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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -1047,7 +1047,7 @@
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 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -1047,7 +1047,7 @@
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+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -1047,7 +1047,7 @@
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
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diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -1047,7 +1047,7 @@
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-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -1047,7 +1047,7 @@
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+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -1047,7 +1047,7 @@
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-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -1047,7 +1047,7 @@
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-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -1047,7 +1047,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -1047,7 +1047,7 @@
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 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-panel-for-docking">New RViz panel for Docking</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-bt-nodes">New BT Nodes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#bt-nodes-changes">BT Nodes Changes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-rviz-tool-for-costmap-cost-cell-inspection">New RViz Tool for Costmap Cost Cell Inspection</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#fix-flickering-visualization">Fix flickering visualization</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>