* [ Twirling Critic ](../configuration/packages/configuring-mppic.html#twirling-critic)
      * [ Example ](../configuration/packages/configuring-mppic.html#example)
      * [ Notes to Users ](../configuration/packages/configuring-mppic.html#notes-to-users)
        * [ General Words of Wisdom ](../configuration/packages/configuring-mppic.html#general-words-of-wisdom)
        * [ Prediction Horizon, Costmap Sizing, and Offsets ](../configuration/packages/configuring-mppic.html#prediction-horizon-costmap-sizing-and-offsets)
        * [ Obstacle, Inflation Layer, and Path Following ](../configuration/packages/configuring-mppic.html#obstacle-inflation-layer-and-path-following)
    * [ Rotation Shim Controller ](../configuration/packages/configuring-rotation-shim-controller.html)
      * [ Rotation Shim Controller Parameters ](../configuration/packages/configuring-rotation-shim-controller.html#rotation-shim-controller-parameters)
      * [ Example ](../configuration/packages/configuring-rotation-shim-controller.html#example)
    * [ Map Server / Saver ](../configuration/packages/configuring-map-server.html)
      * [ Map Saver Parameters ](../configuration/packages/configuring-map-server.html#map-saver-parameters)
      * [ Map Server Parameters ](../configuration/packages/configuring-map-server.html#map-server-parameters)
      * [ Costmap Filter Info Server Parameters ](../configuration/packages/configuring-map-server.html#costmap-filter-info-server-parameters)
      * [ Example ](../configuration/packages/configuring-map-server.html#example)
    * [ AMCL ](../configuration/packages/configuring-amcl.html)
      * [ Parameters ](../configuration/packages/configuring-amcl.html#parameters)
      * [ Example ](../configuration/packages/configuring-amcl.html#example)
    * [ Behavior Server ](../configuration/packages/configuring-behavior-server.html)
      * [ Behavior Server Parameters ](../configuration/packages/configuring-behavior-server.html#behavior-server-parameters)
      * [ Default Plugins ](../configuration/packages/configuring-behavior-server.html#default-plugins)
      * [ Spin Behavior Parameters ](../configuration/packages/configuring-behavior-server.html#spin-behavior-parameters)
      * [ BackUp Behavior Parameters ](../configuration/packages/configuring-behavior-server.html#backup-behavior-parameters)
      * [ DriveOnHeading Behavior Parameters ](../configuration/packages/configuring-behavior-server.html#driveonheading-behavior-parameters)
      * [ AssistedTeleop Behavior Parameters ](../configuration/packages/configuring-behavior-server.html#assistedteleop-behavior-parameters)
      * [ Example ](../configuration/packages/configuring-behavior-server.html#example)
    * [ Smoother Server ](../configuration/packages/configuring-smoother-server.html)
      * [ Smoother Server Parameters ](../configuration/packages/configuring-smoother-server.html#smoother-server-parameters)
      * [ Example ](../configuration/packages/configuring-smoother-server.html#example)
    * [ Simple Smoother ](../configuration/packages/configuring-simple-smoother.html)
      * [ Simple Smoother Parameters ](../configuration/packages/configuring-simple-smoother.html#simple-smoother-parameters)
      * [ Example ](../configuration/packages/configuring-simple-smoother.html#example)
    * [ Savitzky-Golay Smoother ](../configuration/packages/configuring-savitzky-golay-smoother.html)
      * [ Savitzky-Golay Smoother Parameters ](../configuration/packages/configuring-savitzky-golay-smoother.html#savitzky-golay-smoother-parameters)
      * [ Example ](../configuration/packages/configuring-savitzky-golay-smoother.html#example)
    * [ Constrained smoother ](../configuration/packages/configuring-constrained-smoother.html)
      * [ Smoother Server Parameters ](../configuration/packages/configuring-constrained-smoother.html#smoother-server-parameters)
      * [ Example ](../configuration/packages/configuring-constrained-smoother.html#example)
    * [ Velocity Smoother ](../configuration/packages/configuring-velocity-smoother.html)
      * [ Velocity Smoother Parameters ](../configuration/packages/configuring-velocity-smoother.html#velocity-smoother-parameters)
      * [ Example ](../configuration/packages/configuring-velocity-smoother.html#example)