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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#expose-action-server-s-result-timeout">Expose action server’s result timeout</a></li>
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***************************************************

The Simple Navigator API now allows multi-robot namespacing by exposing a ``namespace`` field in the constructor to allow you to specify the Nav2 stacks' namespace for a robot or system. See `this PR for details <https://github.com/ros-planning/navigation2/pull/3803/files>`_.

Change duration type in wait_action node
****************************************

In this `PR #3871 <https://github.com/ros-planning/navigation2/pull/3871>`_ the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action.
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#simple-commander-api-allows-multi-robot-namespacing">Simple Commander API Allows Multi-Robot Namespacing</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#simple-commander-api-allows-multi-robot-namespacing">Simple Commander API Allows Multi-Robot Namespacing</a></li>
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