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Merge branch 'master' into update-new-gazebo
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‎.gitignore

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_build
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lib/
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bin/
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pyvenv.cfg

‎about/images/waratah.png

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‎about/robots.rst

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| |soon| + |botr| + |soon| |
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+------------------------+------------------------+------------------------+
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Research Robots
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================
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+------------------------+------------------------+------------------------+
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| |waratah| + |soon| + |soon| |
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+------------------------+------------------------+------------------------+
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.. |botr| image:: images/botronics.png
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:width: 100%
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:align: middle
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:align: middle
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:alt: Husarion ROSbot XL
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:target: https://github.com/husarion/rosbot-xl-autonomy
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.. |waratah| image:: images/waratah.png
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:width: 100%
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:align: middle
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:alt: Waratah from Monash Nova Rocer
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:target: https://www.novarover.space/
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‎about/roscon.rst

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.. _roscon:
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ROSCon Talks
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############
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Below is a list of ROSCon talks that have been given by the Nav2 team and the community which describe important features, tuning and configuration advice, and how to work with them in your applications.
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Nav2 Developer Talks
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--------------------
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- `ROSCon 2024: On Use of Nav2 Docking <https://vimeo.com/1024971348>`_
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- `ROSCon FR 2023: Nav2 Whys over What's: Navigating the Philosophies Behind the Features <https://www.youtube.com/watch?v=2W3zWO-msEo>`_
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- `ROSCon 2023: On Use of Nav2 MPPI Controller <https://vimeo.com/879001391>`_
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- `ROSCon 2023: Bidirectional navigation with Nav2 <https://vimeo.com/879000809>`_
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- `ROSCon 2022: On Use of Nav2 Smac Planners <https://vimeo.com/showcase/9954564/video/767157646>`_
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- `ROSCon JP 2021: The Past, Present, and Future of Navigation <https://vimeo.com/638041661/a5306a02ab>`_
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- `ROSCon 2021: Chronicles of Caching and Containerising CI for Nav2 <https://vimeo.com/649647161>`_
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- `ROSCon 2020: Navigation2: The Next Generation Navigation System <https://vimeo.com/showcase/7812155/video/480604621>`_
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- `ROSCon 2019: On Use of SLAM Toolbox <https://vimeo.com/378682207>`_
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- `ROSCon 2019: Navigation 2 Overview <https://vimeo.com/378682188>`_
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- `ROSCon 2018: On Use of the Spatio-Temporal Voxel Layer <https://vimeo.com/292699571>`_
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Community's Talks
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-----------------
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- `ROSCon ES 2024: Navegación robusta en ROS2 <https://vimeo.com/showcase/11453818/video/1029492785>`_
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- `ROSCon 2022: BehaviorTree.CPP 4.0. What is new and roadmap <https://vimeo.com/showcase/9954564/video/767160437>`_
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- `ROSCon 2024: Mobile Robotics Scale-up Leveraging ROS <https://vimeo.com/1024971160>`_
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- `ROSCon 2024: Radar Tracks for Path Planning in the presence of Dynamic Obstacles <https://vimeo.com/1024971565>`_

‎configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst

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:goals:
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============================================= =======
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Type Default
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--------------------------------------------- -------
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vector<geometry_msgs::msg::PoseStamped> N/A
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============================================= =======
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===================================== =======
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Type Default
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------------------------------------- -------
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geometry_msgs::msg::PoseStampedArray N/A
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===================================== =======
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Description
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Goal poses. Takes in a blackboard variable, e.g. "{goals}".

‎configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst

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:goals:
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============================================= =======
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Type Default
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--------------------------------------------- -------
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vector<geometry_msgs::msg::PoseStamped> N/A
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============================================= =======
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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Description
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Goal poses. Takes in a blackboard variable, e.g. "{goals}".

‎configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst

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:input_goals:
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=============================== =======
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Type Default
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------------------------------- -------
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geometry_msgs::msg::PoseStamped N/A
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=============================== =======
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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Description
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A vector of goals to check if in collision

‎configuration/packages/bt-plugins/actions/RemovePassedGoals.rst

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:input_goals:
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===================================== =======
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Type Default
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------------------------------------- -------
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geometry_msgs::msg::PoseStamped N/A
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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A vector of goals to check if it passed any in the current iteration.
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:output_goals:
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geometry_msgs::msg::PoseStamped N/A
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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A vector of goals with goals removed in proximity to the robot

‎configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst

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:goals:
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============================================ =========
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Type Default
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-------------------------------------------- ---------
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std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
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============================================ =========
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================================== =========
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Description
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/bt-plugins/conditions/GoalUpdated.rst

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:goals:
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-------------------------------------------- ---------
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std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================================== =========
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/bt-plugins/decorators/GoalUpdater.rst

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GoalUpdater
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===========
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A custom control node, which updates the goal pose. It subscribes to a topic in which it can receive an updated goal pose to use instead of the one commanded in action. It is useful for dynamic object following tasks.
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A custom control node, which updates the goal(s) pose(s). It subscribes to a topic in which it can receive (an) updated goal(s) pose(s) to use instead of the one(s) commanded in action. It is useful for dynamic object following tasks.
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Description
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The topic to receive the updated goal pose
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:goals_updater_topic:
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====== ===============
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Type Default
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------ ---------------
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string "goals_update"
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====== ===============
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Description
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The topic to receive the updated goals poses
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Input Ports
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The original goal pose
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:input_goals:
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============================== =======
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Type Default
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geometry_msgs/PoseStampedArray N/A
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============================== =======
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The original goals poses
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The resulting updated goal. If no goal received by subscription, it will be the input_goal
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:output_goals:
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Type Default
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geometry_msgs/PoseStampedArray N/A
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The resulting updated goals. If no goals received by subscription, it will be the input_goals
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.. code-block:: xml
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<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
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<GoalUpdater input_goal="{goal}" input_goals="{goals}" output_goal="{goal}" output_goals="{goals}">
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<!--Add tree components here--->
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</GoalUpdater>

‎configuration/packages/bt-plugins/decorators/SpeedController.rst

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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/configuring-costmaps.rst

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costmap-plugins/voxel.rst
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costmap-plugins/range.rst
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costmap-plugins/denoise.rst
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costmap-plugins/plugin_container.rst
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Costmap Filters Parameters
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**************************

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