diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
index 1e2d7d8ad..a46b21cdc 100644
--- a/2021summerOfCode/Summer_2021_Student_Program.html
+++ b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
index 831595995..a0793e52f 100644
--- a/2021summerOfCode/projects/assisted_teleop.html
+++ b/2021summerOfCode/projects/assisted_teleop.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
index 8f60b4b21..5ac0bb2f2 100644
--- a/2021summerOfCode/projects/create_configuration_assistant.html
+++ b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
index f73a5c586..8b13c39af 100644
--- a/2021summerOfCode/projects/create_plugins.html
+++ b/2021summerOfCode/projects/create_plugins.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
index 75aec4194..597accb58 100644
--- a/2021summerOfCode/projects/dynamic.html
+++ b/2021summerOfCode/projects/dynamic.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
index a3102e389..ef4cfe1e8 100644
--- a/2021summerOfCode/projects/grid_maps.html
+++ b/2021summerOfCode/projects/grid_maps.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
index 635078f14..c9bbe272d 100644
--- a/2021summerOfCode/projects/localization.html
+++ b/2021summerOfCode/projects/localization.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
index 006080269..a8c546261 100644
--- a/2021summerOfCode/projects/multithreading.html
+++ b/2021summerOfCode/projects/multithreading.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
index b54e69024..1876ffd26 100644
--- a/2021summerOfCode/projects/navigation_rebranding.html
+++ b/2021summerOfCode/projects/navigation_rebranding.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
index b8d5cf839..a3b0d5af4 100644
--- a/2021summerOfCode/projects/safety_node.html
+++ b/2021summerOfCode/projects/safety_node.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
index fbb07450e..e56824855 100644
--- a/2021summerOfCode/projects/semantics.html
+++ b/2021summerOfCode/projects/semantics.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
index 971afb551..e0050fe46 100644
--- a/2021summerOfCode/projects/spinners.html
+++ b/2021summerOfCode/projects/spinners.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
index 7c040360c..6133e290c 100644
--- a/2021summerOfCode/projects/testing.html
+++ b/2021summerOfCode/projects/testing.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
index a7a3dba9c..bf4e20a46 100644
--- a/2021summerOfCode/projects/twist_n_config.html
+++ b/2021summerOfCode/projects/twist_n_config.html
@@ -889,6 +889,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/_sources/configuration/packages/configuring-bt-navigator.rst.txt b/_sources/configuration/packages/configuring-bt-navigator.rst.txt
index 3b1d0cc71..ae8c98655 100644
--- a/_sources/configuration/packages/configuring-bt-navigator.rst.txt
+++ b/_sources/configuration/packages/configuring-bt-navigator.rst.txt
@@ -39,6 +39,7 @@ Parameters
Description
Path to the default behavior tree XML description for ``NavigateToPose``, see :ref:`configuring_behavior_tree_xml` for details on this file.
Used to be ``default_bt_xml_filename`` pre-Galactic.
+ You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml``.
:default_nav_through_poses_bt_xml:
@@ -51,6 +52,7 @@ Parameters
Description
Path to the default behavior tree XML description for ``NavigateThroughPoses``, see :ref:`configuring_behavior_tree_xml` for details on this file. New to Galactic after ``NavigateThroughPoses`` was added.
+ You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml``.
:plugin_lib_names:
@@ -217,8 +219,8 @@ Example
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
- default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml
- default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml
+ default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
+ default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
diff --git a/_sources/migration/Iron.rst.txt b/_sources/migration/Iron.rst.txt
index 6ce0f1a3a..9254662c4 100644
--- a/_sources/migration/Iron.rst.txt
+++ b/_sources/migration/Iron.rst.txt
@@ -35,4 +35,17 @@ See MPPI's configuration guide for complete information.
Move Error Code Enumerations
****************************
-`PR #3693 `_ moves the enumeration codes from the goal to the result section.
\ No newline at end of file
+`PR #3693 `_ moves the enumeration codes from the goal to the result section.
+
+Substitution in parameter file
+******************************
+
+Enabled substitution in parameter file. For example, you can write the following
+
+.. code-block:: yaml
+
+ bt_navigator:
+ ros__parameters:
+ default_nav_to_pose_bt_xml: $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
+
+For more information about substitutions syntax, see `here `_
diff --git a/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt b/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt
index 3be01d6cd..516382b33 100644
--- a/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt
+++ b/_sources/plugin_tutorials/docs/writing_new_navigator_plugin.rst.txt
@@ -325,8 +325,8 @@ To enable the plugin, we need to modify the ``nav2_params.yaml`` file as below
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
- default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml
- default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml
+ default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
+ default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
diff --git a/about/index.html b/about/index.html
index 27ddecce5..58852f9f4 100644
--- a/about/index.html
+++ b/about/index.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/about/related_projects.html b/about/related_projects.html
index 8a1b32830..633ba3d51 100644
--- a/about/related_projects.html
+++ b/about/related_projects.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/about/robots.html b/about/robots.html
index ec9a812d6..849118958 100644
--- a/about/robots.html
+++ b/about/robots.html
@@ -890,6 +890,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/about/ros1_comparison.html b/about/ros1_comparison.html
index df30d8ecc..ca9aa3890 100644
--- a/about/ros1_comparison.html
+++ b/about/ros1_comparison.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/index.html b/behavior_trees/index.html
index 6d211c7b4..a0ae57f06 100644
--- a/behavior_trees/index.html
+++ b/behavior_trees/index.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
index 2125b4404..560aa4810 100644
--- a/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
+++ b/behavior_trees/overview/detailed_behavior_tree_walkthrough.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/overview/nav2_specific_nodes.html b/behavior_trees/overview/nav2_specific_nodes.html
index 6f9f20153..d25db990b 100644
--- a/behavior_trees/overview/nav2_specific_nodes.html
+++ b/behavior_trees/overview/nav2_specific_nodes.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/follow_point.html b/behavior_trees/trees/follow_point.html
index 7cc61796e..9e517adf0 100644
--- a/behavior_trees/trees/follow_point.html
+++ b/behavior_trees/trees/follow_point.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/nav_through_poses_recovery.html b/behavior_trees/trees/nav_through_poses_recovery.html
index 3b1ff052f..d81d875ca 100644
--- a/behavior_trees/trees/nav_through_poses_recovery.html
+++ b/behavior_trees/trees/nav_through_poses_recovery.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
index dd4837d97..c4334dfd2 100644
--- a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
+++ b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/nav_to_pose_recovery.html b/behavior_trees/trees/nav_to_pose_recovery.html
index f315af3ff..dc10055e9 100644
--- a/behavior_trees/trees/nav_to_pose_recovery.html
+++ b/behavior_trees/trees/nav_to_pose_recovery.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
index b4bb7fa54..38ba07f1c 100644
--- a/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
+++ b/behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/behavior_trees/trees/odometry_calibration.html b/behavior_trees/trees/odometry_calibration.html
index 01c57fe0c..b065ccc9d 100644
--- a/behavior_trees/trees/odometry_calibration.html
+++ b/behavior_trees/trees/odometry_calibration.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/commander_api/index.html b/commander_api/index.html
index 82f29e4d8..619c15990 100644
--- a/commander_api/index.html
+++ b/commander_api/index.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/concepts/index.html b/concepts/index.html
index f4d41afd7..7966887b3 100644
--- a/concepts/index.html
+++ b/concepts/index.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/index.html b/configuration/index.html
index 51afdafc2..b53143f66 100644
--- a/configuration/index.html
+++ b/configuration/index.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/AssistedTeleop.html b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
index 26ca304a8..75e82a537 100644
--- a/configuration/packages/bt-plugins/actions/AssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/AssistedTeleop.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/BackUp.html b/configuration/packages/bt-plugins/actions/BackUp.html
index 6c013a0c9..7344ffc2d 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.html
+++ b/configuration/packages/bt-plugins/actions/BackUp.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
index e183ab84a..b0a6ba512 100644
--- a/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
+++ b/configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelBackUp.html b/configuration/packages/bt-plugins/actions/CancelBackUp.html
index 3ed33d3ee..7fb8136d9 100644
--- a/configuration/packages/bt-plugins/actions/CancelBackUp.html
+++ b/configuration/packages/bt-plugins/actions/CancelBackUp.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelControl.html b/configuration/packages/bt-plugins/actions/CancelControl.html
index ec4dc7d2e..20aeeb340 100644
--- a/configuration/packages/bt-plugins/actions/CancelControl.html
+++ b/configuration/packages/bt-plugins/actions/CancelControl.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
index dfd1e326a..bf2a0d450 100644
--- a/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelSpin.html b/configuration/packages/bt-plugins/actions/CancelSpin.html
index 2cb33f0f6..5b326fbb3 100644
--- a/configuration/packages/bt-plugins/actions/CancelSpin.html
+++ b/configuration/packages/bt-plugins/actions/CancelSpin.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/CancelWait.html b/configuration/packages/bt-plugins/actions/CancelWait.html
index dfed4b95c..31b4b00cc 100644
--- a/configuration/packages/bt-plugins/actions/CancelWait.html
+++ b/configuration/packages/bt-plugins/actions/CancelWait.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
index 804f05b22..47884daef 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
index 76f99a248..56d490d46 100644
--- a/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
+++ b/configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
index c36e90d47..2e984055b 100644
--- a/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
+++ b/configuration/packages/bt-plugins/actions/ClearEntireCostmap.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
index 88d4abc54..c7be1228f 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ComputePathToPose.html b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
index 094c32bc7..acc4e6e68 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathToPose.html
+++ b/configuration/packages/bt-plugins/actions/ComputePathToPose.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ControllerSelector.html b/configuration/packages/bt-plugins/actions/ControllerSelector.html
index d0074c4d2..b25153461 100644
--- a/configuration/packages/bt-plugins/actions/ControllerSelector.html
+++ b/configuration/packages/bt-plugins/actions/ControllerSelector.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.html b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
index 1b0f5220a..93f9b63f4 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.html
+++ b/configuration/packages/bt-plugins/actions/DriveOnHeading.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/FollowPath.html b/configuration/packages/bt-plugins/actions/FollowPath.html
index 11bf4522c..659a1dfd8 100644
--- a/configuration/packages/bt-plugins/actions/FollowPath.html
+++ b/configuration/packages/bt-plugins/actions/FollowPath.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
index 653287852..f0ffe4df0 100644
--- a/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
+++ b/configuration/packages/bt-plugins/actions/GoalCheckerSelector.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
index 3365bf01f..f54bfd997 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.html b/configuration/packages/bt-plugins/actions/NavigateToPose.html
index ff30a13de..369b7457f 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.html
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/PlannerSelector.html b/configuration/packages/bt-plugins/actions/PlannerSelector.html
index 1fb1aa583..6fbf104b0 100644
--- a/configuration/packages/bt-plugins/actions/PlannerSelector.html
+++ b/configuration/packages/bt-plugins/actions/PlannerSelector.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
index 17b3bddc9..b147b6a20 100644
--- a/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
+++ b/configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
index 1a37c7f38..43b6b25da 100644
--- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
+++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/Smooth.html b/configuration/packages/bt-plugins/actions/Smooth.html
index c8a750d42..2b98020c4 100644
--- a/configuration/packages/bt-plugins/actions/Smooth.html
+++ b/configuration/packages/bt-plugins/actions/Smooth.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.html b/configuration/packages/bt-plugins/actions/SmootherSelector.html
index 3215fd488..09d12b711 100644
--- a/configuration/packages/bt-plugins/actions/SmootherSelector.html
+++ b/configuration/packages/bt-plugins/actions/SmootherSelector.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/Spin.html b/configuration/packages/bt-plugins/actions/Spin.html
index 13b129f20..8f25565f4 100644
--- a/configuration/packages/bt-plugins/actions/Spin.html
+++ b/configuration/packages/bt-plugins/actions/Spin.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/TruncatePath.html b/configuration/packages/bt-plugins/actions/TruncatePath.html
index 5164dca68..d19371a49 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePath.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePath.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
index 7efd47b90..16403535b 100644
--- a/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
+++ b/configuration/packages/bt-plugins/actions/TruncatePathLocal.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/actions/Wait.html b/configuration/packages/bt-plugins/actions/Wait.html
index 4f16a473e..5f9cbc7e0 100644
--- a/configuration/packages/bt-plugins/actions/Wait.html
+++ b/configuration/packages/bt-plugins/actions/Wait.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
index 6f8ba347d..a3344ba66 100644
--- a/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
+++ b/configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
index 91de7ba09..8931ad996 100644
--- a/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
+++ b/configuration/packages/bt-plugins/conditions/DistanceTraveled.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
index 3cf8cc2df..2088e7356 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.html b/configuration/packages/bt-plugins/conditions/GoalReached.html
index a4a124908..520161b2e 100644
--- a/configuration/packages/bt-plugins/conditions/GoalReached.html
+++ b/configuration/packages/bt-plugins/conditions/GoalReached.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
index 7db32cd76..9d8b2eb29 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.html
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
index c63bd542f..5c6ff09d0 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
index 00e0c0c80..4d7898916 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryCharging.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
index 705a6ac73..bd5c52519 100644
--- a/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
+++ b/configuration/packages/bt-plugins/conditions/IsBatteryLow.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/IsPathValid.html b/configuration/packages/bt-plugins/conditions/IsPathValid.html
index 875b27185..8a9fa13fd 100644
--- a/configuration/packages/bt-plugins/conditions/IsPathValid.html
+++ b/configuration/packages/bt-plugins/conditions/IsPathValid.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/IsStuck.html b/configuration/packages/bt-plugins/conditions/IsStuck.html
index 8157b812b..2db8281ab 100644
--- a/configuration/packages/bt-plugins/conditions/IsStuck.html
+++ b/configuration/packages/bt-plugins/conditions/IsStuck.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
index f195ab51a..1859797c0 100644
--- a/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
+++ b/configuration/packages/bt-plugins/conditions/PathExpiringTimer.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/TimeExpired.html b/configuration/packages/bt-plugins/conditions/TimeExpired.html
index 75a138a9e..a80c82a4f 100644
--- a/configuration/packages/bt-plugins/conditions/TimeExpired.html
+++ b/configuration/packages/bt-plugins/conditions/TimeExpired.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/TransformAvailable.html b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
index 32cf4aced..caaac1a0e 100644
--- a/configuration/packages/bt-plugins/conditions/TransformAvailable.html
+++ b/configuration/packages/bt-plugins/conditions/TransformAvailable.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
index 50399031f..0f40f7964 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
index 017143875..9fbf079ab 100644
--- a/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
index 241f86b81..60dd8c2f0 100644
--- a/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
+++ b/configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/controls/PipelineSequence.html b/configuration/packages/bt-plugins/controls/PipelineSequence.html
index 49dd6e4b0..c43a27edf 100644
--- a/configuration/packages/bt-plugins/controls/PipelineSequence.html
+++ b/configuration/packages/bt-plugins/controls/PipelineSequence.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/controls/RecoveryNode.html b/configuration/packages/bt-plugins/controls/RecoveryNode.html
index b6e58d565..80f46db97 100644
--- a/configuration/packages/bt-plugins/controls/RecoveryNode.html
+++ b/configuration/packages/bt-plugins/controls/RecoveryNode.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/controls/RoundRobin.html b/configuration/packages/bt-plugins/controls/RoundRobin.html
index c4f188eaf..00a39f3e8 100644
--- a/configuration/packages/bt-plugins/controls/RoundRobin.html
+++ b/configuration/packages/bt-plugins/controls/RoundRobin.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/DistanceController.html b/configuration/packages/bt-plugins/decorators/DistanceController.html
index 03a21a384..2dfec793e 100644
--- a/configuration/packages/bt-plugins/decorators/DistanceController.html
+++ b/configuration/packages/bt-plugins/decorators/DistanceController.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.html b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
index 6387832d4..ecbba5262 100644
--- a/configuration/packages/bt-plugins/decorators/GoalUpdater.html
+++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
index 72b347c94..479bcb8ce 100644
--- a/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
+++ b/configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/RateController.html b/configuration/packages/bt-plugins/decorators/RateController.html
index 297e9f8ba..088236514 100644
--- a/configuration/packages/bt-plugins/decorators/RateController.html
+++ b/configuration/packages/bt-plugins/decorators/RateController.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/SingleTrigger.html b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
index 9ff7f9190..228d14262 100644
--- a/configuration/packages/bt-plugins/decorators/SingleTrigger.html
+++ b/configuration/packages/bt-plugins/decorators/SingleTrigger.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
index d9f651954..80cb0d7d5 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.html
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/configuring-amcl.html b/configuration/packages/configuring-amcl.html
index 19d96e914..0d87da654 100644
--- a/configuration/packages/configuring-amcl.html
+++ b/configuration/packages/configuring-amcl.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/configuring-behavior-server.html b/configuration/packages/configuring-behavior-server.html
index b16158e71..a1903b7c3 100644
--- a/configuration/packages/configuring-behavior-server.html
+++ b/configuration/packages/configuring-behavior-server.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
diff --git a/configuration/packages/configuring-bt-navigator.html b/configuration/packages/configuring-bt-navigator.html
index 28df7c785..d2541a339 100644
--- a/configuration/packages/configuring-bt-navigator.html
+++ b/configuration/packages/configuring-bt-navigator.html
@@ -891,6 +891,7 @@
Changes to MPPI Path Angle Critic
Changes to MPPI Path Handling For Directionality
Move Error Code Enumerations
+Substitution in parameter file
@@ -997,7 +998,8 @@ Parameters