* [ Subtrees Obtain Shared Resources ](../../migration/Iron.html#subtrees-obtain-shared-resources)
      * [ Collision Monitor: added watchdog mechanism based on ` source_timeout  ` parameter with default blocking behavior ](../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior)
      * [ BtActionServer: use native library haltTree() ](../../migration/Iron.html#btactionserver-use-native-library-halttree)
      * [ Global Frame Removed from 2 BT Nodes ](../../migration/Iron.html#global-frame-removed-from-2-bt-nodes)
      * [ Introduction of ` CostmapUpdate.msg  ` ](../../migration/Iron.html#introduction-of-costmapupdate-msg)
      * [ Full Stack Uses Node Clocks ](../../migration/Iron.html#full-stack-uses-node-clocks)
      * [ New Graceful Motion Controller ](../../migration/Iron.html#new-graceful-motion-controller)
      * [ Plugin Libraries in BT Navigator Only Includes Custom Nodes ](../../migration/Iron.html#plugin-libraries-in-bt-navigator-only-includes-custom-nodes)
      * [ New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers ](../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers)
      * [ RPP new optional ` interpolate_curvature_after_goal  ` behavior and fix conflict between ` use_rotate_to_heading  ` and ` allow_reversing  ` ](../../migration/Iron.html#rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing)
      * [ Cancel Checker Interface For GlobalPlanner ](../../migration/Iron.html#cancel-checker-interface-for-globalplanner)
      * [ New BtActionServer/BtNavigator parameter ](../../migration/Iron.html#new-btactionserver-btnavigator-parameter)
      * [ New collision monitor parameter ](../../migration/Iron.html#new-collision-monitor-parameter)
      * [ New graceful cancellation API for Controllers ](../../migration/Iron.html#new-graceful-cancellation-api-for-controllers)
      * [ Standardization of Plugin Naming with Double Colons (::) ](../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons)
      * [ Collision monitor: dynamic radius for circle type polygons ](../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons)
  * [ Simple Commander API ](../../commander_api/index.html)
    * [ Overview ](../../commander_api/index.html#overview)
    * [ Commander API ](../../commander_api/index.html#id1)
    * [ Costmap API ](../../commander_api/index.html#costmap-api)
    * [ Footprint Collision Checker API ](../../commander_api/index.html#footprint-collision-checker-api)
    * [ Examples and Demos ](../../commander_api/index.html#examples-and-demos)
  * [ Roadmaps ](../../roadmap/roadmap.html)
    * [ Jazzy Roadmap ](../../roadmap/roadmap.html#jazzy-roadmap)
    * [ Iron Roadmap ](../../roadmap/roadmap.html#iron-roadmap)
    * [ Humble Roadmap ](../../roadmap/roadmap.html#humble-roadmap)
  * [ About and Contact ](../../about/index.html)
    * [ Related Projects ](../../about/related_projects.html)
    * [ About ](../../about/index.html#id1)
    * [ Contact ](../../about/index.html#contact)