* [ BackUp BT-node Interface Changes ](../migration/Foxy.html#backup-bt-node-interface-changes)
      * [ BackUp Recovery Interface Changes ](../migration/Foxy.html#backup-recovery-interface-changes)
      * [ Nav2 Controllers and Goal Checker Plugin Interface Changes ](../migration/Foxy.html#nav2-controllers-and-goal-checker-plugin-interface-changes)
      * [ FollowPath goal_checker_id attribute ](../migration/Foxy.html#followpath-goal-checker-id-attribute)
      * [ Groot Support ](../migration/Foxy.html#groot-support)
      * [ New Plugins ](../migration/Foxy.html#new-plugins)
      * [ Costmap Filters ](../migration/Foxy.html#costmap-filters)
      * [ SmacPlanner ](../migration/Foxy.html#smacplanner)
      * [ ThetaStarPlanner ](../migration/Foxy.html#thetastarplanner)
      * [ RegulatedPurePursuitController ](../migration/Foxy.html#regulatedpurepursuitcontroller)
      * [ Costmap2D ` current_  ` Usage ](../migration/Foxy.html#costmap2d-current-usage)
      * [ Standard time units in parameters ](../migration/Foxy.html#standard-time-units-in-parameters)
      * [ Ray Tracing Parameters ](../migration/Foxy.html#ray-tracing-parameters)
      * [ Obstacle Marking Parameters ](../migration/Foxy.html#obstacle-marking-parameters)
      * [ Recovery Action Changes ](../migration/Foxy.html#recovery-action-changes)
      * [ Default Behavior Tree Changes ](../migration/Foxy.html#default-behavior-tree-changes)
      * [ NavFn Planner Parameters ](../migration/Foxy.html#navfn-planner-parameters)
      * [ New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes ](../migration/Foxy.html#new-clearcostmapexceptregion-and-clearcostmaparoundrobot-bt-nodes)
      * [ New Behavior Tree Nodes ](../migration/Foxy.html#new-behavior-tree-nodes)
      * [ sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change ](../migration/Foxy.html#sensor-msgs-pointcloud-to-sensor-msgs-pointcloud2-change)
      * [ ControllerServer New Parameter failure_tolerance ](../migration/Foxy.html#controllerserver-new-parameter-failure-tolerance)
      * [ Removed BT XML Launch Configurations ](../migration/Foxy.html#removed-bt-xml-launch-configurations)
      * [ Nav2 RViz Panel Action Feedback Information ](../migration/Foxy.html#nav2-rviz-panel-action-feedback-information)
    * [ Galactic to Humble ](../migration/Galactic.html)
      * [ Major improvements to Smac Planners ](../migration/Galactic.html#major-improvements-to-smac-planners)
      * [ Simple (Python) Commander ](../migration/Galactic.html#simple-python-commander)
      * [ Reduce Nodes and Executors ](../migration/Galactic.html#reduce-nodes-and-executors)
      * [ API Change for nav2_core ](../migration/Galactic.html#api-change-for-nav2-core)
      * [ Extending the BtServiceNode to process Service-Results ](../migration/Galactic.html#extending-the-btservicenode-to-process-service-results)
      * [ Including new Rotation Shim Controller Plugin ](../migration/Galactic.html#including-new-rotation-shim-controller-plugin)
      * [ Spawning the robot in Gazebo ](../migration/Galactic.html#spawning-the-robot-in-gazebo)
      * [ Recovery Behavior Timeout ](../migration/Galactic.html#recovery-behavior-timeout)
      * [ New parameter ` use_final_approach_orientation  ` for the 3 2D planners ](../migration/Galactic.html#new-parameter-use-final-approach-orientation-for-the-3-2d-planners)
      * [ SmacPlanner2D and Theta*: fix goal orientation being ignored ](../migration/Galactic.html#smacplanner2d-and-theta-fix-goal-orientation-being-ignored)
      * [ SmacPlanner2D, NavFn and Theta*: fix small path corner cases ](../migration/Galactic.html#smacplanner2d-navfn-and-theta-fix-small-path-corner-cases)
      * [ Change and fix behavior of dynamic parameter change detection ](../migration/Galactic.html#change-and-fix-behavior-of-dynamic-parameter-change-detection)
      * [ Dynamic Parameters ](../migration/Galactic.html#dynamic-parameters)
      * [ BT Action Nodes Exception Changes ](../migration/Galactic.html#bt-action-nodes-exception-changes)
      * [ BT Navigator Groot Multiple Navigators ](../migration/Galactic.html#bt-navigator-groot-multiple-navigators)
      * [ Removed Kinematic Limiting in RPP ](../migration/Galactic.html#removed-kinematic-limiting-in-rpp)