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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/assisted_teleop.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/create_configuration_assistant.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/dynamic.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/grid_maps.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/localization.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/multithreading.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/navigation_rebranding.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/safety_node.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/semantics.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/spinners.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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1 change: 1 addition & 0 deletions 2021summerOfCode/projects/twist_n_config.html
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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6 changes: 3 additions & 3 deletions _sources/configuration/packages/smac/configuring-smac-hybrid.rst.txt
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Description
Size of the dubin/reeds-sheep distance window to cache, in meters.

:``<name>``.viz_expansions:
:``<name>``.debug_visualizations:

====== =======
Type Default
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====== =======

Description
Whether to publish expansions on the ``/expansions`` topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
Whether to publish expansions on the ``/expansions`` topic as an array of poses (the orientation has no meaning) and the path's footprints on the ``/planned_footprints`` topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.

:``<name>``.cache_obstacle_heuristic:

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retrospective_penalty: 0.015
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
debug_visualizations: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
smoother:
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5 changes: 5 additions & 0 deletions _sources/migration/Iron.rst.txt
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*********************************************************

`PR #3704 <https://github.com/ros-planning/navigation2/pull/3704>`_ allows behavior servers plugins to access and modify the action result.

Smac Planner Debug Param Name Change
************************************

``debug_visualizations`` replaces ``viz_expansions`` parameter in Hybrid-A* to reflect the new inclusion of footprint debug information being published as well.
1 change: 1 addition & 0 deletions about/index.html
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#smac-planner-debug-param-name-change">Smac Planner Debug Param Name Change</a></li>
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