, 24, 25, 28, 91, 92, 99, 104, 111, 112, 117, 118, 144, 158, 166, 167, 169, 170, 185, 188, 189, 195, 202, 207], "profession": [22, 24, 25, 163], "333": 22, "reactivesequ": [22, 23, 25], "radiu": [22, 28, 57, 91, 92, 98, 100, 101, 102, 104, 108, 111, 122, 136, 138, 144, 145, 146, 167, 179, 181, 182, 185, 187], "wouldaplannerrecoveryhelp": [22, 24, 96, 168], "error_cod": [22, 24, 65, 79, 80, 81, 189, 190, 205], "wouldacontrollerrecoveryhelp": [22, 24, 96, 168], "spin_error_cod": [22, 24, 60], "30": [22, 23, 24, 25, 27, 28, 63, 98, 102, 108, 168, 184, 185, 187, 196, 199, 202, 204, 205], "05": [22, 23, 24, 25, 31, 47, 91, 92, 93, 100, 102, 103, 108, 111, 125, 145, 150, 174, 182, 185, 187, 203, 204, 205], "backup_error_cod": [22, 31], "prerequisit": [23, 160, 185], "sequencestar": [23, 173], "retryuntilsucessful": 23, "soft": [23, 92, 99, 108, 118], "extens": [23, 28, 108, 158, 159, 168, 169, 170, 196], "apart": [23, 207], "effici": [23, 28, 115, 185, 188, 189], "forklift": 23, "close": [23, 28, 57, 87, 91, 92, 100, 108, 111, 118, 145, 148, 154, 158, 166, 167, 169, 175, 182, 188, 192, 199, 204, 205], "shorter": [23, 61, 62, 144, 145, 179, 187, 197], "expir": [23, 76, 179, 203], "ultim": 23, "solv": [23, 156, 176, 194], "problem": [23, 55, 105, 167, 176, 177, 179, 188, 194, 205], "cycl": [23, 91, 92, 111, 144, 145, 167, 172], "caus": [23, 31, 47, 91, 92, 93, 108, 144, 145, 162, 167, 188, 193, 196, 200, 202], "becaus": [23, 28, 105, 108, 158, 159, 161, 166, 169, 172, 184, 186, 188, 194, 195, 198, 199, 206, 207], "depict": [23, 98], "monitorandfollowpath": 23, "intent": [23, 108, 188], "kind": [23, 163, 184, 192, 194], "monitor": [23, 29, 91, 163, 166, 180, 206, 208], "exhibit": 23, "exclus": 23, "pathlongeronapproach": [23, 96, 179], "decid": [23, 93, 169, 186, 187, 189], "approach": [23, 28, 87, 92, 102, 103, 108, 109, 111, 115, 117, 143, 144, 145, 163, 166, 168, 179, 181, 184, 188, 190, 204, 207], "proxim": [23, 57, 87, 108, 111, 166, 167, 169, 204], "retryuntilsuccesful": 23, "inturn": 23, "firstli": 23, "cancelcontrol": [23, 96, 167], "gif": [23, 169, 199], "consequ": 23, "controller_serv": [23, 99, 103, 104, 105, 108, 111, 112, 165, 166, 167, 169, 175, 181, 189, 195, 202, 207], "conclus": 23, "readi": [23, 157, 158, 161, 162, 167, 174, 187, 188, 192, 194, 196, 200, 202, 204, 205], "organiz": 23, "prox_len": [23, 87], "length_factor": [23, 87], "retryuntilsuccess": 23, "num_attempt": 23, "cancelingcontrolandwait": 23, "controlcancel": 23, "video": [23, 158, 174, 192, 196, 197, 198, 203, 205, 206], "matur": [24, 25], "version": [24, 25, 28, 94, 95, 98, 109, 110, 117, 130, 143, 144, 145, 156, 157, 159, 162, 166, 170, 172, 174, 175, 176, 177, 181, 185, 187, 192], "backup_code_id": 24, "ratecontrollercomputepathtopos": 25, "recoverycomputepathtopos": 25, "fallbackcomputepathtopos": 25, "checkifnewpathneed": 25, "invert": [25, 108, 166], "globalupdatedgo": [25, 67], "ispathvalid": [25, 96, 100], "recoveryfollowpath": 25, "fallbackrecoveri": 25, "spinrecoveri": 25, "waitrecoveri": 25, "backuprecoveri": 25, 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"Removed Kinematic Limiting in RPP": [[167, "removed-kinematic-limiting-in-rpp"]], "Added Smoother Task Server": [[167, "added-smoother-task-server"]], "Removed Use Approach Velocity Scaling Param in RPP": [[167, "removed-use-approach-velocity-scaling-param-in-rpp"]], "Refactored AMCL motion models as plugins": [[167, "refactored-amcl-motion-models-as-plugins"]], "Dropping Support for Live Groot Monitoring of Nav2": [[167, "dropping-support-for-live-groot-monitoring-of-nav2"]], "Replanning Only if Path is Invalid": [[167, "replanning-only-if-path-is-invalid"]], "Fix CostmapLayer clearArea invert param logic": [[167, "fix-costmaplayer-cleararea-invert-param-logic"]], "Dynamic Composition": [[167, "dynamic-composition"]], "BT Cancel Node": [[167, "bt-cancel-node"]], "BT PathLongerOnApproach Node": [[167, "bt-pathlongeronapproach-node"]], "BT TruncatePathLocal Node": [[167, "bt-truncatepathlocal-node"]], "Constrained Smoother": [[167, "constrained-smoother"]], "Replanning at a Constant Rate and if the Path is Invalid": [[167, "replanning-at-a-constant-rate-and-if-the-path-is-invalid"]], "Euclidean Distance 2D": [[167, "euclidean-distance-2d"]], "Recovery To Behavior": [[167, "recovery-to-behavior"]], "Respawn Support in Launch and Lifecycle Manager": [[167, "respawn-support-in-launch-and-lifecycle-manager"]], "New Nav2 Velocity Smoother": [[167, "new-nav2-velocity-smoother"]], "Goal Checker API Changed": [[167, "goal-checker-api-changed"]], "Added Assisted Teleop": [[167, "added-assisted-teleop"]], "Humble to Iron": [[168, "humble-to-iron"]], "New Behavior-Tree Navigator Plugins": [[168, "new-behavior-tree-navigator-plugins"]], "Added Collision Monitor": [[168, "added-collision-monitor"]], "Removed use_sim_time from yaml": [[168, "removed-use-sim-time-from-yaml"]], "Run-time Speed up of Smac Planner": [[168, "run-time-speed-up-of-smac-planner"]], "Recursive Refinement of Smac and Simple Smoothers": [[168, "recursive-refinement-of-smac-and-simple-smoothers"]], "Simple Commander Python API": [[168, "simple-commander-python-api"]], "Smac Planner Start Pose Included in Path": [[168, "smac-planner-start-pose-included-in-path"]], "Parameterizable Collision Checking in RPP": [[168, "parameterizable-collision-checking-in-rpp"]], "Expanded Planner Benchmark Tests": [[168, "expanded-planner-benchmark-tests"]], "Smac Planner Path Tolerances": [[168, "smac-planner-path-tolerances"]], "costmap_2d_node default constructor": [[168, "costmap-2d-node-default-constructor"]], "Feedback for Navigation Failures": [[168, "feedback-for-navigation-failures"]], "Changes to Map yaml file path for map_server node in Launch": [[168, "changes-to-map-yaml-file-path-for-map-server-node-in-launch"]], "SmootherSelector BT Node": [[168, "smootherselector-bt-node"]], "Publish Costmap Layers": [[168, "publish-costmap-layers"]], "Give Behavior Server Access to Both Costmaps": [[168, "give-behavior-server-access-to-both-costmaps"]], "New Model Predictive Path Integral Controller": [[168, "new-model-predictive-path-integral-controller"]], "Behavior Tree Uses Error Codes": [[168, "behavior-tree-uses-error-codes"]], "Load, Save and Loop Waypoints from the Nav2 Panel in RViz": [[168, "load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz"]], "DWB Forward vs Reverse Pruning": [[168, "dwb-forward-vs-reverse-pruning"]], "More stable regulation on curves for long lookahead distances": [[168, "more-stable-regulation-on-curves-for-long-lookahead-distances"]], "Publish Collision Monitor State": [[168, "publish-collision-monitor-state"]], "Renamed ROS-parameter in Collision Monitor": [[168, "renamed-ros-parameter-in-collision-monitor"]], "New safety behavior model \u201climit\u201d in Collision Monitor": [[168, "new-safety-behavior-model-limit-in-collision-monitor"]], "Velocity smoother applies deceleration when timeout": [[168, "velocity-smoother-applies-deceleration-when-timeout"]], "PoseProgressChecker plugin": [[168, "poseprogresschecker-plugin"]], "Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type": [[168, "allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type"]], "IsBatteryChargingCondition BT Node": [[168, "isbatterychargingcondition-bt-node"]], "Behavior Server Error Codes": [[168, "behavior-server-error-codes"]], "New Denoise Costmap Layer Plugin": [[168, "new-denoise-costmap-layer-plugin"]], "SmacPlannerHybrid viz_expansions parameter": [[168, "smacplannerhybrid-viz-expansions-parameter"]], "Iron to Jazzy": [[169, "iron-to-jazzy"]], "BehaviorTree.CPP upgraded to version 4.5+": [[169, "behaviortree-cpp-upgraded-to-version-4-5"]], "Added TwistStamped Option for Commands": [[169, "added-twiststamped-option-for-commands"]], "Add VelocityPolygon in Collision Monitor": [[169, "add-velocitypolygon-in-collision-monitor"]], "Change polygon points parameter format in Collision Monitor": [[169, "change-polygon-points-parameter-format-in-collision-monitor"]], "Introduction of Soft-Real Time Action Servers": [[169, "introduction-of-soft-real-time-action-servers"]], "opennav_coverage Project": [[169, "opennav-coverage-project"]], "opennav_docking Project": [[169, "opennav-docking-project"]], "Introduce a new Multi-Robot Bringup Launch": [[169, "introduce-a-new-multi-robot-bringup-launch"]], "New option for the Voxel and Obstacle Layers": [[169, "new-option-for-the-voxel-and-obstacle-layers"]], "use_interpolation RPP Parameter Depreciated": [[169, "use-interpolation-rpp-parameter-depreciated"]], "Changes to MPPI Goal Critic": [[169, "changes-to-mppi-goal-critic"]], "Changes to MPPI Path Angle Critic": [[169, "changes-to-mppi-path-angle-critic"]], "Changes to MPPI Path Handling For Directionality": [[169, "changes-to-mppi-path-handling-for-directionality"]], "Addition of new MPPI Cost Critic": [[169, "addition-of-new-mppi-cost-critic"]], "MPPI Acceleration": [[169, "mppi-acceleration"]], "Move Error Code Enumerations": [[169, "move-error-code-enumerations"]], "Substitution in parameter file": [[169, "substitution-in-parameter-file"]], "Allow Behavior Server Plugins to Access The Action Result": [[169, "allow-behavior-server-plugins-to-access-the-action-result"]], "Smac Planner Debug Param Name Change": [[169, "smac-planner-debug-param-name-change"]], "Smac Planner On Approach to Goal Shortcutting Solutions": [[169, "smac-planner-on-approach-to-goal-shortcutting-solutions"]], "Added GPS Waypoint Follower Server": [[169, "added-gps-waypoint-follower-server"]], "Smac Planner Hybrid-A* New Features": [[169, "smac-planner-hybrid-a-new-features"]], "New node in nav2_collision_monitor: Collision Detector": [[169, "new-node-in-nav2-collision-monitor-collision-detector"]], "Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector": [[169, "dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector"]], "Expose action server\u2019s result timeout": [[169, "expose-action-server-s-result-timeout"]], "RewrittenYaml could add new parameters to YAMLs": [[169, "rewrittenyaml-could-add-new-parameters-to-yamls"]], "Simple Commander API Allows Multi-Robot Namespacing": [[169, "simple-commander-api-allows-multi-robot-namespacing"]], "Change duration type in wait_action node": [[169, "change-duration-type-in-wait-action-node"]], "The costmap activation fails when required transforms are not available": [[169, "the-costmap-activation-fails-when-required-transforms-are-not-available"]], "Subtrees Obtain Shared Resources": [[169, "subtrees-obtain-shared-resources"]], "Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior": [[169, "collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior"]], "BtActionServer: use native library haltTree()": [[169, "btactionserver-use-native-library-halttree"]], "Global Frame Removed from 2 BT Nodes": [[169, "global-frame-removed-from-2-bt-nodes"]], "Introduction of CostmapUpdate.msg": [[169, "introduction-of-costmapupdate-msg"]], "Full Stack Uses Node Clocks": [[169, "full-stack-uses-node-clocks"]], "New Graceful Motion Controller": [[169, "new-graceful-motion-controller"]], "Plugin Libraries in BT Navigator Only Includes Custom Nodes": [[169, "plugin-libraries-in-bt-navigator-only-includes-custom-nodes"]], "New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers": [[169, "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": [[169, "rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing"]], "Cancel Checker Interface For GlobalPlanner": [[169, "cancel-checker-interface-for-globalplanner"]], "New BtActionServer/BtNavigator parameter": [[169, "new-btactionserver-btnavigator-parameter"]], "New collision monitor parameter": [[169, "new-collision-monitor-parameter"]], "New graceful cancellation API for Controllers": [[169, "new-graceful-cancellation-api-for-controllers"]], "Standardization of Plugin Naming with Double Colons (::)": [[169, "standardization-of-plugin-naming-with-double-colons"]], "Collision monitor: dynamic radius for circle type polygons": [[169, "collision-monitor-dynamic-radius-for-circle-type-polygons"]], "Static Layer: new parameter footprint_clearing_enabled": [[169, "static-layer-new-parameter-footprint-clearing-enabled"]], "Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)": [[169, "lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism"]], "Rotation Shim Controller: new parameter rotate_to_goal_heading": [[169, "rotation-shim-controller-new-parameter-rotate-to-goal-heading"]], "MPPI Controller: Addition of acceleration constraints": [[169, "mppi-controller-addition-of-acceleration-constraints"]], "RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration": [[169, "regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration"]], "Jazzy to Kilted": [[170, "jazzy-to-kilted"]], "TwistStamped Default CmdVel Change": [[170, "twiststamped-default-cmdvel-change"]], "New Nav2 Loopback Simulator": [[170, "new-nav2-loopback-simulator"]], "Docking with Static Infrastructure or Dynamic Docking": [[170, "docking-with-static-infrastructure-or-dynamic-docking"]], "New RViz panel for Docking": [[170, "new-rviz-panel-for-docking"]], "BT Nodes Changes": [[170, "bt-nodes-changes"]], "New RViz Tool for Costmap Cost Cell Inspection": [[170, "new-rviz-tool-for-costmap-cost-cell-inspection"]], "Fix flickering visualization": [[170, "fix-flickering-visualization"]], "Option to limit velocity through DWB trajectory": [[170, "option-to-limit-velocity-through-dwb-trajectory"]], "Option to disable zero velocity publishing on goal exit": [[170, "option-to-disable-zero-velocity-publishing-on-goal-exit"]], "Rotation Shim Disengagement Threshold": [[170, "rotation-shim-disengagement-threshold"]], "Added optional collision checking for the Docking Server": [[170, "added-optional-collision-checking-for-the-docking-server"]], "Revamped multirobot bringup and config files to use namespaces": [[170, "revamped-multirobot-bringup-and-config-files-to-use-namespaces"]], "Removed global map_topic from Costmap node": [[170, "removed-global-map-topic-from-costmap-node"]], "Simplified Costmap2DROS constructors": [[170, "simplified-costmap2dros-constructors"]], "Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions": [[170, "option-to-disable-collision-checking-in-driveonheading-backup-and-spin-actions"]], "New Plugin Container Layer": [[170, "new-plugin-container-layer"]], "Iterative Target Selection for the Graceful Controller": [[170, "iterative-target-selection-for-the-graceful-controller"]], "Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file": [[170, "conform-to-ros-2-launch-syntax-in-turtlebot-3-multi-robot-launch-file"]], "ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector": [[170, "computepaththroughposes-navigatethroughposes-and-other-bt-nodes-now-use-posestampedarray-instead-of-vector-posestamped"]], "MPPI controller re-implemented using Eigen library and performance improved by 40-45%": [[170, "mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45"]], "DriveOnHeading and BackUp behaviors: Addition of acceleration constraints": [[170, "driveonheading-and-backup-behaviors-addition-of-acceleration-constraints"]], "Migration Guides": [[171, "migration-guides"]], "Writing a New Behavior Plugin": [[172, "writing-a-new-behavior-plugin"]], "Requirements": [[172, "requirements"], [173, "requirements"], [174, "requirements"], [175, "requirements"], [176, "requirements"], [177, "requirements"], [190, "requirements"], [191, "requirements"], [193, "requirements"], [198, "requirements"], [199, "requirements"], [200, "requirements"], [201, "requirements"], [202, "requirements"], [204, "requirements"], [205, "requirements"]], "Tutorial Steps": [[172, "tutorial-steps"], [173, "tutorial-steps"], [174, "tutorial-steps"], [175, "tutorial-steps"], [176, "tutorial-steps"], [177, "tutorial-steps"], [190, "tutorial-steps"], [191, "tutorial-steps"], [193, "tutorial-steps"], [197, "tutorial-steps"], [198, "tutorial-steps"], [199, "tutorial-steps"], [200, "tutorial-steps"], [201, "tutorial-steps"], [202, "tutorial-steps"], [203, "tutorial-steps"]], "1- Creating a new Behavior Plugin": [[172, "creating-a-new-behavior-plugin"]], "2- Exporting the Behavior Plugin": [[172, "exporting-the-behavior-plugin"]], "3- Pass the plugin name through params file": [[172, "pass-the-plugin-name-through-params-file"], [176, "pass-the-plugin-name-through-params-file"]], "4- Run Behavior Plugin": [[172, "run-behavior-plugin"]], "Writing a New Behavior Tree Plugin": [[173, "writing-a-new-behavior-tree-plugin"]], "1- Creating a new BT Plugin": [[173, "creating-a-new-bt-plugin"]], "2- Exporting the planner plugin": [[173, "exporting-the-planner-plugin"], [176, "exporting-the-planner-plugin"]], "3- Add plugin library name to config": [[173, "add-plugin-library-name-to-config"]], "4- Run Your Custom plugin": [[173, "run-your-custom-plugin"]], "Writing a New Costmap2D Plugin": [[174, "writing-a-new-costmap2d-plugin"]], "1- Write a new Costmap2D plugin": [[174, "write-a-new-costmap2d-plugin"]], "2- Export and make GradientLayer plugin": [[174, "export-and-make-gradientlayer-plugin"]], "3- Enable the plugin in Costmap2D": [[174, "enable-the-plugin-in-costmap2d"]], "4- Run GradientLayer plugin": [[174, "run-gradientlayer-plugin"]], "Writing a New Controller Plugin": [[175, "writing-a-new-controller-plugin"]], "1- Create a new Controller Plugin": [[175, "create-a-new-controller-plugin"]], "2- Exporting the controller plugin": [[175, "exporting-the-controller-plugin"]], "3- Pass the plugin name through the params file": [[175, "pass-the-plugin-name-through-the-params-file"], [177, "pass-the-plugin-name-through-the-params-file"]], "4- Run Pure Pursuit Controller plugin": [[175, "run-pure-pursuit-controller-plugin"]], "Writing a New Planner Plugin": [[176, "writing-a-new-planner-plugin"]], "1- Creating a new Planner Plugin": [[176, "creating-a-new-planner-plugin"]], "4- Run StraightLine plugin": [[176, "run-straightline-plugin"]], "Writing a New Navigator Plugin": [[177, "writing-a-new-navigator-plugin"]], "1- Create a new Navigator Plugin": [[177, "create-a-new-navigator-plugin"]], "2- Exporting the navigator plugin": [[177, "exporting-the-navigator-plugin"]], "4- Run plugin": [[177, "run-plugin"]], "Plugin Tutorials": [[178, "plugin-tutorials"]], "Navigation Plugins": [[179, "navigation-plugins"]], "Behavior-Tree Navigators": [[179, "behavior-tree-navigators"]], "Costmap Layers": [[179, "costmap-layers"]], "Waypoint Task Executors": [[179, "waypoint-task-executors"]], "Goal Checkers": [[179, "goal-checkers"]], "Progress Checkers": [[179, "progress-checkers"]], "Behavior Tree Nodes": [[179, "behavior-tree-nodes"]], "Roadmaps": [[180, "roadmaps"]], "Jazzy Roadmap": [[180, "jazzy-roadmap"]], "Iron Roadmap": [[180, "iron-roadmap"]], "Humble Roadmap": [[180, "humble-roadmap"]], "Setting Up Navigation Plugins": [[181, "setting-up-navigation-plugins"]], "Planner and Controller Servers": [[181, "planner-and-controller-servers"]], "Selecting the Algorithm Plugins": [[181, "selecting-the-algorithm-plugins"]], "Summary": [[181, "summary"], [181, "id1"]], "Example Configuration": [[181, "example-configuration"], [181, "id2"]], "Conclusion": [[181, "conclusion"], [182, "conclusion"], [184, "conclusion"], [185, "conclusion"], [186, "conclusion"], [187, "conclusion"], [189, "conclusion"], [192, "conclusion"], [199, "conclusion"]], "Setting Up the Robot\u2019s Footprint": [[182, "setting-up-the-robot-s-footprint"]], "Footprint Introduction": [[182, "footprint-introduction"]], "Configuring the Robot\u2019s Footprint": [[182, "configuring-the-robot-s-footprint"]], "Build, Run and Verification": [[182, "build-run-and-verification"], [184, "build-run-and-verification"], [184, "id4"], [185, "build-run-and-verification"], [185, "id2"]], "Visualizing Footprint in RViz": [[182, "visualizing-footprint-in-rviz"]], "First-Time Robot Setup Guide": [[183, "first-time-robot-setup-guide"]], "Setting Up Odometry": [[184, "setting-up-odometry"]], "Odometry Introduction": [[184, "odometry-introduction"]], "Setting Up Odometry on your Robot": [[184, "setting-up-odometry-on-your-robot"]], "Simulating an Odometry System using Gazebo": [[184, "simulating-an-odometry-system-using-gazebo"]], "Setup and Prerequisites": [[184, "setup-and-prerequisites"]], "Adding Gazebo Plugins to a URDF": [[184, "adding-gazebo-plugins-to-a-urdf"], [185, "adding-gazebo-plugins-to-a-urdf"]], "Launch and Build Files": [[184, "launch-and-build-files"], [184, "id3"], [185, "launch-and-build-files"]], "Robot Localization Demo": [[184, "robot-localization-demo"]], "Configuring Robot Localization": [[184, "configuring-robot-localization"]], "Setting Up Sensors": [[185, "setting-up-sensors"]], "Sensor Introduction": [[185, "sensor-introduction"]], "Common Sensor Messages": [[185, "common-sensor-messages"]], "sensor_msgs/LaserScan": [[185, "sensor-msgs-laserscan"]], "sensor_msgs/PointCloud2": [[185, "sensor-msgs-pointcloud2"]], "sensor_msgs/Range": [[185, "sensor-msgs-range"]], "sensor_msgs/Image": [[185, "sensor-msgs-image"]], "Simulating Sensors using Gazebo": [[185, "simulating-sensors-using-gazebo"]], "Mapping and Localization": [[185, "mapping-and-localization"]], "Configuring nav2_costmap_2d": [[185, "configuring-nav2-costmap-2d"]], "Launching Description Nodes, RViz and Gazebo": [[185, "launching-description-nodes-rviz-and-gazebo"]], "Launching slam_toolbox": [[185, "launching-slam-toolbox"]], "Launching Nav2": [[185, "launching-nav2"]], "Visualizing Costmaps in RViz": [[185, "visualizing-costmaps-in-rviz"]], "Setting Up Transformations": [[186, "setting-up-transformations"]], "Transforms Introduction": [[186, "transforms-introduction"]], "Static Transform Publisher Demo": [[186, "static-transform-publisher-demo"]], "Transforms in Navigation2": [[186, "transforms-in-navigation2"]], "Setting Up The URDF": [[187, "setting-up-the-urdf"]], "URDF and the Robot State Publisher": [[187, "urdf-and-the-robot-state-publisher"]], "Setting Up the Environment": [[187, "setting-up-the-environment"]], "Writing the URDF": [[187, "writing-the-urdf"]], "Build and Launch": [[187, "build-and-launch"]], "Visualization using RVIZ": [[187, "visualization-using-rviz"]], "Adding Physical Properties": [[187, "adding-physical-properties"]], "Tuning Guide": [[188, "tuning-guide"]], "Inflation Potential Fields": [[188, "inflation-potential-fields"]], "Robot Footprint vs Radius": [[188, "robot-footprint-vs-radius"]], "Rotate in Place Behavior": [[188, "rotate-in-place-behavior"]], "Planner Plugin Selection": [[188, "planner-plugin-selection"]], "Controller Plugin Selection": [[188, "controller-plugin-selection"]], "Caching Obstacle Heuristic in Smac Planners": [[188, "caching-obstacle-heuristic-in-smac-planners"]], "Costmap2D Plugins": [[188, "costmap2d-plugins"]], "Nav2 Launch Options": [[188, "nav2-launch-options"]], "Other Pages We\u2019d Love To Offer": [[188, "other-pages-we-d-love-to-offer"]], "Adding a New Nav2 Task Server": [[189, "adding-a-new-nav2-task-server"]], "Lifecycle Nodes": [[189, "lifecycle-nodes"]], "Composition": [[189, "composition"]], "Error codes": [[189, "error-codes"]], "Adding a Smoother to a BT": [[190, "adding-a-smoother-to-a-bt"]], "0- Familiarization with the Smoother BT Node": [[190, "familiarization-with-the-smoother-bt-node"]], "1- Specifying a Smoother Plugin": [[190, "specifying-a-smoother-plugin"]], "2- Modifying your BT XML": [[190, "modifying-your-bt-xml"]], "Camera Calibration": [[191, "camera-calibration"]], "Docker for Development: Zero to Hero": [[192, "docker-for-development-zero-to-hero"]], "Preliminaries": [[192, "preliminaries"], [194, "preliminaries"], [195, "preliminaries"]], "Important Docker Commands": [[192, "important-docker-commands"]], "Exploring Your First Container": [[192, "exploring-your-first-container"]], "Understanding ROS Docker Images": [[192, "understanding-ros-docker-images"]], "For Docker-Based Development": [[192, "for-docker-based-development"]], "Building a Development Image": [[192, "building-a-development-image"]], "Visualizations from Docker": [[192, "visualizations-from-docker"]], "For Docker-Based Deployment": [[192, "for-docker-based-deployment"]], "Appendix": [[192, "appendix"]], "Nav2 Development Image": [[192, "nav2-development-image"]], "Nav2 Deployment Image": [[192, "nav2-deployment-image"]], "Filtering of Noise-Induced Obstacles": [[193, "filtering-of-noise-induced-obstacles"]], "1. Enable Denoise Layer": [[193, "enable-denoise-layer"]], "2. Run Nav2 stack": [[193, "run-nav2-stack"]], "How it works": [[193, "how-it-works"]], "Get Backtrace in ROS 2 / Nav2": [[194, "get-backtrace-in-ros-2-nav2"]], "From a Node": [[194, "from-a-node"]], "From a Launch File": [[194, "from-a-launch-file"]], "From Large Project": [[194, "from-large-project"]], "From Nav2 Bringup": [[194, "from-nav2-bringup"], [195, "from-nav2-bringup"]], "Automatic backtrace on crash": [[194, "automatic-backtrace-on-crash"]], "Profiling in ROS 2 / Nav2": [[195, "profiling-in-ros-2-nav2"]], "Profile from a Node": [[195, "profile-from-a-node"]], "Profile from a Launch File": [[195, "profile-from-a-launch-file"]], "Interpreting Results": [[195, "interpreting-results"]], "Using VIO to Augment Robot Odometry": [[196, "using-vio-to-augment-robot-odometry"]], "Setting Up the ZED X Camera": [[196, "setting-up-the-zed-x-camera"]], "Setting Up ZED ROS": [[196, "setting-up-zed-ros"]], "Fusing VIO Into Local State Estimate": [[196, "fusing-vio-into-local-state-estimate"]], "Fusing VSLAM Into Global State Estimate": [[196, "fusing-vslam-into-global-state-estimate"]], "Testing it Out!": [[196, "testing-it-out"]], "Dynamic Object Following": [[197, "dynamic-object-following"]], "0- Create the Behavior Tree": [[197, "create-the-behavior-tree"]], "1- Setup Rviz clicked point": [[197, "setup-rviz-clicked-point"]], "2- Run Dynamic Object Following in Nav2 Simulation": [[197, "run-dynamic-object-following-in-nav2-simulation"]], "Navigating with a Physical Turtlebot 3": [[198, "navigating-with-a-physical-turtlebot-3"]], "0- Setup Your Environment Variables": [[198, "setup-your-environment-variables"]], "1- Launch Turtlebot 3": [[198, "launch-turtlebot-3"]], "2- Launch Nav2": [[198, "launch-nav2"]], "3- Launch RVIZ": [[198, "launch-rviz"]], "4- Initialize the Location of Turtlebot 3": [[198, "initialize-the-location-of-turtlebot-3"]], "5- Send a Goal Pose": [[198, "send-a-goal-pose"]], "Navigating Using GPS Localization": [[199, "navigating-using-gps-localization"]], "GPS Localization Overview": [[199, "gps-localization-overview"]], "0- Setup Gazebo World": [[199, "setup-gazebo-world"]], "1- Setup GPS Localization system": [[199, "setup-gps-localization-system"]], "Local Odometry": [[199, "local-odometry"]], "Global Odometry": [[199, "global-odometry"]], "Navsat Transform": [[199, "navsat-transform"]], "Localization Testing": [[199, "localization-testing"]], "2- Setup Navigation system": [[199, "setup-navigation-system"]], "3- Interactive GPS Waypoint Follower": [[199, "interactive-gps-waypoint-follower"]], "4- Logged GPS Waypoint Follower & Waypoint Logging": [[199, "logged-gps-waypoint-follower-waypoint-logging"]], "Navigating with Keepout Zones": [[200, "navigating-with-keepout-zones"]], "1. 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