* [ Added Smoother Task Server ](../migration/Galactic.html#added-smoother-task-server)
      * [ Removed Use Approach Velocity Scaling Param in RPP ](../migration/Galactic.html#removed-use-approach-velocity-scaling-param-in-rpp)
      * [ Refactored AMCL motion models as plugins ](../migration/Galactic.html#refactored-amcl-motion-models-as-plugins)
      * [ Dropping Support for Live Groot Monitoring of Nav2 ](../migration/Galactic.html#dropping-support-for-live-groot-monitoring-of-nav2)
      * [ Replanning Only if Path is Invalid ](../migration/Galactic.html#replanning-only-if-path-is-invalid)
      * [ Fix CostmapLayer clearArea invert param logic ](../migration/Galactic.html#fix-costmaplayer-cleararea-invert-param-logic)
      * [ Dynamic Composition ](../migration/Galactic.html#dynamic-composition)
      * [ BT Cancel Node ](../migration/Galactic.html#bt-cancel-node)
      * [ BT PathLongerOnApproach Node ](../migration/Galactic.html#bt-pathlongeronapproach-node)
      * [ BT TruncatePathLocal Node ](../migration/Galactic.html#bt-truncatepathlocal-node)
      * [ Constrained Smoother ](../migration/Galactic.html#constrained-smoother)
      * [ Replanning at a Constant Rate and if the Path is Invalid ](../migration/Galactic.html#replanning-at-a-constant-rate-and-if-the-path-is-invalid)
      * [ Euclidean Distance 2D ](../migration/Galactic.html#euclidean-distance-2d)
      * [ Recovery To Behavior ](../migration/Galactic.html#recovery-to-behavior)
      * [ Respawn Support in Launch and Lifecycle Manager ](../migration/Galactic.html#respawn-support-in-launch-and-lifecycle-manager)
      * [ New Nav2 Velocity Smoother ](../migration/Galactic.html#new-nav2-velocity-smoother)
      * [ Goal Checker API Changed ](../migration/Galactic.html#goal-checker-api-changed)
      * [ Added Assisted Teleop ](../migration/Galactic.html#added-assisted-teleop)
    * [ Humble to Iron ](../migration/Humble.html)
      * [ New Behavior-Tree Navigator Plugins ](../migration/Humble.html#new-behavior-tree-navigator-plugins)
      * [ Added Collision Monitor ](../migration/Humble.html#added-collision-monitor)
      * [ Removed use_sim_time from yaml ](../migration/Humble.html#removed-use-sim-time-from-yaml)
      * [ Run-time Speed up of Smac Planner ](../migration/Humble.html#run-time-speed-up-of-smac-planner)
      * [ Recursive Refinement of Smac and Simple Smoothers ](../migration/Humble.html#recursive-refinement-of-smac-and-simple-smoothers)
      * [ Simple Commander Python API ](../migration/Humble.html#simple-commander-python-api)
      * [ Smac Planner Start Pose Included in Path ](../migration/Humble.html#smac-planner-start-pose-included-in-path)
      * [ Parameterizable Collision Checking in RPP ](../migration/Humble.html#parameterizable-collision-checking-in-rpp)
      * [ Expanded Planner Benchmark Tests ](../migration/Humble.html#expanded-planner-benchmark-tests)
      * [ Smac Planner Path Tolerances ](../migration/Humble.html#smac-planner-path-tolerances)
      * [ costmap_2d_node default constructor ](../migration/Humble.html#costmap-2d-node-default-constructor)
      * [ Feedback for Navigation Failures ](../migration/Humble.html#feedback-for-navigation-failures)
      * [ Costmap Filters ](../migration/Humble.html#costmap-filters)
      * [ Savitzky-Golay Smoother ](../migration/Humble.html#savitzky-golay-smoother)
      * [ Changes to Map yaml file path for map_server node in Launch ](../migration/Humble.html#changes-to-map-yaml-file-path-for-map-server-node-in-launch)
      * [ SmootherSelector BT Node ](../migration/Humble.html#smootherselector-bt-node)
      * [ Publish Costmap Layers ](../migration/Humble.html#publish-costmap-layers)
      * [ Give Behavior Server Access to Both Costmaps ](../migration/Humble.html#give-behavior-server-access-to-both-costmaps)
      * [ New Model Predictive Path Integral Controller ](../migration/Humble.html#new-model-predictive-path-integral-controller)
      * [ Behavior Tree Uses Error Codes ](../migration/Humble.html#behavior-tree-uses-error-codes)
      * [ Load, Save and Loop Waypoints from the Nav2 Panel in RViz ](../migration/Humble.html#load-save-and-loop-waypoints-from-the-nav2-panel-in-rviz)