Parameter history

Every extracted value change, newest first (bulk additions in initial or large commits are listed on their entry pages). Also available as changes.json.

Date	Change	Name	Old	New	Δ
Oct 9, 2026	added	`route_server.transform_staleness_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Oct 9, 2026	changed	`bt_navigator.bt_search_directories` nav2_bringup/params/nav2_params.yaml	`[$(find-pkg-share nav2_bt_navigator)/behavior_trees]`	`[$(find-pkg-share nav2_bt_navigator)/behavior_trees, $(find-pkg-share nav2_bt_navigator)/behavior_trees/subtrees]`
Oct 2, 2026	added	`bt_navigator.navigate_to_pose.transform_staleness_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Oct 2, 2026	added	`bt_navigator.navigate_through_poses.transform_staleness_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Sep 22, 2026	added	`behavior_server.spin.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Sep 22, 2026	added	`behavior_server.spin.rotational_acc_lim` nav2_bringup/params/nav2_params.yaml	—	`3.2`
Sep 22, 2026	added	`behavior_server.spin.min_rotational_vel` nav2_bringup/params/nav2_params.yaml	—	`0.4`
Sep 22, 2026	added	`behavior_server.spin.max_rotational_vel` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Sep 22, 2026	removed	`behavior_server.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	`2.0`	—
Sep 22, 2026	removed	`behavior_server.rotational_acc_lim` nav2_bringup/params/nav2_params.yaml	`3.2`	—
Sep 22, 2026	removed	`behavior_server.min_rotational_vel` nav2_bringup/params/nav2_params.yaml	`0.4`	—
Sep 22, 2026	removed	`behavior_server.max_rotational_vel` nav2_bringup/params/nav2_params.yaml	`1.0`	—
Sep 22, 2026	added	`behavior_server.drive_on_heading.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Sep 22, 2026	added	`behavior_server.backup.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Sep 22, 2026	added	`behavior_server.assisted_teleop.simulation_time_step` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Sep 22, 2026	added	`behavior_server.assisted_teleop.projection_time` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Sep 22, 2026	added	`behavior_server.assisted_teleop.teleop_command_timeout` nav2_bringup/params/nav2_params.yaml	—	`0.25`
Sep 20, 2026	added	`controller_server.transform_staleness_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Aug 15, 2026	changed	`velocity_smoother.max_decel[2]` nav2_bringup/params/nav2_params.yaml	`-3.2`	`-3.5`	−9.38%
Aug 15, 2026	changed	`velocity_smoother.max_decel[0]` nav2_bringup/params/nav2_params.yaml	`-2.5`	`-3.0`	−20%
Aug 15, 2026	changed	`velocity_smoother.max_accel[2]` nav2_bringup/params/nav2_params.yaml	`3.2`	`3.5`	+9.38%
Aug 15, 2026	changed	`velocity_smoother.max_accel[0]` nav2_bringup/params/nav2_params.yaml	`2.5`	`3.0`	+20%
Aug 6, 2026	added	`planner_server.GridBased.max_cycles_factor` nav2_bringup/params/nav2_params.yaml	—	`4`
Jun 8, 2026	added	`controller_server.FollowPath.model_delay_wz` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Jun 8, 2026	added	`controller_server.FollowPath.model_delay_vy` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Jun 8, 2026	added	`controller_server.FollowPath.model_delay_vx` nav2_bringup/params/nav2_params.yaml	—	`0.0`
May 7, 2026	added	`controller_server.FollowPath.open_loop` nav2_bringup/params/nav2_params.yaml	—	`false`
Apr 21, 2026	changed	`controller_server.FollowPath.motion_model` nav2_bringup/params/nav2_params.yaml	`"DiffDrive"`	`"diff_drive"`
Apr 21, 2026	added	`controller_server.FollowPath.diff_drive.plugin` nav2_bringup/params/nav2_params.yaml	—	`"mppi::DiffDriveMotionModel"`
Apr 21, 2026	removed	`controller_server.FollowPath.AckermannConstraints.min_turning_r` nav2_bringup/params/nav2_params.yaml	`0.2`	—
Jan 26, 2026	added	`bt_navigator.default_cancel_timeout` nav2_bringup/params/nav2_params.yaml	—	`50`
Jan 15, 2026	added	`bt_navigator.navigate_to_pose.search_window` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jan 15, 2026	added	`bt_navigator.navigate_through_poses.search_window` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jan 13, 2026	added	`amcl.random_seed` nav2_bringup/params/nav2_params.yaml	—	`-1`
Dec 29, 2025	added	`controller_server.path_handler_plugins` nav2_bringup/params/nav2_params.yaml	—	`["PathHandler"]`
Dec 29, 2025	added	`controller_server.general_goal_checker.path_length_tolerance` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Dec 29, 2025	added	`controller_server.PathHandler.reject_unit_path` nav2_bringup/params/nav2_params.yaml	—	`False`
Dec 29, 2025	added	`controller_server.PathHandler.prune_distance` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Dec 29, 2025	added	`controller_server.PathHandler.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_controller::FeasiblePathHandler"`
Dec 29, 2025	added	`controller_server.PathHandler.minimum_rotation_angle` nav2_bringup/params/nav2_params.yaml	—	`0.785`
Dec 29, 2025	added	`controller_server.PathHandler.inversion_yaw_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.4`
Dec 29, 2025	added	`controller_server.PathHandler.inversion_xy_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.2`
Dec 29, 2025	added	`controller_server.PathHandler.enforce_path_rotation` nav2_bringup/params/nav2_params.yaml	—	`False`
Dec 29, 2025	added	`controller_server.PathHandler.enforce_path_inversion` nav2_bringup/params/nav2_params.yaml	—	`False`
Dec 29, 2025	removed	`controller_server.FollowPath.transform_tolerance` nav2_bringup/params/nav2_params.yaml	`0.1`	—
Dec 29, 2025	removed	`controller_server.FollowPath.prune_distance` nav2_bringup/params/nav2_params.yaml	`1.7`	—
Nov 18, 2025	added	`planner_server.allow_partial_planning` nav2_bringup/params/nav2_params.yaml	—	`false`
Oct 9, 2025	changed	`bt_navigator.error_code_name_prefixes` nav2_bringup/params/nav2_params.yaml	`[assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_path, nav_thru_poses, nav_to_pose, route, spin, smoother, undock_robot, wait]`	`[assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_object, follow_path, nav_thru_poses, nav_to_pose, route, spin, smoother, undock_robot, wait]`
Sep 26, 2025	added	`collision_monitor.enabled` nav2_bringup/params/nav2_params.yaml	—	`True`
Aug 19, 2025	added	`bt_navigator.bt_search_directories` nav2_bringup/params/nav2_params.yaml	—	`[$(find-pkg-share nav2_bt_navigator)/behavior_trees]`
Jul 10, 2025	added	`controller_server.FollowPath.TrajectoryValidator.plugin` nav2_bringup/params/nav2_params.yaml	—	`"mppi::DefaultOptimalTrajectoryValidator"`
Jul 10, 2025	added	`controller_server.FollowPath.TrajectoryValidator.consider_footprint` nav2_bringup/params/nav2_params.yaml	—	`false`
Jul 10, 2025	added	`controller_server.FollowPath.TrajectoryValidator.collision_lookahead_time` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jul 2, 2025	removed	`waypoint_follower.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`waypoint_follower.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`planner_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`planner_server.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`map_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`map_server.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`map_saver.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`map_saver.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`local_costmap.local_costmap.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`local_costmap.local_costmap.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`global_costmap.global_costmap.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`global_costmap.global_costmap.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`docking_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`docking_server.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`bt_navigator.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`bt_navigator.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jul 2, 2025	removed	`amcl.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	`"disabled"`	—
Jul 2, 2025	added	`amcl.introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Jun 12, 2025	added	`route_server.smooth_corners` nav2_bringup/params/nav2_params.yaml	—	`true`
Jun 1, 2025	added	`local_costmap.local_costmap.keepout_filter.override_lethal_cost` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 1, 2025	added	`local_costmap.local_costmap.keepout_filter.lethal_override_cost` nav2_bringup/params/nav2_params.yaml	—	`200`
Jun 1, 2025	added	`global_costmap.global_costmap.keepout_filter.override_lethal_cost` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 1, 2025	added	`global_costmap.global_costmap.keepout_filter.lethal_override_cost` nav2_bringup/params/nav2_params.yaml	—	`200`
May 27, 2025	changed	`local_costmap.local_costmap.keepout_filter.enabled` nav2_bringup/params/nav2_params.yaml	`True`	`KEEPOUT_ZONE_ENABLED`
May 27, 2025	changed	`global_costmap.global_costmap.speed_filter.enabled` nav2_bringup/params/nav2_params.yaml	`True`	`SPEED_ZONE_ENABLED`
May 27, 2025	changed	`global_costmap.global_costmap.keepout_filter.enabled` nav2_bringup/params/nav2_params.yaml	`True`	`KEEPOUT_ZONE_ENABLED`
May 20, 2025	removed	`waypoint_follower.action_server_result_timeout` nav2_bringup/params/nav2_params.yaml	`900.0`	—
May 20, 2025	removed	`bt_navigator.action_server_result_timeout` nav2_bringup/params/nav2_params.yaml	`900.0`	—
May 20, 2025	added	`loopback_simulator.scan_use_inf` nav2_bringup/params/nav2_params.yaml	—	`true`
May 20, 2025	added	`loopback_simulator.scan_range_min` nav2_bringup/params/nav2_params.yaml	—	`0.05`
May 20, 2025	added	`loopback_simulator.scan_range_max` nav2_bringup/params/nav2_params.yaml	—	`30.0`
May 20, 2025	added	`loopback_simulator.scan_angle_min` nav2_bringup/params/nav2_params.yaml	—	`-3.1415`
May 20, 2025	added	`loopback_simulator.scan_angle_max` nav2_bringup/params/nav2_params.yaml	—	`3.1415`
May 20, 2025	added	`loopback_simulator.scan_angle_increment` nav2_bringup/params/nav2_params.yaml	—	`0.02617`
May 15, 2025	added	`speed_filter_mask_server.topic_name` nav2_bringup/params/nav2_params.yaml	—	`"speed_filter_mask"`
May 15, 2025	added	`speed_costmap_filter_info_server.type` nav2_bringup/params/nav2_params.yaml	—	`1`
May 15, 2025	added	`speed_costmap_filter_info_server.multiplier` nav2_bringup/params/nav2_params.yaml	—	`-1.0`
May 15, 2025	added	`speed_costmap_filter_info_server.mask_topic` nav2_bringup/params/nav2_params.yaml	—	`"speed_filter_mask"`
May 15, 2025	added	`speed_costmap_filter_info_server.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"speed_costmap_filter_info"`
May 15, 2025	added	`speed_costmap_filter_info_server.base` nav2_bringup/params/nav2_params.yaml	—	`100.0`
May 15, 2025	changed	`local_costmap.local_costmap.keepout_filter.filter_info_topic` nav2_bringup/params/nav2_params.yaml	`"costmap_filter_info"`	`"keepout_costmap_filter_info"`
May 15, 2025	added	`keepout_filter_mask_server.topic_name` nav2_bringup/params/nav2_params.yaml	—	`"keepout_filter_mask"`
May 15, 2025	added	`keepout_costmap_filter_info_server.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"keepout_costmap_filter_info"`
May 15, 2025	added	`global_costmap.global_costmap.speed_filter.speed_limit_topic` nav2_bringup/params/nav2_params.yaml	—	`"speed_limit"`
May 15, 2025	added	`global_costmap.global_costmap.speed_filter.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_costmap_2d::SpeedFilter"`
May 15, 2025	added	`global_costmap.global_costmap.speed_filter.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"speed_costmap_filter_info"`
May 15, 2025	added	`global_costmap.global_costmap.speed_filter.enabled` nav2_bringup/params/nav2_params.yaml	—	`True`
May 15, 2025	changed	`global_costmap.global_costmap.keepout_filter.filter_info_topic` nav2_bringup/params/nav2_params.yaml	`"costmap_filter_info"`	`"keepout_costmap_filter_info"`
May 15, 2025	changed	`global_costmap.global_costmap.filters` nav2_bringup/params/nav2_params.yaml	`["keepout_filter"]`	`["keepout_filter", "speed_filter"]`
May 15, 2025	removed	`filter_mask_server.topic_name` nav2_bringup/params/nav2_params.yaml	`"keepout_filter_mask"`	—
May 15, 2025	removed	`costmap_filter_info_server.filter_info_topic` nav2_bringup/params/nav2_params.yaml	`"costmap_filter_info"`	—
May 15, 2025	added	`controller_server.speed_limit_topic` nav2_bringup/params/nav2_params.yaml	—	`"speed_limit"`
May 9, 2025	added	`local_costmap.local_costmap.keepout_filter.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_costmap_2d::KeepoutFilter"`
May 9, 2025	added	`local_costmap.local_costmap.keepout_filter.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"costmap_filter_info"`
May 9, 2025	added	`local_costmap.local_costmap.keepout_filter.enabled` nav2_bringup/params/nav2_params.yaml	—	`True`
May 9, 2025	added	`local_costmap.local_costmap.filters` nav2_bringup/params/nav2_params.yaml	—	`["keepout_filter"]`
May 9, 2025	added	`global_costmap.global_costmap.keepout_filter.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_costmap_2d::KeepoutFilter"`
May 9, 2025	added	`global_costmap.global_costmap.keepout_filter.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"costmap_filter_info"`
May 9, 2025	added	`global_costmap.global_costmap.keepout_filter.enabled` nav2_bringup/params/nav2_params.yaml	—	`True`
May 9, 2025	added	`global_costmap.global_costmap.filters` nav2_bringup/params/nav2_params.yaml	—	`["keepout_filter"]`
May 9, 2025	added	`filter_mask_server.topic_name` nav2_bringup/params/nav2_params.yaml	—	`"keepout_filter_mask"`
May 9, 2025	added	`costmap_filter_info_server.type` nav2_bringup/params/nav2_params.yaml	—	`0`
May 9, 2025	added	`costmap_filter_info_server.multiplier` nav2_bringup/params/nav2_params.yaml	—	`1.0`
May 9, 2025	added	`costmap_filter_info_server.mask_topic` nav2_bringup/params/nav2_params.yaml	—	`"keepout_filter_mask"`
May 9, 2025	added	`costmap_filter_info_server.filter_info_topic` nav2_bringup/params/nav2_params.yaml	—	`"costmap_filter_info"`
May 9, 2025	added	`costmap_filter_info_server.base` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Apr 28, 2025	changed	`smoother_server.smoother_plugins` nav2_bringup/params/nav2_params.yaml	`["simple_smoother"]`	`["simple_smoother", "route_smoother"]`
Apr 28, 2025	added	`smoother_server.simple_smoother.refinement_num` nav2_bringup/params/nav2_params.yaml	—	`2`
Apr 28, 2025	added	`smoother_server.simple_smoother.enforce_path_inversion` nav2_bringup/params/nav2_params.yaml	—	`True`
Apr 28, 2025	added	`smoother_server.route_smoother.tolerance` nav2_bringup/params/nav2_params.yaml	—	`1.0e-10`
Apr 28, 2025	added	`smoother_server.route_smoother.refinement_num` nav2_bringup/params/nav2_params.yaml	—	`5`
Apr 28, 2025	added	`smoother_server.route_smoother.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_smoother::SimpleSmoother"`
Apr 28, 2025	added	`smoother_server.route_smoother.max_its` nav2_bringup/params/nav2_params.yaml	—	`1000`
Apr 28, 2025	added	`smoother_server.route_smoother.enforce_path_inversion` nav2_bringup/params/nav2_params.yaml	—	`False`
Apr 28, 2025	added	`smoother_server.route_smoother.do_refinement` nav2_bringup/params/nav2_params.yaml	—	`True`
Apr 28, 2025	added	`route_server.radius_to_achieve_node` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Apr 28, 2025	added	`route_server.operations` nav2_bringup/params/nav2_params.yaml	—	`["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]`
Apr 28, 2025	added	`route_server.edge_cost_functions` nav2_bringup/params/nav2_params.yaml	—	`["DistanceScorer", "CostmapScorer"]`
Apr 28, 2025	added	`route_server.boundary_radius_to_achieve_node` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Apr 28, 2025	added	`route_server.ReroutingService.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_route::ReroutingService"`
Apr 28, 2025	added	`route_server.DistanceScorer.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_route::DistanceScorer"`
Apr 28, 2025	added	`route_server.CostmapScorer.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_route::CostmapScorer"`
Apr 28, 2025	added	`route_server.CollisionMonitor.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_route::CollisionMonitor"`
Apr 28, 2025	added	`route_server.CollisionMonitor.max_collision_dist` nav2_bringup/params/nav2_params.yaml	—	`3.0`
Apr 28, 2025	added	`route_server.AdjustSpeedLimit.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_route::AdjustSpeedLimit"`
Apr 28, 2025	changed	`bt_navigator.error_code_name_prefixes` nav2_bringup/params/nav2_params.yaml	`[assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_path, nav_thru_poses, nav_to_pose, route, spin, undock_robot, wait]`	`[assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_path, nav_thru_poses, nav_to_pose, route, spin, smoother, undock_robot, wait]`
Apr 17, 2025	added	`docking_server.simple_charging_dock.dock_direction` nav2_bringup/params/nav2_params.yaml	—	`"forward"`
Apr 17, 2025	removed	`docking_server.dock_backwards` nav2_bringup/params/nav2_params.yaml	`false`	—
Apr 10, 2025	changed	`docking_server.simple_charging_dock.plugin` nav2_bringup/params/nav2_params.yaml	`'opennav_docking::SimpleChargingDock'`	`"opennav_docking::SimpleChargingDock"`
Apr 10, 2025	added	`bt_navigator.navigate_to_pose.groot_server_port` nav2_bringup/params/nav2_params.yaml	—	`1667`
Apr 10, 2025	added	`bt_navigator.navigate_to_pose.enable_groot_monitoring` nav2_bringup/params/nav2_params.yaml	—	`false`
Apr 10, 2025	added	`bt_navigator.navigate_through_poses.groot_server_port` nav2_bringup/params/nav2_params.yaml	—	`1669`
Apr 10, 2025	added	`bt_navigator.navigate_through_poses.enable_groot_monitoring` nav2_bringup/params/nav2_params.yaml	—	`false`
Apr 8, 2025	changed	`docking_server.controller.footprint_topic` nav2_bringup/params/nav2_params.yaml	`"/local_costmap/published_footprint"`	`"local_costmap/published_footprint"`
Apr 8, 2025	changed	`docking_server.controller.costmap_topic` nav2_bringup/params/nav2_params.yaml	`"/local_costmap/costmap_raw"`	`"local_costmap/costmap_raw"`
Apr 5, 2025	added	`controller_server.FollowPath.publish_optimal_trajectory` nav2_bringup/params/nav2_params.yaml	—	`true`
Apr 4, 2025	added	`controller_server.FollowPath.ay_min` nav2_bringup/params/nav2_params.yaml	—	`-3.0`
Apr 2, 2025	added	`waypoint_follower.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`planner_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`map_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`map_saver.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`local_costmap.local_costmap.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`global_costmap.global_costmap.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`docking_server.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`bt_navigator.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 2, 2025	added	`amcl.service_introspection_mode` nav2_bringup/params/nav2_params.yaml	—	`"disabled"`
Apr 1, 2025	added	`controller_server.FollowPath.CostCritic.near_collision_cost` nav2_bringup/params/nav2_params.yaml	—	`253`
Apr 1, 2025	changed	`controller_server.FollowPath.CostCritic.consider_footprint` nav2_bringup/params/nav2_params.yaml	`true`	`false`
Mar 5, 2025	added	`bt_navigator.filter_duration` nav2_bringup/params/nav2_params.yaml	—	`0.3`
Mar 4, 2025	removed	`bt_navigator.error_code_names` nav2_bringup/params/nav2_params.yaml	`[compute_path_error_code, follow_path_error_code]`	—
Mar 4, 2025	added	`bt_navigator.error_code_name_prefixes` nav2_bringup/params/nav2_params.yaml	—	`[assisted_teleop, backup, compute_path, dock_robot, drive_on_heading, follow_path, nav_thru_poses, nav_to_pose, route, spin, undock_robot, wait]`
Jan 28, 2025	added	`behavior_server.drive_on_heading.minimum_speed` nav2_bringup/params/nav2_params.yaml	—	`0.10`
Jan 28, 2025	added	`behavior_server.drive_on_heading.deceleration_limit` nav2_bringup/params/nav2_params.yaml	—	`-2.5`
Jan 28, 2025	added	`behavior_server.drive_on_heading.acceleration_limit` nav2_bringup/params/nav2_params.yaml	—	`2.5`
Jan 28, 2025	added	`behavior_server.backup.minimum_speed` nav2_bringup/params/nav2_params.yaml	—	`0.10`
Jan 28, 2025	added	`behavior_server.backup.deceleration_limit` nav2_bringup/params/nav2_params.yaml	—	`-2.5`
Jan 28, 2025	added	`behavior_server.backup.acceleration_limit` nav2_bringup/params/nav2_params.yaml	—	`2.5`
Dec 3, 2024	changed	`local_costmap.local_costmap.voxel_layer.scan.topic` nav2_bringup/params/nav2_params.yaml	`/scan`	`scan`
Dec 3, 2024	changed	`global_costmap.global_costmap.obstacle_layer.scan.topic` nav2_bringup/params/nav2_params.yaml	`/scan`	`scan`
Dec 3, 2024	changed	`collision_monitor.FootprintApproach.footprint_topic` nav2_bringup/params/nav2_params.yaml	`"/local_costmap/published_footprint"`	`"local_costmap/published_footprint"`
Dec 3, 2024	changed	`bt_navigator.odom_topic` nav2_bringup/params/nav2_params.yaml	`/odom`	`odom`
Nov 21, 2024	added	`docking_server.controller.use_collision_detection` nav2_bringup/params/nav2_params.yaml	—	`true`
Nov 21, 2024	added	`docking_server.controller.transform_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Nov 21, 2024	added	`docking_server.controller.simulation_step` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Nov 21, 2024	added	`docking_server.controller.projection_time` nav2_bringup/params/nav2_params.yaml	—	`5.0`
Nov 21, 2024	added	`docking_server.controller.footprint_topic` nav2_bringup/params/nav2_params.yaml	—	`"/local_costmap/published_footprint"`
Nov 21, 2024	added	`docking_server.controller.dock_collision_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.3`
Nov 21, 2024	added	`docking_server.controller.costmap_topic` nav2_bringup/params/nav2_params.yaml	—	`"/local_costmap/costmap_raw"`
Sep 12, 2024	added	`planner_server.costmap_update_timeout` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Sep 12, 2024	added	`controller_server.costmap_update_timeout` nav2_bringup/params/nav2_params.yaml	—	`0.30`
Sep 12, 2024	added	`planner_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_all.yaml	—	`1.0`
Sep 12, 2024	added	`controller_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_all.yaml	—	`0.30`
Sep 12, 2024	added	`planner_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1.0`
Sep 12, 2024	added	`controller_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`0.30`
Sep 12, 2024	added	`planner_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1.0`
Sep 12, 2024	added	`controller_server.costmap_update_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`0.30`
Aug 12, 2024	added	`loopback_simulator.update_duration` nav2_bringup/params/nav2_params.yaml	—	`0.02`
Aug 12, 2024	added	`loopback_simulator.scan_frame_id` nav2_bringup/params/nav2_params.yaml	—	`"base_scan"`
Aug 12, 2024	added	`loopback_simulator.odom_frame_id` nav2_bringup/params/nav2_params.yaml	—	`"odom"`
Aug 12, 2024	added	`loopback_simulator.map_frame_id` nav2_bringup/params/nav2_params.yaml	—	`"map"`
Aug 12, 2024	added	`loopback_simulator.base_frame_id` nav2_bringup/params/nav2_params.yaml	—	`"base_footprint"`
Jun 20, 2024	removed	`docking_server.home_dock.type` nav2_bringup/params/nav2_params.yaml	`'simple_charging_dock'`	—
Jun 20, 2024	removed	`docking_server.home_dock.pose` nav2_bringup/params/nav2_params.yaml	`[0.0, 0.0, 0.0]`	—
Jun 20, 2024	removed	`docking_server.home_dock.frame` nav2_bringup/params/nav2_params.yaml	`map`	—
Jun 20, 2024	removed	`docking_server.docks` nav2_bringup/params/nav2_params.yaml	`['home_dock']`	—
Jun 11, 2024	added	`docking_server.wait_charge_timeout` nav2_bringup/params/nav2_params.yaml	—	`5.0`
Jun 11, 2024	added	`docking_server.undock_linear_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.05`
Jun 11, 2024	added	`docking_server.undock_angular_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Jun 11, 2024	added	`docking_server.simple_charging_dock.use_stall_detection` nav2_bringup/params/nav2_params.yaml	—	`false`
Jun 11, 2024	added	`docking_server.simple_charging_dock.use_external_detection_pose` nav2_bringup/params/nav2_params.yaml	—	`true`
Jun 11, 2024	added	`docking_server.simple_charging_dock.use_battery_status` nav2_bringup/params/nav2_params.yaml	—	`false`
Jun 11, 2024	added	`docking_server.simple_charging_dock.staging_x_offset` nav2_bringup/params/nav2_params.yaml	—	`-0.7`
Jun 11, 2024	added	`docking_server.simple_charging_dock.plugin` nav2_bringup/params/nav2_params.yaml	—	`'opennav_docking::SimpleChargingDock'`
Jun 11, 2024	added	`docking_server.simple_charging_dock.filter_coef` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_translation_y` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_translation_x` nav2_bringup/params/nav2_params.yaml	—	`-0.18`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_timeout` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_rotation_yaw` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_rotation_roll` nav2_bringup/params/nav2_params.yaml	—	`-1.57`
Jun 11, 2024	added	`docking_server.simple_charging_dock.external_detection_rotation_pitch` nav2_bringup/params/nav2_params.yaml	—	`-1.57`
Jun 11, 2024	added	`docking_server.simple_charging_dock.docking_threshold` nav2_bringup/params/nav2_params.yaml	—	`0.05`
Jun 11, 2024	added	`docking_server.max_retries` nav2_bringup/params/nav2_params.yaml	—	`3`
Jun 11, 2024	added	`docking_server.initial_perception_timeout` nav2_bringup/params/nav2_params.yaml	—	`5.0`
Jun 11, 2024	added	`docking_server.home_dock.type` nav2_bringup/params/nav2_params.yaml	—	`'simple_charging_dock'`
Jun 11, 2024	added	`docking_server.home_dock.pose` nav2_bringup/params/nav2_params.yaml	—	`[0.0, 0.0, 0.0]`
Jun 11, 2024	added	`docking_server.home_dock.frame` nav2_bringup/params/nav2_params.yaml	—	`map`
Jun 11, 2024	added	`docking_server.fixed_frame` nav2_bringup/params/nav2_params.yaml	—	`"odom"`
Jun 11, 2024	added	`docking_server.docks` nav2_bringup/params/nav2_params.yaml	—	`['home_dock']`
Jun 11, 2024	added	`docking_server.dock_prestaging_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.5`
Jun 11, 2024	added	`docking_server.dock_plugins` nav2_bringup/params/nav2_params.yaml	—	`['simple_charging_dock']`
Jun 11, 2024	added	`docking_server.dock_backwards` nav2_bringup/params/nav2_params.yaml	—	`false`
Jun 11, 2024	added	`docking_server.dock_approach_timeout` nav2_bringup/params/nav2_params.yaml	—	`30.0`
Jun 11, 2024	added	`docking_server.controller_frequency` nav2_bringup/params/nav2_params.yaml	—	`50.0`
Jun 11, 2024	added	`docking_server.controller.v_linear_min` nav2_bringup/params/nav2_params.yaml	—	`0.15`
Jun 11, 2024	added	`docking_server.controller.v_linear_max` nav2_bringup/params/nav2_params.yaml	—	`0.15`
Jun 11, 2024	added	`docking_server.controller.k_phi` nav2_bringup/params/nav2_params.yaml	—	`3.0`
Jun 11, 2024	added	`docking_server.controller.k_delta` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jun 11, 2024	added	`docking_server.base_frame` nav2_bringup/params/nav2_params.yaml	—	`"base_link"`
Jun 6, 2024	changed	`map_server.yaml_filename` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"turtlebot3_world.yaml"`	`"tb3_sandbox.yaml"`
Jun 6, 2024	changed	`map_server.yaml_filename` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"turtlebot3_world.yaml"`	`"tb3_sandbox.yaml"`
Jun 5, 2024	added	`[6].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"geometry_msgs/msg/Twist"`
Jun 5, 2024	added	`[6].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"cmd_vel"`
Jun 5, 2024	added	`[6].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.Twist"`
Jun 5, 2024	added	`[6].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/cmd_vel"`
Jun 5, 2024	added	`[6].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`ROS_TO_GZ`
Jun 5, 2024	added	`[5].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"sensor_msgs/msg/LaserScan"`
Jun 5, 2024	added	`[5].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"scan"`
Jun 5, 2024	added	`[5].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.LaserScan"`
Jun 5, 2024	added	`[5].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/scan"`
Jun 5, 2024	added	`[5].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 5, 2024	added	`[4].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"sensor_msgs/msg/Imu"`
Jun 5, 2024	added	`[4].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"imu"`
Jun 5, 2024	added	`[4].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.IMU"`
Jun 5, 2024	added	`[4].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/imu"`
Jun 5, 2024	added	`[4].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 5, 2024	added	`[3].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"tf2_msgs/msg/TFMessage"`
Jun 5, 2024	added	`[3].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"tf"`
Jun 5, 2024	added	`[3].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.Pose_V"`
Jun 5, 2024	added	`[3].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/tf"`
Jun 5, 2024	added	`[3].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 5, 2024	added	`[2].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"nav_msgs/msg/Odometry"`
Jun 5, 2024	added	`[2].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"odom"`
Jun 5, 2024	added	`[2].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.Odometry"`
Jun 5, 2024	added	`[2].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/odom"`
Jun 5, 2024	added	`[2].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 5, 2024	added	`[1].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"sensor_msgs/msg/JointState"`
Jun 5, 2024	added	`[1].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"joint_states"`
Jun 5, 2024	added	`[1].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.Model"`
Jun 5, 2024	added	`[1].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"joint_states"`
Jun 5, 2024	added	`[1].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 5, 2024	added	`[0].ros_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"rosgraph_msgs/msg/Clock"`
Jun 5, 2024	added	`[0].ros_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"clock"`
Jun 5, 2024	added	`[0].gz_type_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"gz.msgs.Clock"`
Jun 5, 2024	added	`[0].gz_topic_name` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`"/clock"`
Jun 5, 2024	added	`[0].direction` nav2_bringup/params/turtlebot3_waffle_bridge.yaml	—	`GZ_TO_ROS`
Jun 4, 2024	added	`controller_server.FollowPath.az_max` nav2_bringup/params/nav2_params.yaml	—	`3.5`
Jun 4, 2024	added	`controller_server.FollowPath.ay_max` nav2_bringup/params/nav2_params.yaml	—	`3.0`
Jun 4, 2024	added	`controller_server.FollowPath.ax_min` nav2_bringup/params/nav2_params.yaml	—	`-3.0`
Jun 4, 2024	added	`controller_server.FollowPath.ax_max` nav2_bringup/params/nav2_params.yaml	—	`3.0`
Apr 2, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_navfn_planner/NavfnPlanner"`	`"nav2_navfn_planner::NavfnPlanner"`
Apr 2, 2024	changed	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_bt_navigator/NavigateToPoseNavigator"`	`"nav2_bt_navigator::NavigateToPoseNavigator"`
Apr 2, 2024	changed	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`
Apr 2, 2024	changed	`behavior_server.wait.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_behaviors/Wait"`	`"nav2_behaviors::Wait"`
Apr 2, 2024	changed	`behavior_server.spin.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_behaviors/Spin"`	`"nav2_behaviors::Spin"`
Apr 2, 2024	changed	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_behaviors/DriveOnHeading"`	`"nav2_behaviors::DriveOnHeading"`
Apr 2, 2024	changed	`behavior_server.backup.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_behaviors/BackUp"`	`"nav2_behaviors::BackUp"`
Apr 2, 2024	changed	`behavior_server.assisted_teleop.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_behaviors/AssistedTeleop"`	`"nav2_behaviors::AssistedTeleop"`
Apr 2, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_navfn_planner/NavfnPlanner"`	`"nav2_navfn_planner::NavfnPlanner"`
Apr 2, 2024	changed	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_bt_navigator/NavigateToPoseNavigator"`	`"nav2_bt_navigator::NavigateToPoseNavigator"`
Apr 2, 2024	changed	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`
Apr 2, 2024	changed	`behavior_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_behaviors/Wait"`	`"nav2_behaviors::Wait"`
Apr 2, 2024	changed	`behavior_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_behaviors/Spin"`	`"nav2_behaviors::Spin"`
Apr 2, 2024	changed	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_behaviors/DriveOnHeading"`	`"nav2_behaviors::DriveOnHeading"`
Apr 2, 2024	changed	`behavior_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_behaviors/BackUp"`	`"nav2_behaviors::BackUp"`
Apr 2, 2024	changed	`behavior_server.assisted_teleop.plugin` nav2_bringup/params/nav2_multirobot_params_all.yaml	`"nav2_behaviors/AssistedTeleop"`	`"nav2_behaviors::AssistedTeleop"`
Apr 2, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_navfn_planner/NavfnPlanner"`	`"nav2_navfn_planner::NavfnPlanner"`
Apr 2, 2024	changed	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_bt_navigator/NavigateToPoseNavigator"`	`"nav2_bt_navigator::NavigateToPoseNavigator"`
Apr 2, 2024	changed	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`
Apr 2, 2024	changed	`behavior_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_behaviors/Wait"`	`"nav2_behaviors::Wait"`
Apr 2, 2024	changed	`behavior_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_behaviors/Spin"`	`"nav2_behaviors::Spin"`
Apr 2, 2024	changed	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_behaviors/DriveOnHeading"`	`"nav2_behaviors::DriveOnHeading"`
Apr 2, 2024	changed	`behavior_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_behaviors/BackUp"`	`"nav2_behaviors::BackUp"`
Apr 2, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_navfn_planner/NavfnPlanner"`	`"nav2_navfn_planner::NavfnPlanner"`
Apr 2, 2024	changed	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_bt_navigator/NavigateToPoseNavigator"`	`"nav2_bt_navigator::NavigateToPoseNavigator"`
Apr 2, 2024	changed	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`
Apr 2, 2024	changed	`behavior_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_behaviors/Wait"`	`"nav2_behaviors::Wait"`
Apr 2, 2024	changed	`behavior_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_behaviors/Spin"`	`"nav2_behaviors::Spin"`
Apr 2, 2024	changed	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_behaviors/DriveOnHeading"`	`"nav2_behaviors::DriveOnHeading"`
Apr 2, 2024	changed	`behavior_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_behaviors/BackUp"`	`"nav2_behaviors::BackUp"`
Mar 27, 2024	changed	`velocity_smoother.min_velocity[2]` nav2_bringup/params/nav2_params.yaml	`-1.0`	`-2.0`	−100%
Mar 27, 2024	changed	`velocity_smoother.min_velocity[0]` nav2_bringup/params/nav2_params.yaml	`-0.26`	`-0.5`	−92.3%
Mar 27, 2024	changed	`velocity_smoother.max_velocity[2]` nav2_bringup/params/nav2_params.yaml	`1.0`	`2.0`	+100%
Mar 27, 2024	changed	`velocity_smoother.max_velocity[0]` nav2_bringup/params/nav2_params.yaml	`0.26`	`0.5`	+92.3%
Mar 27, 2024	changed	`controller_server.FollowPath.transform_tolerance` nav2_bringup/params/nav2_params.yaml	`0.2`	`0.1`	−50%
Mar 27, 2024	changed	`controller_server.FollowPath.plugin` nav2_bringup/params/nav2_params.yaml	`"dwb_core::DWBLocalPlanner"`	`"nav2_mppi_controller::MPPIController"`
Mar 27, 2024	changed	`controller_server.FollowPath.critics` nav2_bringup/params/nav2_params.yaml	`["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]`	`["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]`
Feb 20, 2024	removed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]	—
Feb 20, 2024	removed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_all.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]	—
Feb 20, 2024	removed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]	—
Feb 20, 2024	removed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]	—
Feb 9, 2024	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]
Feb 9, 2024	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_all.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]
Feb 9, 2024	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]
Feb 9, 2024	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node, nav2_progress_checker_selector_bt_node, nav2_smoother_selector_bt_node]
Feb 1, 2024	added	`planner_server.GridBased.use_astar` nav2_bringup/params/nav2_params.yaml	—	`false`
Feb 1, 2024	changed	`planner_server.GridBased.tolerance` nav2_bringup/params/nav2_params.yaml	`0.25`	`0.5`	+100%
Feb 1, 2024	removed	`planner_server.GridBased.smoother.w_smooth` nav2_bringup/params/nav2_params.yaml	`0.3`	—
Feb 1, 2024	removed	`planner_server.GridBased.smoother.w_data` nav2_bringup/params/nav2_params.yaml	`0.2`	—
Feb 1, 2024	removed	`planner_server.GridBased.smoother.tolerance` nav2_bringup/params/nav2_params.yaml	`1.0e-10`	—
Feb 1, 2024	removed	`planner_server.GridBased.smoother.refinement_num` nav2_bringup/params/nav2_params.yaml	`2`	—
Feb 1, 2024	removed	`planner_server.GridBased.smoother.max_iterations` nav2_bringup/params/nav2_params.yaml	`1000`	—
Feb 1, 2024	removed	`planner_server.GridBased.smoother.do_refinement` nav2_bringup/params/nav2_params.yaml	`true`	—
Feb 1, 2024	removed	`planner_server.GridBased.smooth_path` nav2_bringup/params/nav2_params.yaml	`True`	—
Feb 1, 2024	removed	`planner_server.GridBased.rotation_penalty` nav2_bringup/params/nav2_params.yaml	`5.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.reverse_penalty` nav2_bringup/params/nav2_params.yaml	`2.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.retrospective_penalty` nav2_bringup/params/nav2_params.yaml	`0.015`	—
Feb 1, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_smac_planner/SmacPlannerLattice"`	`"nav2_navfn_planner/NavfnPlanner"`
Feb 1, 2024	removed	`planner_server.GridBased.non_straight_penalty` nav2_bringup/params/nav2_params.yaml	`1.05`	—
Feb 1, 2024	removed	`planner_server.GridBased.max_planning_time` nav2_bringup/params/nav2_params.yaml	`5.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.max_on_approach_iterations` nav2_bringup/params/nav2_params.yaml	`1000`	—
Feb 1, 2024	removed	`planner_server.GridBased.max_iterations` nav2_bringup/params/nav2_params.yaml	`1000000`	—
Feb 1, 2024	removed	`planner_server.GridBased.lookup_table_size` nav2_bringup/params/nav2_params.yaml	`20.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.debug_visualizations` nav2_bringup/params/nav2_params.yaml	`true`	—
Feb 1, 2024	removed	`planner_server.GridBased.cost_penalty` nav2_bringup/params/nav2_params.yaml	`2.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.change_penalty` nav2_bringup/params/nav2_params.yaml	`0.05`	—
Feb 1, 2024	removed	`planner_server.GridBased.cache_obstacle_heuristic` nav2_bringup/params/nav2_params.yaml	`false`	—
Feb 1, 2024	removed	`planner_server.GridBased.analytic_expansion_ratio` nav2_bringup/params/nav2_params.yaml	`3.5`	—
Feb 1, 2024	removed	`planner_server.GridBased.analytic_expansion_max_length` nav2_bringup/params/nav2_params.yaml	`3.0`	—
Feb 1, 2024	removed	`planner_server.GridBased.allow_reverse_expansion` nav2_bringup/params/nav2_params.yaml	`false`	—
Jan 10, 2024	removed	`planner_server.GridBased.use_astar` nav2_bringup/params/nav2_params.yaml	`false`	—
Jan 10, 2024	changed	`planner_server.GridBased.tolerance` nav2_bringup/params/nav2_params.yaml	`0.5`	`0.25`	−50%
Jan 10, 2024	added	`planner_server.GridBased.smoother.w_smooth` nav2_bringup/params/nav2_params.yaml	—	`0.3`
Jan 10, 2024	added	`planner_server.GridBased.smoother.w_data` nav2_bringup/params/nav2_params.yaml	—	`0.2`
Jan 10, 2024	added	`planner_server.GridBased.smoother.tolerance` nav2_bringup/params/nav2_params.yaml	—	`1.0e-10`
Jan 10, 2024	added	`planner_server.GridBased.smoother.refinement_num` nav2_bringup/params/nav2_params.yaml	—	`2`
Jan 10, 2024	added	`planner_server.GridBased.smoother.max_iterations` nav2_bringup/params/nav2_params.yaml	—	`1000`
Jan 10, 2024	added	`planner_server.GridBased.smoother.do_refinement` nav2_bringup/params/nav2_params.yaml	—	`true`
Jan 10, 2024	added	`planner_server.GridBased.smooth_path` nav2_bringup/params/nav2_params.yaml	—	`True`
Jan 10, 2024	added	`planner_server.GridBased.rotation_penalty` nav2_bringup/params/nav2_params.yaml	—	`5.0`
Jan 10, 2024	added	`planner_server.GridBased.reverse_penalty` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jan 10, 2024	added	`planner_server.GridBased.retrospective_penalty` nav2_bringup/params/nav2_params.yaml	—	`0.015`
Jan 10, 2024	changed	`planner_server.GridBased.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_navfn_planner/NavfnPlanner"`	`"nav2_smac_planner/SmacPlannerLattice"`
Jan 10, 2024	added	`planner_server.GridBased.non_straight_penalty` nav2_bringup/params/nav2_params.yaml	—	`1.05`
Jan 10, 2024	added	`planner_server.GridBased.max_planning_time` nav2_bringup/params/nav2_params.yaml	—	`5.0`
Jan 10, 2024	added	`planner_server.GridBased.max_on_approach_iterations` nav2_bringup/params/nav2_params.yaml	—	`1000`
Jan 10, 2024	added	`planner_server.GridBased.max_iterations` nav2_bringup/params/nav2_params.yaml	—	`1000000`
Jan 10, 2024	added	`planner_server.GridBased.lookup_table_size` nav2_bringup/params/nav2_params.yaml	—	`20.0`
Jan 10, 2024	added	`planner_server.GridBased.debug_visualizations` nav2_bringup/params/nav2_params.yaml	—	`true`
Jan 10, 2024	added	`planner_server.GridBased.cost_penalty` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Jan 10, 2024	added	`planner_server.GridBased.change_penalty` nav2_bringup/params/nav2_params.yaml	—	`0.05`
Jan 10, 2024	added	`planner_server.GridBased.cache_obstacle_heuristic` nav2_bringup/params/nav2_params.yaml	—	`false`
Jan 10, 2024	added	`planner_server.GridBased.analytic_expansion_ratio` nav2_bringup/params/nav2_params.yaml	—	`3.5`
Jan 10, 2024	added	`planner_server.GridBased.analytic_expansion_max_length` nav2_bringup/params/nav2_params.yaml	—	`3.0`
Jan 10, 2024	added	`planner_server.GridBased.allow_reverse_expansion` nav2_bringup/params/nav2_params.yaml	—	`false`
Dec 13, 2023	changed	`local_costmap.local_costmap.inflation_layer.inflation_radius` nav2_bringup/params/nav2_params.yaml	`0.55`	`0.70`	+27.3%
Dec 13, 2023	changed	`global_costmap.global_costmap.inflation_layer.inflation_radius` nav2_bringup/params/nav2_params.yaml	`0.55`	`0.7`	+27.3%
Dec 13, 2023	changed	`collision_monitor.FootprintApproach.time_before_collision` nav2_bringup/params/nav2_params.yaml	`2.0`	`1.2`	−40%
Nov 20, 2023	added	`controller_server.use_realtime_priority` nav2_bringup/params/nav2_params.yaml	—	`false`
Nov 20, 2023	added	`bt_navigator.wait_for_service_timeout` nav2_bringup/params/nav2_params.yaml	—	`1000`
Nov 20, 2023	added	`bt_navigator.wait_for_service_timeout` nav2_bringup/params/nav2_multirobot_params_all.yaml	—	`1000`
Nov 20, 2023	added	`bt_navigator.wait_for_service_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1000`
Nov 20, 2023	added	`bt_navigator.wait_for_service_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1000`
Sep 9, 2023	added	`waypoint_follower.action_server_result_timeout` nav2_bringup/params/nav2_params.yaml	—	`900.0`
Sep 9, 2023	added	`bt_navigator.action_server_result_timeout` nav2_bringup/params/nav2_params.yaml	—	`900.0`
Sep 9, 2023	added	`waypoint_follower.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_all.yaml	—	`900.0`
Sep 9, 2023	added	`bt_navigator.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_all.yaml	—	`900.0`
Sep 9, 2023	added	`waypoint_follower.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`900.0`
Sep 9, 2023	added	`bt_navigator.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`900.0`
Sep 9, 2023	added	`waypoint_follower.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`900.0`
Sep 9, 2023	added	`bt_navigator.action_server_result_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`900.0`
May 17, 2023	added	`controller_server.progress_checker_plugins` nav2_bringup/params/nav2_params.yaml	—	`["progress_checker"]`
May 17, 2023	removed	`controller_server.progress_checker_plugin` nav2_bringup/params/nav2_params.yaml	`"progress_checker"`	—
May 17, 2023	added	`controller_server.progress_checker_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`["progress_checker"]`
May 17, 2023	removed	`controller_server.progress_checker_plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"progress_checker"`	—
May 17, 2023	added	`controller_server.progress_checker_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`["progress_checker"]`
May 17, 2023	removed	`controller_server.progress_checker_plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"progress_checker"`	—
May 9, 2023	added	`behavior_server.global_frame` nav2_bringup/params/nav2_params.yaml	—	`map`
May 9, 2023	removed	`behavior_server.global_flame` nav2_bringup/params/nav2_params.yaml	`map`	—
May 8, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]
May 8, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]
May 8, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node, nav2_is_battery_charging_condition_bt_node]
Jan 26, 2023	changed	`local_costmap.local_costmap.plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	`["obstacle_layer", "inflation_layer"]`	`["voxel_layer", "inflation_layer"]`
Jan 26, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jan 26, 2023	changed	`local_costmap.local_costmap.plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	`["obstacle_layer", "inflation_layer"]`	`["voxel_layer", "inflation_layer"]`
Jan 26, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jan 10, 2023	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jan 4, 2023	added	`bt_navigator.navigators` nav2_bringup/params/nav2_params.yaml	—	`["navigate_to_pose", "navigate_through_poses"]`
Jan 4, 2023	added	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_bt_navigator/NavigateToPoseNavigator"`
Jan 4, 2023	added	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`
Jan 4, 2023	added	`bt_navigator.navigators` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`["navigate_to_pose", "navigate_through_poses"]`
Jan 4, 2023	added	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_bt_navigator/NavigateToPoseNavigator"`
Jan 4, 2023	added	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`
Jan 4, 2023	added	`bt_navigator.navigators` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`["navigate_to_pose", "navigate_through_poses"]`
Jan 4, 2023	added	`bt_navigator.navigate_to_pose.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_bt_navigator/NavigateToPoseNavigator"`
Jan 4, 2023	added	`bt_navigator.navigate_through_poses.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_bt_navigator/NavigateThroughPosesNavigator"`
Dec 13, 2022	added	`behavior_server.local_frame` nav2_bringup/params/nav2_params.yaml	—	`odom`
Dec 13, 2022	added	`behavior_server.local_footprint_topic` nav2_bringup/params/nav2_params.yaml	—	`local_costmap/published_footprint`
Dec 13, 2022	added	`behavior_server.local_costmap_topic` nav2_bringup/params/nav2_params.yaml	—	`local_costmap/costmap_raw`
Dec 13, 2022	removed	`behavior_server.global_frame` nav2_bringup/params/nav2_params.yaml	`odom`	—
Dec 13, 2022	added	`behavior_server.global_footprint_topic` nav2_bringup/params/nav2_params.yaml	—	`global_costmap/published_footprint`
Dec 13, 2022	added	`behavior_server.global_flame` nav2_bringup/params/nav2_params.yaml	—	`map`
Dec 13, 2022	added	`behavior_server.global_costmap_topic` nav2_bringup/params/nav2_params.yaml	—	`global_costmap/costmap_raw`
Dec 13, 2022	removed	`behavior_server.footprint_topic` nav2_bringup/params/nav2_params.yaml	`local_costmap/published_footprint`	—
Dec 13, 2022	removed	`behavior_server.costmap_topic` nav2_bringup/params/nav2_params.yaml	`local_costmap/costmap_raw`	—
Nov 18, 2022	added	`bt_navigator.error_code_names` nav2_bringup/params/nav2_params.yaml	—	`[compute_path_error_code, follow_path_error_code]`
Nov 7, 2022	removed	`map_server.yaml_filename` nav2_bringup/params/nav2_params.yaml	`""`	—
Aug 25, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Aug 25, 2022	changed	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_params.yaml	`["spin", "backup", "drive_on_heading", "wait"]`	`["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]`
Aug 25, 2022	added	`behavior_server.assisted_teleop.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_behaviors/AssistedTeleop"`
Aug 25, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Aug 25, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Aug 25, 2022	removed	`waypoint_follower.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`velocity_smoother.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`smoother_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`robot_state_publisher.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`planner_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`map_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`map_saver.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`local_costmap.local_costmap.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`global_costmap.global_costmap.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`controller_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`behavior_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`true`	—
Aug 25, 2022	removed	`amcl.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Aug 25, 2022	removed	`smoother_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`robot_state_publisher.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`planner_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`map_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`local_costmap.local_costmap.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`global_costmap.global_costmap.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`controller_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`behavior_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`true`	—
Aug 25, 2022	removed	`amcl.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Aug 25, 2022	removed	`smoother_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`robot_state_publisher.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`planner_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`map_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`local_costmap.local_costmap.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`global_costmap.global_costmap.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`controller_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`bt_navigator.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 25, 2022	removed	`behavior_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`true`	—
Aug 25, 2022	removed	`amcl.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Aug 24, 2022	changed	`map_server.yaml_filename` nav2_bringup/params/nav2_params.yaml	`"turtlebot3_world.yaml"`	`""`
Aug 22, 2022	changed	`controller_server.goal_checker_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"goal_checker"`	`["goal_checker"]`
Aug 22, 2022	changed	`controller_server.goal_checker_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"goal_checker"`	`["goal_checker"]`
Jun 28, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jun 28, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jun 28, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
Jun 16, 2022	added	`local_costmap.local_costmap.static_layer.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_costmap_2d::StaticLayer"`
Jun 13, 2022	added	`waypoint_follower.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 13, 2022	added	`velocity_smoother.velocity_timeout` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Jun 13, 2022	added	`velocity_smoother.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 13, 2022	added	`velocity_smoother.smoothing_frequency` nav2_bringup/params/nav2_params.yaml	—	`20.0`
Jun 13, 2022	added	`velocity_smoother.scale_velocities` nav2_bringup/params/nav2_params.yaml	—	`False`
Jun 13, 2022	added	`velocity_smoother.odom_topic` nav2_bringup/params/nav2_params.yaml	—	`"odom"`
Jun 13, 2022	added	`velocity_smoother.odom_duration` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Jun 13, 2022	added	`velocity_smoother.min_velocity` nav2_bringup/params/nav2_params.yaml	—	`[-0.26, 0.0, -1.0]`
Jun 13, 2022	added	`velocity_smoother.max_velocity` nav2_bringup/params/nav2_params.yaml	—	`[0.26, 0.0, 1.0]`
Jun 13, 2022	added	`velocity_smoother.max_decel` nav2_bringup/params/nav2_params.yaml	—	`[-2.5, 0.0, -3.2]`
Jun 13, 2022	added	`velocity_smoother.max_accel` nav2_bringup/params/nav2_params.yaml	—	`[2.5, 0.0, 3.2]`
Jun 13, 2022	added	`velocity_smoother.feedback` nav2_bringup/params/nav2_params.yaml	—	`"OPEN_LOOP"`
Jun 13, 2022	added	`velocity_smoother.deadband_velocity` nav2_bringup/params/nav2_params.yaml	—	`[0.0, 0.0, 0.0]`
Jun 6, 2022	removed	`planner_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`controller_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`bt_navigator_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	added	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 6, 2022	added	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Jun 6, 2022	removed	`amcl_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`amcl_map_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Jun 6, 2022	removed	`planner_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`controller_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`bt_navigator_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	added	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`True`
Jun 6, 2022	added	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`True`
Jun 6, 2022	removed	`amcl_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`amcl_map_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`True`	—
Jun 6, 2022	removed	`planner_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`local_costmap.local_costmap_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`global_costmap.global_costmap_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`controller_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`bt_navigator_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	added	`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`True`
Jun 6, 2022	added	`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`True`
Jun 6, 2022	removed	`amcl_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
Jun 6, 2022	removed	`amcl_map_client.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`True`	—
May 10, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 10, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 10, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 4, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 4, 2022	added	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_behaviors/DriveOnHeading"`
May 4, 2022	changed	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_params.yaml	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`
May 4, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 4, 2022	added	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_behaviors/DriveOnHeading"`
May 4, 2022	changed	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`
May 4, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]
May 4, 2022	added	`behavior_server.drive_on_heading.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_behaviors/DriveOnHeading"`
May 4, 2022	changed	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`
Apr 12, 2022	added	`controller_server.goal_checker_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"goal_checker"`
Apr 12, 2022	removed	`controller_server.goal_checker_plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"goal_checker"`	—
Apr 12, 2022	added	`controller_server.goal_checker_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"goal_checker"`
Apr 12, 2022	removed	`controller_server.goal_checker_plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"goal_checker"`	—
Apr 4, 2022	removed	`recoveries_server.wait.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_recoveries/Wait"`	—
Apr 4, 2022	removed	`recoveries_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	`true`	—
Apr 4, 2022	removed	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_params.yaml	`0.1`	—
Apr 4, 2022	removed	`recoveries_server.spin.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_recoveries/Spin"`	—
Apr 4, 2022	removed	`recoveries_server.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	`2.0`	—
Apr 4, 2022	removed	`recoveries_server.rotational_acc_lim` nav2_bringup/params/nav2_params.yaml	`3.2`	—
Apr 4, 2022	removed	`recoveries_server.robot_base_frame` nav2_bringup/params/nav2_params.yaml	`base_link`	—
Apr 4, 2022	removed	`recoveries_server.recovery_plugins` nav2_bringup/params/nav2_params.yaml	`["spin", "backup", "wait"]`	—
Apr 4, 2022	removed	`recoveries_server.min_rotational_vel` nav2_bringup/params/nav2_params.yaml	`0.4`	—
Apr 4, 2022	removed	`recoveries_server.max_rotational_vel` nav2_bringup/params/nav2_params.yaml	`1.0`	—
Apr 4, 2022	removed	`recoveries_server.global_frame` nav2_bringup/params/nav2_params.yaml	`odom`	—
Apr 4, 2022	removed	`recoveries_server.footprint_topic` nav2_bringup/params/nav2_params.yaml	`local_costmap/published_footprint`	—
Apr 4, 2022	removed	`recoveries_server.cycle_frequency` nav2_bringup/params/nav2_params.yaml	`10.0`	—
Apr 4, 2022	removed	`recoveries_server.costmap_topic` nav2_bringup/params/nav2_params.yaml	`local_costmap/costmap_raw`	—
Apr 4, 2022	removed	`recoveries_server.backup.plugin` nav2_bringup/params/nav2_params.yaml	`"nav2_recoveries/BackUp"`	—
Apr 4, 2022	added	`behavior_server.wait.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_behaviors/Wait"`
Apr 4, 2022	added	`behavior_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`true`
Apr 4, 2022	added	`behavior_server.transform_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Apr 4, 2022	added	`behavior_server.spin.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_behaviors/Spin"`
Apr 4, 2022	added	`behavior_server.simulate_ahead_time` nav2_bringup/params/nav2_params.yaml	—	`2.0`
Apr 4, 2022	added	`behavior_server.rotational_acc_lim` nav2_bringup/params/nav2_params.yaml	—	`3.2`
Apr 4, 2022	added	`behavior_server.robot_base_frame` nav2_bringup/params/nav2_params.yaml	—	`base_link`
Apr 4, 2022	added	`behavior_server.min_rotational_vel` nav2_bringup/params/nav2_params.yaml	—	`0.4`
Apr 4, 2022	added	`behavior_server.max_rotational_vel` nav2_bringup/params/nav2_params.yaml	—	`1.0`
Apr 4, 2022	added	`behavior_server.global_frame` nav2_bringup/params/nav2_params.yaml	—	`odom`
Apr 4, 2022	added	`behavior_server.footprint_topic` nav2_bringup/params/nav2_params.yaml	—	`local_costmap/published_footprint`
Apr 4, 2022	added	`behavior_server.cycle_frequency` nav2_bringup/params/nav2_params.yaml	—	`10.0`
Apr 4, 2022	added	`behavior_server.costmap_topic` nav2_bringup/params/nav2_params.yaml	—	`local_costmap/costmap_raw`
Apr 4, 2022	added	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_params.yaml	—	`["spin", "backup", "wait"]`
Apr 4, 2022	added	`behavior_server.backup.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_behaviors/BackUp"`
Apr 4, 2022	removed	`recoveries_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_recoveries/Wait"`	—
Apr 4, 2022	removed	`recoveries_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`true`	—
Apr 4, 2022	removed	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_2.yaml	`0.1`	—
Apr 4, 2022	removed	`recoveries_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_recoveries/Spin"`	—
Apr 4, 2022	removed	`recoveries_server.simulate_ahead_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	`2.0`	—
Apr 4, 2022	removed	`recoveries_server.rotational_acc_lim` nav2_bringup/params/nav2_multirobot_params_2.yaml	`3.2`	—
Apr 4, 2022	removed	`recoveries_server.robot_base_frame` nav2_bringup/params/nav2_multirobot_params_2.yaml	`base_link`	—
Apr 4, 2022	removed	`recoveries_server.recovery_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	`["spin", "backup", "wait"]`	—
Apr 4, 2022	removed	`recoveries_server.min_rotational_vel` nav2_bringup/params/nav2_multirobot_params_2.yaml	`0.4`	—
Apr 4, 2022	removed	`recoveries_server.max_rotational_vel` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1.0`	—
Apr 4, 2022	removed	`recoveries_server.global_frame` nav2_bringup/params/nav2_multirobot_params_2.yaml	`odom`	—
Apr 4, 2022	removed	`recoveries_server.footprint_topic` nav2_bringup/params/nav2_multirobot_params_2.yaml	`local_costmap/published_footprint`	—
Apr 4, 2022	removed	`recoveries_server.cycle_frequency` nav2_bringup/params/nav2_multirobot_params_2.yaml	`10.0`	—
Apr 4, 2022	removed	`recoveries_server.costmap_topic` nav2_bringup/params/nav2_multirobot_params_2.yaml	`local_costmap/costmap_raw`	—
Apr 4, 2022	removed	`recoveries_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"nav2_recoveries/BackUp"`	—
Apr 4, 2022	added	`behavior_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_behaviors/Wait"`
Apr 4, 2022	added	`behavior_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`true`
Apr 4, 2022	added	`behavior_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`0.1`
Apr 4, 2022	added	`behavior_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_behaviors/Spin"`
Apr 4, 2022	added	`behavior_server.simulate_ahead_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`2.0`
Apr 4, 2022	added	`behavior_server.rotational_acc_lim` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`3.2`
Apr 4, 2022	added	`behavior_server.robot_base_frame` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`base_link`
Apr 4, 2022	added	`behavior_server.min_rotational_vel` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`0.4`
Apr 4, 2022	added	`behavior_server.max_rotational_vel` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1.0`
Apr 4, 2022	added	`behavior_server.global_frame` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`odom`
Apr 4, 2022	added	`behavior_server.footprint_topic` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`local_costmap/published_footprint`
Apr 4, 2022	added	`behavior_server.cycle_frequency` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`10.0`
Apr 4, 2022	added	`behavior_server.costmap_topic` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`local_costmap/costmap_raw`
Apr 4, 2022	added	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`["spin", "backup", "wait"]`
Apr 4, 2022	added	`behavior_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`"nav2_behaviors/BackUp"`
Apr 4, 2022	removed	`recoveries_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_recoveries/Wait"`	—
Apr 4, 2022	removed	`recoveries_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`true`	—
Apr 4, 2022	removed	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_1.yaml	`0.1`	—
Apr 4, 2022	removed	`recoveries_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_recoveries/Spin"`	—
Apr 4, 2022	removed	`recoveries_server.simulate_ahead_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	`2.0`	—
Apr 4, 2022	removed	`recoveries_server.rotational_acc_lim` nav2_bringup/params/nav2_multirobot_params_1.yaml	`3.2`	—
Apr 4, 2022	removed	`recoveries_server.robot_base_frame` nav2_bringup/params/nav2_multirobot_params_1.yaml	`base_link`	—
Apr 4, 2022	removed	`recoveries_server.recovery_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	`["spin", "backup", "wait"]`	—
Apr 4, 2022	removed	`recoveries_server.min_rotational_vel` nav2_bringup/params/nav2_multirobot_params_1.yaml	`0.4`	—
Apr 4, 2022	removed	`recoveries_server.max_rotational_vel` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1.0`	—
Apr 4, 2022	removed	`recoveries_server.global_frame` nav2_bringup/params/nav2_multirobot_params_1.yaml	`odom`	—
Apr 4, 2022	removed	`recoveries_server.footprint_topic` nav2_bringup/params/nav2_multirobot_params_1.yaml	`local_costmap/published_footprint`	—
Apr 4, 2022	removed	`recoveries_server.cycle_frequency` nav2_bringup/params/nav2_multirobot_params_1.yaml	`10.0`	—
Apr 4, 2022	removed	`recoveries_server.costmap_topic` nav2_bringup/params/nav2_multirobot_params_1.yaml	`local_costmap/costmap_raw`	—
Apr 4, 2022	removed	`recoveries_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"nav2_recoveries/BackUp"`	—
Apr 4, 2022	added	`behavior_server.wait.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_behaviors/Wait"`
Apr 4, 2022	added	`behavior_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`true`
Apr 4, 2022	added	`behavior_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`0.1`
Apr 4, 2022	added	`behavior_server.spin.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_behaviors/Spin"`
Apr 4, 2022	added	`behavior_server.simulate_ahead_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`2.0`
Apr 4, 2022	added	`behavior_server.rotational_acc_lim` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`3.2`
Apr 4, 2022	added	`behavior_server.robot_base_frame` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`base_link`
Apr 4, 2022	added	`behavior_server.min_rotational_vel` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`0.4`
Apr 4, 2022	added	`behavior_server.max_rotational_vel` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1.0`
Apr 4, 2022	added	`behavior_server.global_frame` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`odom`
Apr 4, 2022	added	`behavior_server.footprint_topic` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`local_costmap/published_footprint`
Apr 4, 2022	added	`behavior_server.cycle_frequency` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`10.0`
Apr 4, 2022	added	`behavior_server.costmap_topic` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`local_costmap/costmap_raw`
Apr 4, 2022	added	`behavior_server.behavior_plugins` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`["spin", "backup", "wait"]`
Apr 4, 2022	added	`behavior_server.backup.plugin` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`"nav2_behaviors/BackUp"`
Mar 30, 2022	added	`smoother_server.smoother_plugins` nav2_bringup/params/nav2_params.yaml	—	`["simple_smoother"]`
Mar 30, 2022	added	`smoother_server.simple_smoother.tolerance` nav2_bringup/params/nav2_params.yaml	—	`1.0e-10`
Mar 30, 2022	added	`smoother_server.simple_smoother.plugin` nav2_bringup/params/nav2_params.yaml	—	`"nav2_smoother::SimpleSmoother"`
Mar 30, 2022	added	`smoother_server.simple_smoother.max_its` nav2_bringup/params/nav2_params.yaml	—	`1000`
Mar 30, 2022	added	`smoother_server.simple_smoother.do_refinement` nav2_bringup/params/nav2_params.yaml	—	`True`
Mar 30, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 30, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 30, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 29, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 29, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 29, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 22, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 22, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Mar 22, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Feb 2, 2022	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node]
Nov 29, 2021	added	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.1`
Nov 29, 2021	removed	`recoveries_server.transform_timeout` nav2_bringup/params/nav2_params.yaml	`0.1`	—
Nov 29, 2021	added	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`0.1`
Nov 29, 2021	removed	`recoveries_server.transform_timeout` nav2_bringup/params/nav2_multirobot_params_2.yaml	`0.1`	—
Nov 29, 2021	added	`recoveries_server.transform_tolerance` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`0.1`
Nov 29, 2021	removed	`recoveries_server.transform_timeout` nav2_bringup/params/nav2_multirobot_params_1.yaml	`0.1`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_params.yaml	`1669`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_params.yaml	`1668`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_params.yaml	`1667`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_params.yaml	`1666`	—
Nov 20, 2021	removed	`bt_navigator.enable_groot_monitoring` nav2_bringup/params/nav2_params.yaml	`True`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1669`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1668`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1667`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1666`	—
Nov 20, 2021	removed	`bt_navigator.enable_groot_monitoring` nav2_bringup/params/nav2_multirobot_params_2.yaml	`False`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1669`	—
Nov 20, 2021	removed	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1668`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1667`	—
Nov 20, 2021	removed	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1666`	—
Nov 20, 2021	removed	`bt_navigator.enable_groot_monitoring` nav2_bringup/params/nav2_multirobot_params_1.yaml	`False`	—
Nov 18, 2021	added	`smoother_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Nov 18, 2021	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_params.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]
Nov 18, 2021	added	`smoother_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`True`
Nov 18, 2021	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_2.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]
Nov 18, 2021	added	`smoother_server.use_sim_time` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`True`
Nov 18, 2021	changed	`bt_navigator.plugin_lib_names` nav2_bringup/params/nav2_multirobot_params_1.yaml	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]	[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node]
Nov 11, 2021	changed	`amcl.robot_model_type` nav2_bringup/params/nav2_params.yaml	`"differential"`	`"nav2_amcl::DifferentialMotionModel"`
Nov 11, 2021	changed	`amcl.robot_model_type` nav2_bringup/params/nav2_multirobot_params_2.yaml	`"differential"`	`"nav2_amcl::DifferentialMotionModel"`
Nov 11, 2021	changed	`amcl.robot_model_type` nav2_bringup/params/nav2_multirobot_params_1.yaml	`"differential"`	`"nav2_amcl::DifferentialMotionModel"`
Oct 19, 2021	added	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_params.yaml	—	`1669`
Oct 19, 2021	added	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_params.yaml	—	`1668`
Oct 19, 2021	added	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_params.yaml	—	`1667`
Oct 19, 2021	added	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_params.yaml	—	`1666`
Oct 19, 2021	removed	`bt_navigator.groot_zmq_server_port` nav2_bringup/params/nav2_params.yaml	`1667`	—
Oct 19, 2021	removed	`bt_navigator.groot_zmq_publisher_port` nav2_bringup/params/nav2_params.yaml	`1666`	—
Oct 19, 2021	added	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1669`
Oct 19, 2021	added	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1668`
Oct 19, 2021	added	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1667`
Oct 19, 2021	added	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	—	`1666`
Oct 19, 2021	removed	`bt_navigator.groot_zmq_server_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1887`	—
Oct 19, 2021	removed	`bt_navigator.groot_zmq_publisher_port` nav2_bringup/params/nav2_multirobot_params_2.yaml	`1789`	—
Oct 19, 2021	added	`bt_navigator.poses_groot_server_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1669`
Oct 19, 2021	added	`bt_navigator.poses_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1668`
Oct 19, 2021	added	`bt_navigator.pose_groot_server_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1667`
Oct 19, 2021	added	`bt_navigator.pose_groot_publisher_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	—	`1666`
Oct 19, 2021	removed	`bt_navigator.groot_zmq_server_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1667`	—
Oct 19, 2021	removed	`bt_navigator.groot_zmq_publisher_port` nav2_bringup/params/nav2_multirobot_params_1.yaml	`1666`	—
Sep 25, 2019	added	`planner_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Sep 25, 2019	added	`planner_server.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Sep 25, 2019	added	`planner_server.use_astar` nav2_bringup/params/nav2_params.yaml	—	`false`
Sep 25, 2019	added	`planner_server.tolerance` nav2_bringup/params/nav2_params.yaml	—	`0.0`
Sep 25, 2019	removed	`navfn_planner_GetCostmap_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Sep 25, 2019	removed	`navfn_planner.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Sep 25, 2019	removed	`navfn_planner.use_astar` nav2_bringup/params/nav2_params.yaml	`false`	—
Sep 25, 2019	removed	`navfn_planner.tolerance` nav2_bringup/params/nav2_params.yaml	`0.0`	—
Sep 25, 2019	added	`controller_server_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Sep 25, 2019	added	`bt_navigator_rclcpp_node.use_sim_time` nav2_bringup/params/nav2_params.yaml	—	`True`
Sep 18, 2019	removed	`lifecycle_manager_service_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Sep 18, 2019	removed	`lifecycle_manager_client_service_client.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Sep 18, 2019	removed	`lifecycle_manager.use_sim_time` nav2_bringup/params/nav2_params.yaml	`True`	—
Sep 18, 2019	removed	`lifecycle_manager.node_names` nav2_bringup/params/nav2_params.yaml	`['map_server', 'amcl', 'dwb_controller', 'planner_server', 'bt_navigator']`	—
Sep 18, 2019	removed	`lifecycle_manager.autostart` nav2_bringup/params/nav2_params.yaml	`True`	—