* [ 1- Creating a new Behavior Plugin ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#creating-a-new-behavior-plugin)
        * [ 2- Exporting the Behavior Plugin ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#exporting-the-behavior-plugin)
        * [ 3- Pass the plugin name through params file ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#pass-the-plugin-name-through-params-file)
        * [ 4- Run Behavior Plugin ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#run-behavior-plugin)
    * [ Writing a New Navigator Plugin ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html)
      * [ Overview ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#overview)
      * [ Requirements ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#requirements)
      * [ Tutorial Steps ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#tutorial-steps)
        * [ 1- Create a new Navigator Plugin ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#create-a-new-navigator-plugin)
        * [ 2- Exporting the navigator plugin ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#exporting-the-navigator-plugin)
        * [ 3- Pass the plugin name through the params file ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#pass-the-plugin-name-through-the-params-file)
        * [ 4- Run plugin ](../../plugin_tutorials/docs/writing_new_navigator_plugin.html#run-plugin)
  * [ Configuration Guide ](../index.html)
    * [ Behavior-Tree Navigator ](configuring-bt-navigator.html)
      * [ Parameters ](configuring-bt-navigator.html#parameters)
      * [ Example ](configuring-bt-navigator.html#example)
    * [ Behavior Tree XML Nodes ](configuring-bt-xml.html)
      * [ Action Plugins ](configuring-bt-xml.html#action-plugins)
        * [ Wait ](bt-plugins/actions/Wait.html)
        * [ Spin ](bt-plugins/actions/Spin.html)
        * [ BackUp ](bt-plugins/actions/BackUp.html)
        * [ DriveOnHeading ](bt-plugins/actions/DriveOnHeading.html)
        * [ AssistedTeleop ](bt-plugins/actions/AssistedTeleop.html)
        * [ ComputePathToPose ](bt-plugins/actions/ComputePathToPose.html)
        * [ FollowPath ](bt-plugins/actions/FollowPath.html)
        * [ NavigateToPose ](bt-plugins/actions/NavigateToPose.html)
        * [ ClearEntireCostmap ](bt-plugins/actions/ClearEntireCostmap.html)
        * [ ClearCostmapExceptRegion ](bt-plugins/actions/ClearCostmapExceptRegion.html)
        * [ ClearCostmapAroundRobot ](bt-plugins/actions/ClearCostmapAroundRobot.html)
        * [ ReinitializeGlobalLocalization ](bt-plugins/actions/ReinitializeGlobalLocalization.html)
        * [ TruncatePath ](bt-plugins/actions/TruncatePath.html)
        * [ TruncatePathLocal ](bt-plugins/actions/TruncatePathLocal.html)
        * [ PlannerSelector ](bt-plugins/actions/PlannerSelector.html)
        * [ ControllerSelector ](bt-plugins/actions/ControllerSelector.html)
        * [ SmootherSelector ](bt-plugins/actions/SmootherSelector.html)
        * [ GoalCheckerSelector ](bt-plugins/actions/GoalCheckerSelector.html)
        * [ ProgressCheckerSelector ](bt-plugins/actions/ProgressCheckerSelector.html)
        * [ NavigateThroughPoses ](bt-plugins/actions/NavigateThroughPoses.html)
        * [ ComputePathThroughPoses ](bt-plugins/actions/ComputePathThroughPoses.html)
        * [ ComputeCoveragePath ](bt-plugins/actions/ComputeCoveragePath.html)