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