From 370574866332438861962365d97c932089657513 Mon Sep 17 00:00:00 2001 From: navigation2-ci Date: Wed, 8 Jan 2025 01:27:27 +0000 Subject: [PATCH] [skip ci] publish latest Signed-off-by: navigation2-ci --- .../packages/configuring-graceful-motion-controller.rst.txt | 6 +++--- .../packages/configuring-graceful-motion-controller.html | 6 +++--- searchindex.js | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt index 359bc54ff..dd052a801 100644 --- a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt +++ b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt @@ -256,12 +256,12 @@ Example initial_rotation_threshold: 0.75 prefer_final_rotation: true allow_backward: false - k_phi: 3.0 - k_delta: 2.0 + k_phi: 2.0 + k_delta: 1.0 beta: 0.4 lambda: 2.0 v_linear_min: 0.1 - v_linear_max: 1.0 + v_linear_max: 0.5 v_angular_max: 5.0 v_angular_min_in_place: 0.25 slowdown_radius: 1.5 diff --git a/configuration/packages/configuring-graceful-motion-controller.html b/configuration/packages/configuring-graceful-motion-controller.html index d8fcb8bb9..cd35a5159 100644 --- a/configuration/packages/configuring-graceful-motion-controller.html +++ b/configuration/packages/configuring-graceful-motion-controller.html @@ -1539,12 +1539,12 @@

Example initial_rotation_threshold: 0.75 prefer_final_rotation: true allow_backward: false - k_phi: 3.0 - k_delta: 2.0 + k_phi: 2.0 + k_delta: 1.0 beta: 0.4 lambda: 2.0 v_linear_min: 0.1 - v_linear_max: 1.0 + v_linear_max: 0.5 v_angular_max: 5.0 v_angular_min_in_place: 0.25 slowdown_radius: 1.5 diff --git a/searchindex.js b/searchindex.js index 9734c0ea7..f9546a007 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", 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60, 65, 67, 68, 69, 71, 72, 73, 74, 75, 76, 78, 79, 80, 81, 82, 83, 89, 104, 108, 163, 164, 166, 167, 173, 179, 189, 194, 197], "primari": [1, 6, 19, 112, 113, 167, 169, 185, 187, 189], "function": [1, 3, 4, 9, 11, 18, 23, 27, 28, 98, 99, 108, 115, 117, 122, 144, 145, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 181, 182, 184, 185, 186, 188, 192, 193, 194, 195, 200, 202, 205, 206], "e": [1, 17, 22, 23, 24, 25, 27, 28, 42, 43, 44, 48, 51, 68, 87, 91, 92, 95, 99, 101, 102, 106, 108, 109, 111, 114, 115, 117, 123, 143, 144, 145, 157, 158, 160, 165, 166, 167, 168, 169, 170, 172, 173, 174, 176, 177, 179, 180, 184, 185, 186, 188, 190, 191, 192, 194, 195, 196, 199, 200, 202, 203, 204, 205, 206], "g": [1, 22, 23, 24, 25, 27, 28, 42, 43, 44, 48, 51, 68, 87, 91, 92, 95, 101, 108, 111, 114, 115, 117, 123, 143, 144, 145, 157, 158, 160, 165, 166, 167, 168, 169, 172, 173, 174, 176, 177, 179, 180, 184, 185, 186, 188, 190, 191, 194, 195, 196, 199, 200, 202, 203, 204, 206], 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20, 21, 22, 23, 24, 25, 26, 29, 30, 31, 32, 33, 36, 37, 38, 45, 47, 50, 51, 52, 53, 54, 60, 64, 66, 68, 82, 83, 84, 87, 91, 92, 106, 108, 111, 112, 115, 119, 143, 144, 158, 163, 164, 170, 175, 177, 178, 181, 184, 189, 190, 192, 199, 203, 205, 207, 208], "tree": [1, 2, 11, 21, 22, 23, 24, 25, 26, 29, 30, 31, 51, 52, 60, 64, 66, 68, 82, 83, 84, 85, 86, 87, 88, 89, 90, 156, 162, 163, 164, 167, 169, 174, 177, 178, 181, 185, 186, 187, 189, 190, 196, 199, 205, 208], "file": [1, 2, 18, 28, 42, 92, 94, 95, 102, 105, 107, 117, 141, 145, 156, 158, 159, 161, 162, 163, 165, 166, 167, 173, 174, 179, 182, 186, 187, 188, 189, 190, 191, 192, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206], "defin": [1, 5, 9, 10, 19, 27, 28, 42, 45, 50, 53, 54, 59, 65, 66, 68, 87, 91, 92, 94, 95, 99, 100, 107, 108, 110, 116, 119, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 158, 163, 164, 165, 166, 167, 168, 169, 170, 173, 174, 176, 177, 181, 182, 184, 185, 186, 187, 189, 193, 194, 198, 199, 200, 202, 203, 206], "flow": [1, 19, 20, 22, 24, 25, 83, 84, 161, 173, 206], "inform": [1, 2, 4, 10, 20, 21, 28, 91, 92, 97, 100, 104, 107, 108, 111, 112, 115, 118, 120, 123, 124, 127, 129, 130, 143, 144, 145, 157, 161, 164, 165, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 201, 202, 203, 204, 205, 206], "plugin": [1, 5, 11, 12, 13, 18, 20, 27, 28, 42, 43, 44, 46, 48, 58, 63, 93, 95, 98, 102, 104, 108, 109, 111, 112, 113, 114, 116, 117, 120, 121, 122, 123, 124, 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, 162, 163, 180, 182, 183, 187, 189, 193, 195, 197, 199, 200, 202, 204, 206, 207, 208], "should": [1, 2, 3, 6, 9, 11, 18, 19, 23, 28, 42, 56, 79, 80, 81, 83, 90, 91, 92, 94, 95, 98, 99, 100, 104, 107, 108, 110, 111, 116, 118, 119, 121, 124, 127, 129, 144, 145, 159, 161, 162, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204, 205, 206, 207], "make": [1, 2, 7, 9, 10, 11, 12, 13, 14, 20, 22, 24, 25, 26, 28, 42, 61, 62, 95, 99, 102, 104, 108, 111, 112, 117, 124, 127, 129, 144, 155, 156, 158, 159, 161, 165, 166, 167, 168, 169, 170, 172, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 207], "sure": [1, 2, 7, 12, 27, 95, 108, 124, 129, 156, 158, 161, 166, 169, 170, 174, 177, 179, 182, 184, 185, 188, 191, 193, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "local": [1, 3, 9, 10, 11, 19, 22, 24, 25, 27, 45, 50, 53, 54, 59, 93, 94, 99, 104, 105, 106, 108, 111, 118, 130, 133, 137, 139, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 174, 175, 176, 177, 179, 181, 182, 186, 188, 192, 193, 200, 202, 203, 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, 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, 197], "could": [1, 2, 3, 6, 7, 9, 10, 21, 28, 91, 92, 99, 117, 158, 159, 165, 166, 167, 168, 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, 170, 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, 170, 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, 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, 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, 170, 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, 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, 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, 185, 194, 199, 202, 205], "greater": [3, 104, 108, 117, 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, 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, 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, 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], 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181, 184, 185, 187, 188, 189, 190, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205, 206, 207], "coordin": [5, 27, 28, 42, 93, 100, 101, 119, 167, 184, 186, 187, 196, 197, 199], "transform": [5, 15, 28, 78, 91, 92, 93, 94, 95, 100, 102, 104, 108, 111, 116, 120, 123, 127, 130, 156, 162, 163, 165, 166, 167, 175, 179, 182, 183, 184, 185, 187, 188, 196, 200, 201], "amcl": [6, 7, 27, 28, 29, 55, 70, 162, 165, 179, 185, 186, 188, 196, 199], "engin": [6, 157, 159, 164, 195, 196], "last": [6, 14, 20, 22, 24, 49, 61, 62, 92, 93, 98, 101, 108, 109, 115, 117, 118, 135, 143, 144, 145, 147, 148, 151, 152, 158, 167, 169, 177, 181, 182, 184, 186, 187, 189, 196, 200, 202, 204], "10": [6, 11, 14, 25, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 47, 48, 51, 52, 55, 60, 64, 73, 88, 91, 92, 94, 95, 98, 99, 101, 103, 104, 105, 108, 110, 111, 112, 114, 116, 119, 122, 129, 136, 138, 140, 143, 144, 145, 153, 166, 168, 169, 172, 187, 190, 191, 192, 193, 194, 197, 199, 205, 207], 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101, 102, 104, 108, 110, 114, 116, 118, 119, 137, 139, 143, 144, 145, 147, 151, 158, 161, 162, 165, 174, 175, 177, 180, 182, 184, 185, 188, 192, 194, 196, 197, 198, 199, 200, 202, 203, 204, 206], "mcl": 6, "hallmark": 6, "decad": [6, 14], "particular": [6, 20, 23, 28, 49, 91, 102, 108, 165, 167, 169, 170, 177, 188, 190, 192, 194, 195, 196, 199, 205], "deprec": [6, 98, 166, 167], "target": [6, 102, 104, 108, 111, 127, 158, 159, 165, 166, 169, 181, 187, 194, 197, 198, 202, 205, 206], "laser": [6, 9, 91, 92, 93, 124, 129, 179, 185, 186, 192, 204], "scanner": [6, 91, 92, 124, 129, 185, 204], "simplifi": [6, 162, 165, 173, 175, 177, 194], "accur": [6, 28, 91, 92, 166, 179, 184, 188, 196, 199], "track": [6, 17, 27, 28, 74, 100, 102, 108, 111, 112, 161, 163, 167, 168, 169, 175, 177, 179, 181, 188, 190, 194, 196, 205, 207], "occup": [6, 100, 107, 123, 124, 129, 179, 185, 201], "grid": [6, 7, 28, 100, 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], 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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, 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, 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, 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, 173, 179, 184, 185, 186, 188, 190, 192, 194, 195, 196, 199, 207], "recent": [9, 57, 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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, 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, 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, 174, 177, 179, 182, 183, 184, 185, 187, 188, 192, 199, 202, 203], "properti": [20, 92, 158, 184, 185, 204], "prior": [20, 87, 93, 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, 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, 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111, 118, 144, 161, 163, 165, 166, 168, 186, 187, 188, 199, 200], "complex": [28, 95, 108, 144, 163, 168, 185, 186, 187, 188, 194, 206], "crash": [28, 105, 165, 167, 188, 189, 192, 206], "eloqu": [28, 171], "increasingli": [28, 196], "scalabl": 28, "oppos": [28, 145], "finit": [28, 108, 144, 196, 206], "fsm": 28, "dozen": [28, 205], "soccer": [28, 199], "plai": [28, 182, 192, 196], "game": [28, 196], "challeng": 28, "error": [28, 30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 65, 79, 80, 81, 91, 92, 93, 95, 104, 108, 121, 156, 157, 165, 166, 167, 170, 179, 182, 185, 190, 192, 193, 196, 198, 199, 203, 205], "prone": 28, "shoot": 28, "particularli": [28, 113, 158, 185, 200], "unclear": 28, "kick": [28, 172], "ball": 28, "reus": [28, 158, 172, 177, 187, 189], "book": 28, "strongli": 28, "chapter": [28, 200, 202], "nomenclatur": 28, "workflow": [28, 158, 159], "minut": [28, 94, 95, 99, 110, 116, 119, 169, 191, 192], "formal": [28, 163, 193], "valid": [28, 73, 91, 92, 93, 98, 101, 102, 112, 120, 123, 124, 127, 129, 144, 145, 163, 168, 177, 179, 185, 188, 199], "provenli": 28, "correct": [28, 91, 92, 156, 158, 161, 167, 184, 185, 187, 192, 198, 200, 202, 204], "central": [28, 199], "v4": 28, "construct": [28, 161, 167], "insid": [28, 92, 97, 98, 99, 102, 103, 115, 118, 119, 158, 159, 167, 168, 169, 174, 184, 185, 189, 192, 194, 195, 200, 203, 204, 205], "load": [28, 48, 94, 95, 99, 100, 102, 107, 108, 110, 116, 119, 130, 158, 163, 164, 165, 166, 167, 169, 172, 173, 174, 175, 176, 177, 179, 181, 185, 187, 190, 195, 196, 200, 202, 203, 206], "associ": [28, 168, 184, 185, 186], "At": [28, 112, 161, 167, 174, 184, 186, 187, 192, 194, 196, 205, 207], "march": 28, "One": [28, 181, 184, 187, 199], "part": [28, 32, 33, 36, 37, 38, 61, 62, 92, 93, 115, 123, 144, 145, 161, 165, 167, 174, 181, 182, 185, 187, 190, 192, 196, 204], "larger": [28, 87, 92, 105, 108, 111, 113, 143, 161, 166, 179, 194, 204], "navigatetoposeact": 28, "among": [28, 117, 181, 188, 193], "hierarch": [28, 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177, 182, 184, 185, 186, 187, 190, 196, 199, 205], "instruct": [28, 119, 162, 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, "precis": [28, 166, 182], "perceiv": [28, 185], "regular": [28, 30], "inflat": [28, 93, 100, 123, 125, 126, 144, 146, 169, 174, 179, 185, 193, 200, 203], "sonar": [28, 92, 126, 168, 185, 188, 203, 204], "wise": [28, 108, 177, 188, 192, 205], "scene": [28, 108, 164], "camera": [28, 120, 141, 168, 185, 188, 203, 205, 208], "underli": [28, 104, 170, 203], "heurist": [28, 111, 115, 143, 144, 145, 166, 167, 169, 181], "binari": [28, 100, 107, 143, 162, 168, 172, 173, 175, 176, 177, 179, 188, 192, 203], "annot": [28, 101, 166, 174, 175, 176, 200, 202, 205], "occur": [28, 113, 174, 196, 204, 205], "might": [28, 93, 108, 118, 144, 145, 166, 169, 170, 177, 182, 184, 185, 192, 194, 195, 200, 202, 206], "pixel": [28, 100, 193, 200], "belong": [28, 127, 166, 200, 202], "mask": [28, 107, 120, 123, 127, 166, 168, 179, 193], "overlaid": 28, "surfac": [28, 163, 199, 205], "spatial": [28, 108, 166], "linearli": [28, 102, 127, 166, 200, 202], "restrict": [28, 92, 127, 166, 168, 169, 179, 188, 199, 202], "lane": [28, 107, 123, 166, 179, 200], "mesh": [28, 187], "discret": [28, 121, 158, 161, 181, 184], "tunabl": 29, "star": [29, 181, 188], "regul": [29, 163, 166, 167, 169, 175, 179, 181, 188, 192, 207], "pure": [29, 104, 108, 163, 166, 167, 168, 169, 172, 174, 176, 177, 179, 181, 188, 196, 207], "pursuit": [29, 163, 166, 167, 169, 179, 181, 188, 207], "predict": [29, 92, 166, 169, 179, 196], "shim": [29, 179, 180, 188, 208], "grace": [29, 175, 179], "saver": [29, 120, 123, 127, 166, 200, 202], "smoother": [29, 58, 59, 81, 104, 143, 144, 145, 163, 177, 180, 181, 189, 204, 208], "savitzki": [29, 179], "golai": [29, 179], "constrain": [29, 114, 166, 179, 188], "loopback": 29, "invok": [30, 31, 42, 43, 44, 46, 47, 48, 51, 52, 58, 60, 63, 64, 157, 158, 189], "nav2_behavior": [30, 31, 47, 60, 64, 94, 167, 169, 172], "modul": [30, 31, 42, 43, 44, 47, 48, 51, 52, 60, 64, 95, 105, 119, 169, 174, 196, 199, 204], "doubl": [30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 44, 47, 48, 51, 52, 55, 56, 57, 58, 60, 61, 62, 64, 66, 68, 74, 77, 85, 87, 88, 90, 91, 92, 93, 94, 95, 98, 99, 100, 101, 102, 104, 105, 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172, 173, 174, 175, 176, 177, 179, 182, 184, 185, 186, 187, 188, 190, 193, 194, 198, 199, 200, 202, 204, 206, 207], "use_dock_id": [46, 205], "max_staging_tim": [46, 205], "1000": [46, 74, 95, 108, 114, 143, 144, 145, 205], "navigate_to_staging_pos": [46, 205], "num_retri": [46, 205], "dock_error_cod": 46, "drive_on_heading_error_cod": 47, "eg": [48, 52, 188], "simplegoalcheck": [48, 99, 103, 104, 111, 112, 130, 166, 179, 207], "precise_goal_check": [48, 50, 166], "extract": [49, 167, 177, 179], "header": [49, 68, 164, 169, 174, 175, 176, 184, 201], "goalcheck": [50, 165, 167, 175], "goal_check": [50, 99, 103, 104, 111, 112, 166, 175, 207], "goal_checker_selector": 50, "selected_goal_check": 50, "default_goal_check": 50, "absolut": [51, 52, 107, 127, 165, 169, 170, 175, 184, 187, 192, 194, 196, 199, 200, 202], "lowest": [51, 52, 108, 166, 168, 189], "error_code_nam": [51, 52, 95], "navigate_through_poses_error_cod": [51, 95], "navigate_through_poses_w_replanning_and_recoveri": [51, 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[[94, "assistedteleop-behavior-parameters"]], "Behavior-Tree Navigator": [[95, "behavior-tree-navigator"]], "Behavior Tree XML Nodes": [[96, "behavior-tree-xml-nodes"]], "Action Plugins": [[96, "action-plugins"]], "Condition Plugins": [[96, "condition-plugins"]], "Control Plugins": [[96, "control-plugins"]], "Decorator Plugins": [[96, "decorator-plugins"]], "Collision Monitor": [[97, "collision-monitor"]], "Provided Nodes": [[97, "provided-nodes"]], "Constrained smoother": [[98, "constrained-smoother"]], "Smoother Server Parameters": [[98, "smoother-server-parameters"], [116, "smoother-server-parameters"]], "Controller Server": [[99, "controller-server"], [181, "controller-server"]], "Provided Plugins": [[99, "provided-plugins"], [115, "provided-plugins"], [119, "provided-plugins"]], "Costmap 2D": [[100, "costmap-2d"], [185, "costmap-2d"]], "Costmap2D ROS Parameters": [[100, "costmap2d-ros-parameters"]], "Plugin Parameters": [[100, "plugin-parameters"]], "Costmap Filters Parameters": 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Parameters": [[108, "mppi-parameters"]], "Trajectory Visualization": [[108, "trajectory-visualization"]], "Path Handler": [[108, "path-handler"]], "Ackermann Motion Model": [[108, "ackermann-motion-model"]], "Constraint Critic": [[108, "constraint-critic"]], "Goal Angle Critic": [[108, "goal-angle-critic"]], "Goal Critic": [[108, "goal-critic"]], "Obstacles Critic": [[108, "obstacles-critic"]], "Cost Critic": [[108, "cost-critic"]], "Path Align Critic": [[108, "path-align-critic"]], "Path Angle Critic": [[108, "path-angle-critic"]], "Path Follow Critic": [[108, "path-follow-critic"]], "Prefer Forward Critic": [[108, "prefer-forward-critic"]], "Twirling Critic": [[108, "twirling-critic"]], "Velocity Deadband Critic": [[108, "velocity-deadband-critic"]], "Notes to Users": [[108, "notes-to-users"]], "General Words of Wisdom": [[108, "general-words-of-wisdom"]], "Prediction Horizon, Costmap Sizing, and Offsets": [[108, "prediction-horizon-costmap-sizing-and-offsets"]], "Obstacle, Inflation Layer, and Path Following": [[108, "obstacle-inflation-layer-and-path-following"]], "NavFn Planner": [[109, "navfn-planner"]], "Planner Server": [[110, "planner-server"], [181, "planner-server"]], "Regulated Pure Pursuit": [[111, "regulated-pure-pursuit"]], "Regulated Pure Pursuit Parameters": [[111, "regulated-pure-pursuit-parameters"]], "Rotation Shim Controller": [[112, "rotation-shim-controller"]], "Rotation Shim Controller Parameters": [[112, "rotation-shim-controller-parameters"]], "Savitzky-Golay Smoother": [[113, "savitzky-golay-smoother"], [168, "savitzky-golay-smoother"]], "Savitzky-Golay Smoother Parameters": [[113, "savitzky-golay-smoother-parameters"]], "Simple Smoother": [[114, "simple-smoother"]], "Simple Smoother Parameters": [[114, "simple-smoother-parameters"]], "Smac Planner": [[115, "smac-planner"]], "Description": [[115, "description"]], "Smoother Server": [[116, "smoother-server"]], "Theta Star Planner": [[117, "theta-star-planner"]], "Velocity Smoother": [[118, "velocity-smoother"]], "Velocity Smoother Parameters": [[118, "velocity-smoother-parameters"]], "Waypoint Follower": [[119, "waypoint-follower"]], "Default Plugin": [[119, "default-plugin"]], "Binary Filter Parameters": [[120, "binary-filter-parameters"]], "Denoise Layer Parameters": [[121, "denoise-layer-parameters"]], "Inflation Layer Parameters": [[122, "inflation-layer-parameters"]], "Keepout Filter Parameters": [[123, "keepout-filter-parameters"]], "Obstacle Layer Parameters": [[124, "obstacle-layer-parameters"]], "Plugin Container Layer Parameters": [[125, "plugin-container-layer-parameters"]], "Range Sensor Parameters": [[126, "range-sensor-parameters"]], "Speed Filter Parameters": [[127, "speed-filter-parameters"]], "Static Layer Parameters": [[128, "static-layer-parameters"]], "Voxel Layer Parameters": [[129, "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 K-Turtle": [[170, "jazzy-to-k-turtle"]], "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"]], "New BT Nodes": [[170, "new-bt-nodes"]], "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"]], "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"]], "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. Prepare filter mask": [[200, "prepare-filter-mask"], [202, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[200, "configure-costmap-filter-info-publisher-server"], [202, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[200, "enable-keepout-filter"]], "4. Run Nav2 stack": [[200, "run-nav2-stack"], [202, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[201, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[201, "launch-robot-interfaces"]], "1- Launch Navigation2": [[201, "launch-navigation2"]], "2- Launch SLAM": [[201, "launch-slam"]], "3- Working with SLAM": [[201, "working-with-slam"]], "4- Getting Started Simplification": [[201, "getting-started-simplification"]], "Navigating with Speed Limits": [[202, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[202, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[203, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[203, "costmap2d-and-stvl"]], "0- Setup": [[203, "setup"]], "1- Install STVL": [[203, "install-stvl"]], "1- Modify Navigation2 Parameter": [[203, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[203, "launch-navigation2"]], "3- RVIZ": [[203, "rviz"]], "Using Collision Monitor": [[204, "using-collision-monitor"]], "Configuring Collision Monitor": [[204, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[204, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[204, "preparing-nav2-stack"]], "Demo Execution": [[204, "demo-execution"], [207, "demo-execution"]], "Using Docking Server": [[205, "using-docking-server"]], "ChargingDock Plugins": [[205, "chargingdock-plugins"]], "Dock Database": [[205, "dock-database"]], "Configuring Docking Server": [[205, "configuring-docking-server"]], "Adding Docking Server to Launch": [[205, "adding-docking-server-to-launch"]], "Docking Action API": [[205, "docking-action-api"]], "Putting It All Together": [[205, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[206, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[206, "visualize-behavior-trees"]], "Edit Behavior Trees": [[206, "edit-behavior-trees"]], "Adding A Custom Node": [[206, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[207, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[207, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[207, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[207, "configuring-primary-controller"]], "General Tutorials": [[208, "general-tutorials"]]}, "indexentries": {}}) \ No newline at end of file +Search.setIndex({"docnames": 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186, 187, 189, 193, 194, 198, 199, 200, 202, 203, 206], "flow": [1, 19, 20, 22, 24, 25, 83, 84, 161, 173, 206], "inform": [1, 2, 4, 10, 20, 21, 28, 91, 92, 97, 100, 104, 107, 108, 111, 112, 115, 118, 120, 123, 124, 127, 129, 130, 143, 144, 145, 157, 161, 164, 165, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 179, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 198, 199, 200, 201, 202, 203, 204, 205, 206], "plugin": [1, 5, 11, 12, 13, 18, 20, 27, 28, 42, 43, 44, 46, 48, 58, 63, 93, 95, 98, 102, 104, 108, 109, 111, 112, 113, 114, 116, 117, 120, 121, 122, 123, 124, 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, 162, 163, 180, 182, 183, 187, 189, 193, 195, 197, 199, 200, 202, 204, 206, 207, 208], "should": [1, 2, 3, 6, 9, 11, 18, 19, 23, 28, 42, 56, 79, 80, 81, 83, 90, 91, 92, 94, 95, 98, 99, 100, 104, 107, 108, 110, 111, 116, 118, 119, 121, 124, 127, 129, 144, 145, 159, 161, 162, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 175, 176, 177, 182, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 204, 205, 206, 207], "make": [1, 2, 7, 9, 10, 11, 12, 13, 14, 20, 22, 24, 25, 26, 28, 42, 61, 62, 95, 99, 102, 104, 108, 111, 112, 117, 124, 127, 129, 144, 155, 156, 158, 159, 161, 165, 166, 167, 168, 169, 170, 172, 175, 176, 177, 179, 181, 182, 184, 185, 186, 187, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 207], "sure": [1, 2, 7, 12, 27, 95, 108, 124, 129, 156, 158, 161, 166, 169, 170, 174, 177, 179, 182, 184, 185, 188, 191, 193, 194, 196, 198, 199, 200, 201, 202, 203, 204, 205], "local": [1, 3, 9, 10, 11, 19, 22, 24, 25, 27, 45, 50, 53, 54, 59, 93, 94, 99, 104, 105, 106, 108, 111, 118, 130, 133, 137, 139, 158, 159, 161, 162, 163, 165, 166, 167, 168, 169, 170, 174, 175, 176, 177, 179, 181, 182, 186, 188, 192, 193, 200, 202, 203, 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": 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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, 197], "could": [1, 2, 3, 6, 7, 9, 10, 21, 28, 91, 92, 99, 117, 158, 159, 165, 166, 167, 168, 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, 170, 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, 170, 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, 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, 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, 170, 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, 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, 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, 185, 194, 199, 202, 205], "greater": [3, 104, 108, 117, 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], 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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, 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, 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, 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], 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181, 184, 185, 187, 188, 189, 190, 192, 193, 194, 195, 198, 199, 200, 201, 202, 203, 205, 206, 207], "coordin": [5, 27, 28, 42, 93, 100, 101, 119, 167, 184, 186, 187, 196, 197, 199], "transform": [5, 15, 28, 78, 91, 92, 93, 94, 95, 100, 102, 104, 108, 111, 116, 120, 123, 127, 130, 156, 162, 163, 165, 166, 167, 175, 179, 182, 183, 184, 185, 187, 188, 196, 200, 201], "amcl": [6, 7, 27, 28, 29, 55, 70, 162, 165, 179, 185, 186, 188, 196, 199], "engin": [6, 157, 159, 164, 195, 196], "last": [6, 14, 20, 22, 24, 49, 61, 62, 92, 93, 98, 101, 108, 109, 115, 117, 118, 135, 143, 144, 145, 147, 148, 151, 152, 158, 167, 169, 177, 181, 182, 184, 186, 187, 189, 196, 200, 202, 204], "10": [6, 11, 14, 25, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 47, 48, 51, 52, 55, 60, 64, 73, 88, 91, 92, 94, 95, 98, 99, 101, 103, 104, 105, 108, 110, 111, 112, 114, 116, 119, 122, 129, 136, 138, 140, 143, 144, 145, 153, 166, 168, 169, 172, 187, 190, 191, 192, 193, 194, 197, 199, 205, 207], 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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], 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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, 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, 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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, 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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, 173, 179, 184, 185, 186, 188, 190, 192, 194, 195, 196, 199, 207], "recent": [9, 57, 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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, 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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], 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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, 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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, 170, 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, 114, 117, 130, 135, 143, 144, 145, 157, 158, 164, 165, 166, 167, 168, 169, 170, 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, 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, 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, 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, 174, 177, 179, 182, 183, 184, 185, 187, 188, 192, 199, 202, 203], "properti": [20, 92, 158, 184, 185, 204], "prior": [20, 87, 93, 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, 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, 86, 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, 43, 51, 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, 117, 118, 144, 158, 166, 167, 169, 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, 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, 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"SpeedController": [[90, "speedcontroller"]], "Collision Detector Node": [[91, "collision-detector-node"]], "Features": [[91, "features"], [92, "features"]], "Polygons parameters": [[91, "polygons-parameters"], [92, "polygons-parameters"]], "Observation sources parameters": [[91, "observation-sources-parameters"], [92, "observation-sources-parameters"]], "Collision Monitor Node": [[92, "collision-monitor-node"]], "VelocityPolygon parameters": [[92, "velocitypolygon-parameters"]], "AMCL": [[93, "amcl"]], "Behavior Server": [[94, "behavior-server"]], "Behavior Server Parameters": [[94, "behavior-server-parameters"]], "Default Plugins": [[94, "default-plugins"], [99, "default-plugins"], [100, "default-plugins"], [110, "default-plugins"]], "Spin Behavior Parameters": [[94, "spin-behavior-parameters"]], "BackUp Behavior Parameters": [[94, "backup-behavior-parameters"]], "DriveOnHeading Behavior Parameters": [[94, "driveonheading-behavior-parameters"]], "AssistedTeleop Behavior Parameters": [[94, "assistedteleop-behavior-parameters"]], "Behavior-Tree Navigator": [[95, "behavior-tree-navigator"]], "Behavior Tree XML Nodes": [[96, "behavior-tree-xml-nodes"]], "Action Plugins": [[96, "action-plugins"]], "Condition Plugins": [[96, "condition-plugins"]], "Control Plugins": [[96, "control-plugins"]], "Decorator Plugins": [[96, "decorator-plugins"]], "Collision Monitor": [[97, "collision-monitor"]], "Provided Nodes": [[97, "provided-nodes"]], "Constrained smoother": [[98, "constrained-smoother"]], "Smoother Server Parameters": [[98, "smoother-server-parameters"], [116, "smoother-server-parameters"]], "Controller Server": [[99, "controller-server"], [181, "controller-server"]], "Provided Plugins": [[99, "provided-plugins"], [115, "provided-plugins"], [119, "provided-plugins"]], "Costmap 2D": [[100, "costmap-2d"], [185, "costmap-2d"]], "Costmap2D ROS Parameters": [[100, "costmap2d-ros-parameters"]], "Plugin Parameters": [[100, "plugin-parameters"]], "Costmap Filters Parameters": [[100, "costmap-filters-parameters"]], "Coverage Server": [[101, "coverage-server"]], "Docking Server": [[102, "docking-server"]], "SimpleChargingDock Parameters": [[102, "simplechargingdock-parameters"]], "DWB Controller": [[103, "dwb-controller"], [130, "dwb-controller"]], "Controller": [[103, "controller"]], "Plugins": [[103, "plugins"]], "Trajectory Critics": [[103, "trajectory-critics"]], "Graceful Controller": [[104, "graceful-controller"]], "Graceful Controller Parameters": [[104, "graceful-controller-parameters"]], "Lifecycle Manager": [[105, "lifecycle-manager"]], "Loopback Simulator": [[106, "loopback-simulator"]], "Map Server / Saver": [[107, "map-server-saver"]], "Map Saver Parameters": [[107, "map-saver-parameters"]], "Map Server Parameters": [[107, "map-server-parameters"]], "Costmap Filter Info Server Parameters": [[107, "costmap-filter-info-server-parameters"]], "Model Predictive Path Integral Controller": [[108, "model-predictive-path-integral-controller"]], "MPPI 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"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, 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"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 K-Turtle": [[170, "jazzy-to-k-turtle"]], "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"]], "New BT Nodes": [[170, "new-bt-nodes"]], "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"]], "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"]], "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. Prepare filter mask": [[200, "prepare-filter-mask"], [202, "prepare-filter-mask"]], "2. Configure Costmap Filter Info Publisher Server": [[200, "configure-costmap-filter-info-publisher-server"], [202, "configure-costmap-filter-info-publisher-server"]], "3. Enable Keepout Filter": [[200, "enable-keepout-filter"]], "4. Run Nav2 stack": [[200, "run-nav2-stack"], [202, "run-nav2-stack"]], "(SLAM) Navigating While Mapping": [[201, "slam-navigating-while-mapping"]], "0- Launch Robot Interfaces": [[201, "launch-robot-interfaces"]], "1- Launch Navigation2": [[201, "launch-navigation2"]], "2- Launch SLAM": [[201, "launch-slam"]], "3- Working with SLAM": [[201, "working-with-slam"]], "4- Getting Started Simplification": [[201, "getting-started-simplification"]], "Navigating with Speed Limits": [[202, "navigating-with-speed-limits"]], "3. Enable Speed Filter": [[202, "enable-speed-filter"]], "(STVL) Using an External Costmap Plugin": [[203, "stvl-using-an-external-costmap-plugin"]], "Costmap2D and STVL": [[203, "costmap2d-and-stvl"]], "0- Setup": [[203, "setup"]], "1- Install STVL": [[203, "install-stvl"]], "1- Modify Navigation2 Parameter": [[203, "modify-navigation2-parameter"]], "2- Launch Navigation2": [[203, "launch-navigation2"]], "3- RVIZ": [[203, "rviz"]], "Using Collision Monitor": [[204, "using-collision-monitor"]], "Configuring Collision Monitor": [[204, "configuring-collision-monitor"]], "Configuring Collision Monitor with VelocityPolygon": [[204, "configuring-collision-monitor-with-velocitypolygon"]], "Preparing Nav2 stack": [[204, "preparing-nav2-stack"]], "Demo Execution": [[204, "demo-execution"], [207, "demo-execution"]], "Using Docking Server": [[205, "using-docking-server"]], "ChargingDock Plugins": [[205, "chargingdock-plugins"]], "Dock Database": [[205, "dock-database"]], "Configuring Docking Server": [[205, "configuring-docking-server"]], "Adding Docking Server to Launch": [[205, "adding-docking-server-to-launch"]], "Docking Action API": [[205, "docking-action-api"]], "Putting It All Together": [[205, "putting-it-all-together"]], "Groot - Interacting with Behavior Trees": [[206, "groot-interacting-with-behavior-trees"]], "Visualize Behavior Trees": [[206, "visualize-behavior-trees"]], "Edit Behavior Trees": [[206, "edit-behavior-trees"]], "Adding A Custom Node": [[206, "adding-a-custom-node"]], "Using Rotation Shim Controller": [[207, "using-rotation-shim-controller"]], "What is the Rotation Shim Controller?": [[207, "what-is-the-rotation-shim-controller"]], "Configuring Rotation Shim Controller": [[207, "configuring-rotation-shim-controller"]], "Configuring Primary Controller": [[207, "configuring-primary-controller"]], "General Tutorials": [[208, "general-tutorials"]]}, "indexentries": {}}) \ No newline at end of file