* [ 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)