adding a bunch new robots to robots using table (ros-navigation#425)

RBT22 · May 24, 2023 · a177b4f · a177b4f
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diff --git a/2021summerOfCode/projects/twist_n_config.rst b/2021summerOfCode/projects/twist_n_config.rst
@@ -1,5 +1,5 @@
 
-.. _spinners:
+.. _twist:
 
 
 8. Convert Twist to TwistStamped in Ecosystem and Run-Time Configuration

diff --git a/about/images/angsa.jpg b/about/images/angsa.jpg
diff --git a/about/images/angsa.png b/about/images/angsa.png
diff --git a/about/images/birdseye.png b/about/images/birdseye.png
diff --git a/about/images/brisa.png b/about/images/brisa.png
diff --git a/about/images/coming_soon.jpeg b/about/images/coming_soon.jpeg
diff --git a/about/images/dexory.jpg b/about/images/dexory.jpg
diff --git a/about/images/dexory.png b/about/images/dexory.png
diff --git a/about/images/elroy.png b/about/images/elroy.png
diff --git a/about/images/firefly.png b/about/images/firefly.png
diff --git a/about/images/mpo_700.png b/about/images/mpo_700.png
diff --git a/about/images/pixel.jpeg b/about/images/pixel.jpeg
diff --git a/about/images/pixel.png b/about/images/pixel.png
diff --git a/about/images/polymath.png b/about/images/polymath.png
diff --git a/about/images/rb1.png b/about/images/rb1.png
diff --git a/about/images/rosie.jpg b/about/images/rosie.jpg
diff --git a/about/images/rover.png b/about/images/rover.png
diff --git a/about/images/seasony.png b/about/images/seasony.png
diff --git a/about/images/soon.png b/about/images/soon.png
diff --git a/about/images/tailos.png b/about/images/tailos.png
diff --git a/about/images/tb2.png b/about/images/tb2.png
diff --git a/about/images/tb3.png b/about/images/tb3.png
diff --git a/about/images/tb4.png b/about/images/tb4.png
diff --git a/about/images/tiago.png b/about/images/tiago.png
diff --git a/about/images/tri.png b/about/images/tri.png
diff --git a/about/images/ubr1.jpeg b/about/images/ubr1.jpeg
diff --git a/about/images/ubr1.png b/about/images/ubr1.png
diff --git a/about/images/wyca.png b/about/images/wyca.png
diff --git a/about/images/yunji.png b/about/images/yunji.png
diff --git a/about/robots.rst b/about/robots.rst
@@ -8,22 +8,51 @@ Below is a very early list of robots we have encountered using our software as e
 
 Click on the images below for a link to the drivers or navigation configurations.
 
+..
+  To add robot to the table, the dimensions MUST be either 512x340 or 340x512
+
++------------------------+------------------------+------------------------+
+|          |dex|         +          |poly|        +          |ses|         |
 +------------------------+------------------------+------------------------+
-|          |pxl|         +          |ang|         +          |ses|         |
+|          |ang|         +          |fire|        +          |mpo_700|     |
 +------------------------+------------------------+------------------------+
-|          |tri|         +          |dex|         +          |mpo_700|     |
+|         |rosie|        +         |wyca|         +           |birds|      |
 +------------------------+------------------------+------------------------+
-|           |yunji|      +         |brisa|        +        |elroy|         |
+|           |pxl|        +         |brisa|        +        |tri|           |
 +------------------------+------------------------+------------------------+
-|         |ubr1|         +         |Tiago|        +       |RB1|            |
+|         |yunji|        +         |elroy|        +           |rover|      |
 +------------------------+------------------------+------------------------+
-|         |tb3|          +         |rover|        +           |tb2|        |
+|         |ubr1|         +         |Tiago|        +       |tb2|            |
 +------------------------+------------------------+------------------------+
-|         |rosie|        +         |soon|         +           |soon|       |
+|         |tb4|          +         |tb3|          +           |RB1|        |
 +------------------------+------------------------+------------------------+
 
-.. |dex| image:: images/dexory.jpg
-    :width: 350px
+.. |fire| image:: images/firefly.png
+    :width: 100%
+    :align: middle
+    :alt: Firefly Automatix
+    :target: https://fireflyautomatix.com/m220/
+
+.. |poly| image:: images/polymath.png
+    :width: 100%
+    :align: middle
+    :alt: Polymath Robotics
+    :target: https://www.polymathrobotics.com/
+
+.. |birds| image:: images/birdseye.png
+    :width: 100%
+    :align: middle
+    :alt: Birds Eye
+    :target: https://www.birdseyerobotics.com/
+
+.. |wyca| image:: images/wyca.png
+    :width: 100%
+    :align: middle
+    :alt: Wyca Robotics
+    :target: https://www.wyca-robotics.fr/
+
+.. |dex| image:: images/dexory.png
+    :width: 100%
     :align: middle
     :alt: Dexory
     :target: https://www.dexory.com/
@@ -40,7 +69,7 @@ Click on the images below for a link to the drivers or navigation configurations
     :alt: ElroyAir
     :target: https://elroyair.com/
 
-.. |ang| image:: images/angsa.jpg
+.. |ang| image:: images/angsa.png
     :width: 100%
     :align: middle
     :alt: Angsa
@@ -52,14 +81,14 @@ Click on the images below for a link to the drivers or navigation configurations
     :alt: Seasony
     :target: https://www.seasony.io/
 
-.. |pxl| image:: images/pixel.jpeg
+.. |pxl| image:: images/pixel.png
     :width: 100%
     :align: middle
     :alt: Pixel
     :target: https://pixel-robotics.eu/
 
 .. |brisa| image:: images/brisa.png
-    :width: 350px
+    :width: 100%
     :align: middle
     :alt: Brisa
     :target: https://www.brisa.tech/
@@ -76,6 +105,12 @@ Click on the images below for a link to the drivers or navigation configurations
     :alt: Turtlebot3
     :target: https://github.com/ROBOTIS-GIT/turtlebot3
 
+.. |tb4| image:: images/tb4.png
+    :width: 100%
+    :align: middle
+    :alt: Turtlebot4
+    :target: https://clearpathrobotics.com/turtlebot-4/
+
 .. |rover| image:: images/rover.png
     :width: 100%
     :align: middle
@@ -89,20 +124,20 @@ Click on the images below for a link to the drivers or navigation configurations
     :target: https://en.yunjichina.com.cn/a/53.html
 
 .. |RB1| image:: images/rb1.png
-    :width: 350px
+    :width: 100%
     :align: middle
     :alt: Robotnik Rb1 base
     :target: https://github.com/IntelligentRoboticsLabs/marathon_ros2
 
 .. |Tiago| image:: images/tiago.png
     :align: middle
-    :height: 350px
+    :width: 100%
     :alt: Tiago Robot
     :target: https://github.com/IntelligentRoboticsLabs/marathon_ros2
 
-.. |ubr1| image:: images/ubr1.jpeg
+.. |ubr1| image:: images/ubr1.png
     :align: middle
-    :height: 350px
+    :width: 100%
     :alt: UBR-1
     :target: https://www.robotandchisel.com/2020/09/01/navigation2
 
@@ -112,13 +147,13 @@ Click on the images below for a link to the drivers or navigation configurations
     :alt: Neobotix MPO-700
     :target: https://github.com/neobotix/neo_mpo_700-2
 
-.. |soon| image:: images/coming_soon.jpeg
+.. |soon| image:: images/soon.png
     :width: 100%
     :align: middle
     :alt: Coming Soon
     :target: https://www.youtube.com/watch?v=oHg5SJYRHA0
 
-.. |rosie| image:: images/rosie.jpg
+.. |rosie| image:: images/tailos.png
     :width: 100%
     :align: middle
     :alt: Rosie

diff --git a/configuration/packages/bt-plugins/actions/BackUp.rst b/configuration/packages/bt-plugins/actions/BackUp.rst
@@ -5,7 +5,7 @@ BackUp
 
 Invokes the BackUp ROS 2 action server, which causes the robot to back up by a specific displacement.
 It performs an linear translation by a given distance.
-This is used in nav2 Behavior Trees as a recovery behavior. The nav2_behaviors_ module implements the BackUp action server.
+This is used in nav2 Behavior Trees as a recovery behavior. The nav2_behaviors module implements the BackUp action server.
 
 .. nav2_behaviors_: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors
 

diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.rst b/configuration/packages/bt-plugins/actions/DriveOnHeading.rst
@@ -4,7 +4,7 @@ DriveOnHeading
 ==============
 
 Invokes the DriveOnHeading ROS 2 action server, which causes the robot to drive on the current heading by a specific displacement.
-It performs a linear translation by a given distance. The nav2_behaviors_ module implements the DriveOnHeading action server.
+It performs a linear translation by a given distance. The nav2_behaviors module implements the DriveOnHeading action server.
 
 .. nav2_behaviors_: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors
 

diff --git a/configuration/packages/configuring-mppic.rst b/configuration/packages/configuring-mppic.rst
@@ -561,6 +561,7 @@ Path Align Critic
 
   Description
     Maximum proportion of the path that can be occupied before this critic is not considered to allow the obstacle and path follow critics to avoid obstacles while following the path's intent in presence of dynamic objects in the scene. Between 0-1 for 0-100%.
+
 Path Angle Critic
 -----------------
 

diff --git a/migration/Humble.rst b/migration/Humble.rst
@@ -112,7 +112,7 @@ Changes to Map yaml file path for map_server node in Launch
 
 SmootherSelector BT Node
 ************************
-`PR #3283 <https://github.com/ros-planning/navigation2/pull/3283>`_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`SimpleSmoother` for more details. 
+`PR #3283 <https://github.com/ros-planning/navigation2/pull/3283>`_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`configuring_simple_smoother` for more details. 
 
 
 Publish Costmap Layers 
@@ -184,7 +184,7 @@ Renamed ROS-parameter in Collision Monitor
 `PR #3513 <https://github.com/ros-planning/navigation2/pull/3513>`_ renames ``max_points`` parameter to ``min_points`` and changes its meaning. Formerly ``max_points`` meant the maximum number of points inside the area still not triggering the action, while ``min_points`` - is a minimal number of points starting from the action to be initiated. In other words ``min_points`` now should be adjusted as ``max_points + 1``.
 
 New safety behavior model "limit" in Collision Monitor
-******************************************
+******************************************************
 `PR #3519 <https://github.com/ros-planning/navigation2/pull/3519>`_ adds a new collision monitor behavior model ``limit`` that restricts maximum linear and angular speed to specific values (``linear_limit`` and ``angular_limit``) if enough points are in the given shape.
 
 Velocity smoother applies deceleration when timeout

diff --git a/plugins/index.rst b/plugins/index.rst
@@ -9,7 +9,7 @@ A list of all known plugins are listed here below for ROS 2 Navigation.
 If you know of a plugin, or you have created a new plugin, please consider submitting a pull request with that information.
 
 This file can be found and editted under ``sphinx_docs/plugins/index.rst``.
-For tutorials on creating your own plugins, please see :ref:`writing_new_costmap2d_plugin`, :ref:`writing_new_nbt_plugin`, :ref:`writing_new_nav2controller_plugin`, :ref:`writing_new_nav2planner_plugin`, :ref:`writing_new_recovery_plugin`, or :ref:`writing_new_nav2navigator_plugin`.
+For tutorials on creating your own plugins, please see :ref:`writing_new_costmap2d_plugin`, :ref:`writing_new_nbt_plugin`, :ref:`writing_new_nav2controller_plugin`, :ref:`writing_new_nav2planner_plugin`, :ref:`writing_new_behavior_plugin`, or :ref:`writing_new_nav2navigator_plugin`.
 
 Behavior-Tree Navigators
 ========================
@@ -412,6 +412,7 @@ Behavior Tree Nodes
 .. _Planner Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/planner_selector_node.cpp
 .. _Controller Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_selector_node.cpp
 .. _Goal Checker Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp
+.. _Smoother Selector: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp
 .. _Navigate Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
 .. _Remove Passed Goals: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
 .. _Compute Path Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp

diff --git a/tuning/index.rst b/tuning/index.rst
@@ -93,7 +93,7 @@ In general though, the following table is a good first-order description of the
 | RPP controller | Differential, Ackermann, Legged                   | Exact path following       |
 +----------------+---------------------------------------------------+----------------------------+
 | Rotation Shim  | Differential, Omnidirectional                     | Rotate to rough heading    |
-
++----------------+---------------------------------------------------+----------------------------+
 
 All of the above controllers can handle both circular and arbitrary shaped robots in configuration.
-Original file line number
+Diff line change
@@ Expand Up / @@ -561,6 +561,7 @@ Path Align Critic @@
       Description
         Maximum proportion of the path that can be occupied before this critic is not considered to allow the obstacle and path follow critics to avoid obstacles while following the path's intent in presence of dynamic objects in the scene. Between 0-1 for 0-100%.
     Path Angle Critic
     -----------------
@@ Expand Down @@