* [ DWB Forward vs Reverse Pruning ](../migration/Humble.html#dwb-forward-vs-reverse-pruning)
      * [ More stable regulation on curves for long lookahead distances ](../migration/Humble.html#more-stable-regulation-on-curves-for-long-lookahead-distances)
      * [ Publish Collision Monitor State ](../migration/Humble.html#publish-collision-monitor-state)
      * [ Renamed ROS-parameter in Collision Monitor ](../migration/Humble.html#renamed-ros-parameter-in-collision-monitor)
      * [ New safety behavior model “limit” in Collision Monitor ](../migration/Humble.html#new-safety-behavior-model-limit-in-collision-monitor)
      * [ Velocity smoother applies deceleration when timeout ](../migration/Humble.html#velocity-smoother-applies-deceleration-when-timeout)
      * [ PoseProgressChecker plugin ](../migration/Humble.html#poseprogresschecker-plugin)
      * [ Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type ](../migration/Humble.html#allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type)
      * [ IsBatteryChargingCondition BT Node ](../migration/Humble.html#isbatterychargingcondition-bt-node)
      * [ Behavior Server Error Codes ](../migration/Humble.html#behavior-server-error-codes)
      * [ New Denoise Costmap Layer Plugin ](../migration/Humble.html#new-denoise-costmap-layer-plugin)
      * [ SmacPlannerHybrid viz_expansions parameter ](../migration/Humble.html#smacplannerhybrid-viz-expansions-parameter)
    * [ Iron to Jazzy ](../migration/Iron.html)
      * [ Added TwistStamped Option for Commands ](../migration/Iron.html#added-twiststamped-option-for-commands)
      * [ Add VelocityPolygon in Collision Monitor ](../migration/Iron.html#add-velocitypolygon-in-collision-monitor)
      * [ Change polygon points parameter format in Collision Monitor ](../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor)
      * [ Introduction of Soft-Real Time Action Servers ](../migration/Iron.html#introduction-of-soft-real-time-action-servers)
      * [ ` opennav_coverage  ` Project ](../migration/Iron.html#opennav-coverage-project)
      * [ Introduce a new Multi-Robot Bringup Launch ](../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch)
      * [ New option for the Voxel and Obstacle Layers ](../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers)
      * [ use_interpolation RPP Parameter Depreciated ](../migration/Iron.html#use-interpolation-rpp-parameter-depreciated)
      * [ Changes to MPPI Goal Critic ](../migration/Iron.html#changes-to-mppi-goal-critic)
      * [ Changes to MPPI Path Angle Critic ](../migration/Iron.html#changes-to-mppi-path-angle-critic)
      * [ Changes to MPPI Path Handling For Directionality ](../migration/Iron.html#changes-to-mppi-path-handling-for-directionality)
      * [ Addition of new MPPI Cost Critic ](../migration/Iron.html#addition-of-new-mppi-cost-critic)
      * [ MPPI Acceleration ](../migration/Iron.html#mppi-acceleration)
      * [ Move Error Code Enumerations ](../migration/Iron.html#move-error-code-enumerations)
      * [ Substitution in parameter file ](../migration/Iron.html#substitution-in-parameter-file)
      * [ Allow Behavior Server Plugins to Access The Action Result ](../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result)
      * [ Smac Planner Debug Param Name Change ](../migration/Iron.html#smac-planner-debug-param-name-change)
      * [ Smac Planner On Approach to Goal Shortcutting Solutions ](../migration/Iron.html#smac-planner-on-approach-to-goal-shortcutting-solutions)
      * [ Added GPS Waypoint Follower Server ](../migration/Iron.html#added-gps-waypoint-follower-server)
      * [ Smac Planner Hybrid-A* New Features ](../migration/Iron.html#smac-planner-hybrid-a-new-features)
      * [ New node in nav2_collision_monitor: Collision Detector ](../migration/Iron.html#new-node-in-nav2-collision-monitor-collision-detector)
      * [ Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector ](../migration/Iron.html#dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector)
      * [ Expose action server’s result timeout ](../migration/Iron.html#expose-action-server-s-result-timeout)
      * [ RewrittenYaml could add new parameters to YAMLs ](../migration/Iron.html#rewrittenyaml-could-add-new-parameters-to-yamls)
      * [ Simple Commander API Allows Multi-Robot Namespacing ](../migration/Iron.html#simple-commander-api-allows-multi-robot-namespacing)
      * [ Change duration type in wait_action node ](../migration/Iron.html#change-duration-type-in-wait-action-node)
      * [ The costmap activation fails when required transforms are not available ](../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available)