* [ Smoothers ](../../concepts/index.html#smoothers)
      * [ Waypoint Following ](../../concepts/index.html#waypoint-following)
    * [ State Estimation ](../../concepts/index.html#state-estimation)
      * [ Standards ](../../concepts/index.html#standards)
      * [ Global Positioning: Localization and SLAM ](../../concepts/index.html#global-positioning-localization-and-slam)
      * [ Odometry ](../../concepts/index.html#odometry)
    * [ Environmental Representation ](../../concepts/index.html#environmental-representation)
      * [ Costmaps and Layers ](../../concepts/index.html#costmaps-and-layers)
      * [ Costmap Filters ](../../concepts/index.html#costmap-filters)
      * [ Other Forms ](../../concepts/index.html#other-forms)
    * [ Nav2 Academic Overview ](../../concepts/index.html#nav2-academic-overview)
  * [ First-Time Robot Setup Guide ](../../setup_guides/index.html)
    * [ Setting Up Transformations ](../../setup_guides/transformation/setup_transforms.html)
      * [ Transforms Introduction ](../../setup_guides/transformation/setup_transforms.html#transforms-introduction)
      * [ Static Transform Publisher Demo ](../../setup_guides/transformation/setup_transforms.html#static-transform-publisher-demo)
      * [ Transforms in Navigation2 ](../../setup_guides/transformation/setup_transforms.html#transforms-in-navigation2)
      * [ Conclusion ](../../setup_guides/transformation/setup_transforms.html#conclusion)
    * [ Setting Up The URDF ](../../setup_guides/urdf/setup_urdf.html)
      * [ URDF and the Robot State Publisher ](../../setup_guides/urdf/setup_urdf.html#urdf-and-the-robot-state-publisher)
      * [ Setting Up the Environment ](../../setup_guides/urdf/setup_urdf.html#setting-up-the-environment)
      * [ Writing the URDF ](../../setup_guides/urdf/setup_urdf.html#writing-the-urdf)
      * [ Build and Launch ](../../setup_guides/urdf/setup_urdf.html#build-and-launch)
      * [ Visualization using RVIZ ](../../setup_guides/urdf/setup_urdf.html#visualization-using-rviz)
      * [ Adding Physical Properties ](../../setup_guides/urdf/setup_urdf.html#adding-physical-properties)
      * [ Conclusion ](../../setup_guides/urdf/setup_urdf.html#conclusion)
    * [ Setting Up Odometry ](../../setup_guides/odom/setup_odom.html)
      * [ Odometry Introduction ](../../setup_guides/odom/setup_odom.html#odometry-introduction)
      * [ Setting Up Odometry on your Robot ](../../setup_guides/odom/setup_odom.html#setting-up-odometry-on-your-robot)
      * [ Simulating an Odometry System using Gazebo ](../../setup_guides/odom/setup_odom.html#simulating-an-odometry-system-using-gazebo)
        * [ Setup and Prerequisites ](../../setup_guides/odom/setup_odom.html#setup-and-prerequisites)
        * [ Adding Gazebo Plugins to a URDF ](../../setup_guides/odom/setup_odom.html#adding-gazebo-plugins-to-a-urdf)
        * [ Launch and Build Files ](../../setup_guides/odom/setup_odom.html#launch-and-build-files)
        * [ Build, Run and Verification ](../../setup_guides/odom/setup_odom.html#build-run-and-verification)
      * [ Robot Localization Demo ](../../setup_guides/odom/setup_odom.html#robot-localization-demo)
        * [ Configuring Robot Localization ](../../setup_guides/odom/setup_odom.html#configuring-robot-localization)
        * [ Launch and Build Files ](../../setup_guides/odom/setup_odom.html#id3)
        * [ Build, Run and Verification ](../../setup_guides/odom/setup_odom.html#id4)
      * [ Conclusion ](../../setup_guides/odom/setup_odom.html#conclusion)
    * [ Setting Up Sensors ](../../setup_guides/sensors/setup_sensors.html)
      * [ Sensor Introduction ](../../setup_guides/sensors/setup_sensors.html#sensor-introduction)