* [ CancelCoverage ](../../configuration/packages/bt-plugins/actions/CancelCoverage.html)
        * [ RemovePassedGoals ](../../configuration/packages/bt-plugins/actions/RemovePassedGoals.html)
        * [ CancelControl ](../../configuration/packages/bt-plugins/actions/CancelControl.html)
        * [ CancelBackUp ](../../configuration/packages/bt-plugins/actions/CancelBackUp.html)
        * [ CancelSpin ](../../configuration/packages/bt-plugins/actions/CancelSpin.html)
        * [ CancelWait ](../../configuration/packages/bt-plugins/actions/CancelWait.html)
        * [ CancelDriveOnHeading ](../../configuration/packages/bt-plugins/actions/CancelDriveOnHeading.html)
        * [ CancelAssistedTeleop ](../../configuration/packages/bt-plugins/actions/CancelAssistedTeleop.html)
        * [ SmoothPath ](../../configuration/packages/bt-plugins/actions/Smooth.html)
      * [ Condition Plugins ](../../configuration/packages/configuring-bt-xml.html#condition-plugins)
        * [ GoalReached ](../../configuration/packages/bt-plugins/conditions/GoalReached.html)
        * [ TransformAvailable ](../../configuration/packages/bt-plugins/conditions/TransformAvailable.html)
        * [ DistanceTraveled ](../../configuration/packages/bt-plugins/conditions/DistanceTraveled.html)
        * [ GoalUpdated ](../../configuration/packages/bt-plugins/conditions/GoalUpdated.html)
        * [ GloballyUpdatedGoal ](../../configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html)
        * [ InitialPoseReceived ](../../configuration/packages/bt-plugins/conditions/InitialPoseReceived.html)
        * [ IsStuck ](../../configuration/packages/bt-plugins/conditions/IsStuck.html)
        * [ TimeExpired ](../../configuration/packages/bt-plugins/conditions/TimeExpired.html)
        * [ IsBatteryLow ](../../configuration/packages/bt-plugins/conditions/IsBatteryLow.html)
        * [ IsPathValid ](../../configuration/packages/bt-plugins/conditions/IsPathValid.html)
        * [ PathExpiringTimer ](../../configuration/packages/bt-plugins/conditions/PathExpiringTimer.html)
        * [ AreErrorCodesPresent ](../../configuration/packages/bt-plugins/conditions/AreErrorCodesPresent.html)
        * [ WouldAControllerRecoveryHelp ](../../configuration/packages/bt-plugins/conditions/WouldAControllerRecoveryHelp.html)
        * [ WouldAPlannerRecoveryHelp ](../../configuration/packages/bt-plugins/conditions/WouldAPlannerRecoveryHelp.html)
        * [ WouldASmootherRecoveryHelp ](../../configuration/packages/bt-plugins/conditions/WouldASmootherRecoveryHelp.html)
        * [ IsBatteryCharging ](../../configuration/packages/bt-plugins/conditions/IsBatteryCharging.html)
      * [ Control Plugins ](../../configuration/packages/configuring-bt-xml.html#control-plugins)
        * [ PipelineSequence ](../../configuration/packages/bt-plugins/controls/PipelineSequence.html)
        * [ RoundRobin ](../../configuration/packages/bt-plugins/controls/RoundRobin.html)
        * [ RecoveryNode ](../../configuration/packages/bt-plugins/controls/RecoveryNode.html)
      * [ Decorator Plugins ](../../configuration/packages/configuring-bt-xml.html#decorator-plugins)
        * [ RateController ](../../configuration/packages/bt-plugins/decorators/RateController.html)
        * [ DistanceController ](../../configuration/packages/bt-plugins/decorators/DistanceController.html)
        * [ SpeedController ](../../configuration/packages/bt-plugins/decorators/SpeedController.html)
        * [ GoalUpdater ](../../configuration/packages/bt-plugins/decorators/GoalUpdater.html)
        * [ PathLongerOnApproach ](../../configuration/packages/bt-plugins/decorators/PathLongerOnApproach.html)
        * [ SingleTrigger ](../../configuration/packages/bt-plugins/decorators/SingleTrigger.html)
      * [ Example ](../../configuration/packages/configuring-bt-xml.html#example)
    * [ Costmap 2D ](../../configuration/packages/configuring-costmaps.html)
      * [ Costmap2D ROS Parameters ](../../configuration/packages/configuring-costmaps.html#costmap2d-ros-parameters)