Configuration Guide

This guide provides a process through which the user can adjust the tunable parameters to obtain the best navigation performance.

• Behavior-Tree Navigator
• Behavior Tree XML Nodes
• Costmap 2D
• Lifecycle Manager
• Planner Server
• Coverage Server
• NavFn Planner
• Smac Planner
• Theta Star Planner
• Controller Server
• DWB Controller
• Regulated Pure Pursuit
• Model Predictive Path Integral Controller
• Rotation Shim Controller
• Graceful Controller
• Map Server / Saver
• AMCL
• Behavior Server
• Smoother Server
• Simple Smoother
• Savitzky-Golay Smoother
• Constrained smoother
• Velocity Smoother
• Collision Monitor
• Waypoint Follower
• Loopback Simulator
• Docking Server