* [ Smoothers ](../concepts/index.html#smoothers)
      * [ Robot Footprints ](../concepts/index.html#robot-footprints)
      * [ Waypoint Following ](../concepts/index.html#waypoint-following)
    * [ State Estimation ](../concepts/index.html#state-estimation)
      * [ Standards ](../concepts/index.html#standards)
      * [ Global Positioning: Localization and SLAM ](../concepts/index.html#global-positioning-localization-and-slam)
      * [ Odometry ](../concepts/index.html#odometry)
    * [ Environmental Representation ](../concepts/index.html#environmental-representation)
      * [ Costmaps and Layers ](../concepts/index.html#costmaps-and-layers)
      * [ Costmap Filters ](../concepts/index.html#costmap-filters)
      * [ Other Forms ](../concepts/index.html#other-forms)
    * [ Nav2 Academic Overview ](../concepts/index.html#nav2-academic-overview)
  * [ First-Time Robot Setup Guide ](../setup_guides/index.html)
    * [ Setting Up Transformations ](../setup_guides/transformation/setup_transforms.html)
      * [ Transforms Introduction ](../setup_guides/transformation/setup_transforms.html#transforms-introduction)
      * [ Static Transform Publisher Demo ](../setup_guides/transformation/setup_transforms.html#static-transform-publisher-demo)
      * [ Transforms in Navigation2 ](../setup_guides/transformation/setup_transforms.html#transforms-in-navigation2)
      * [ Conclusion ](../setup_guides/transformation/setup_transforms.html#conclusion)
    * [ Setting Up The URDF ](../setup_guides/urdf/setup_urdf.html)
      * [ URDF and the Robot State Publisher ](../setup_guides/urdf/setup_urdf.html#urdf-and-the-robot-state-publisher)
      * [ Setting Up the Environment ](../setup_guides/urdf/setup_urdf.html#setting-up-the-environment)
      * [ Writing the URDF ](../setup_guides/urdf/setup_urdf.html#writing-the-urdf)
      * [ Build and Launch ](../setup_guides/urdf/setup_urdf.html#build-and-launch)
      * [ Visualization using RVIZ ](../setup_guides/urdf/setup_urdf.html#visualization-using-rviz)
      * [ Adding Physical Properties ](../setup_guides/urdf/setup_urdf.html#adding-physical-properties)
      * [ Conclusion ](../setup_guides/urdf/setup_urdf.html#conclusion)
    * [ Setting Up Odometry ](../setup_guides/odom/setup_odom.html)
      * [ Odometry Introduction ](../setup_guides/odom/setup_odom.html#odometry-introduction)
      * [ Setting Up Odometry on your Robot ](../setup_guides/odom/setup_odom.html#setting-up-odometry-on-your-robot)
      * [ Simulating an Odometry System using Gazebo ](../setup_guides/odom/setup_odom.html#simulating-an-odometry-system-using-gazebo)
        * [ Setup and Prerequisites ](../setup_guides/odom/setup_odom.html#setup-and-prerequisites)
        * [ Adding Gazebo Plugins to a URDF ](../setup_guides/odom/setup_odom.html#adding-gazebo-plugins-to-a-urdf)
        * [ Launch and Build Files ](../setup_guides/odom/setup_odom.html#launch-and-build-files)
        * [ Build, Run and Verification ](../setup_guides/odom/setup_odom.html#build-run-and-verification)
      * [ Robot Localization Demo ](../setup_guides/odom/setup_odom.html#robot-localization-demo)
        * [ Configuring Robot Localization ](../setup_guides/odom/setup_odom.html#configuring-robot-localization)
        * [ Launch and Build Files ](../setup_guides/odom/setup_odom.html#id3)
        * [ Build, Run and Verification ](../setup_guides/odom/setup_odom.html#id4)
      * [ Conclusion ](../setup_guides/odom/setup_odom.html#conclusion)
    * [ Setting Up Sensors ](../setup_guides/sensors/setup_sensors.html)