* [ 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)