* [ 4- Run Your Custom plugin ](../../plugin_tutorials/docs/writing_new_bt_plugin.html#run-your-custom-plugin)
    * [ Writing a New Behavior Plugin ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html)
      * [ Overview ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#overview)
      * [ Requirements ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#requirements)
      * [ Tutorial Steps ](../../plugin_tutorials/docs/writing_new_behavior_plugin.html#tutorial-steps)
        * [ 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 ](../../configuration/index.html)
    * [ Behavior-Tree Navigator ](../../configuration/packages/configuring-bt-navigator.html)
      * [ Parameters ](../../configuration/packages/configuring-bt-navigator.html#parameters)
      * [ Example ](../../configuration/packages/configuring-bt-navigator.html#example)
    * [ Behavior Tree XML Nodes ](../../configuration/packages/configuring-bt-xml.html)
      * [ Action Plugins ](../../configuration/packages/configuring-bt-xml.html#action-plugins)
        * [ Wait ](../../configuration/packages/bt-plugins/actions/Wait.html)
        * [ Spin ](../../configuration/packages/bt-plugins/actions/Spin.html)
        * [ BackUp ](../../configuration/packages/bt-plugins/actions/BackUp.html)
        * [ DriveOnHeading ](../../configuration/packages/bt-plugins/actions/DriveOnHeading.html)
        * [ AssistedTeleop ](../../configuration/packages/bt-plugins/actions/AssistedTeleop.html)
        * [ ComputePathToPose ](../../configuration/packages/bt-plugins/actions/ComputePathToPose.html)
        * [ FollowPath ](../../configuration/packages/bt-plugins/actions/FollowPath.html)
        * [ NavigateToPose ](../../configuration/packages/bt-plugins/actions/NavigateToPose.html)
        * [ ClearEntireCostmap ](../../configuration/packages/bt-plugins/actions/ClearEntireCostmap.html)
        * [ ClearCostmapExceptRegion ](../../configuration/packages/bt-plugins/actions/ClearCostmapExceptRegion.html)
        * [ ClearCostmapAroundRobot ](../../configuration/packages/bt-plugins/actions/ClearCostmapAroundRobot.html)
        * [ ReinitializeGlobalLocalization ](../../configuration/packages/bt-plugins/actions/ReinitializeGlobalLocalization.html)
        * [ TruncatePath ](../../configuration/packages/bt-plugins/actions/TruncatePath.html)
        * [ TruncatePathLocal ](../../configuration/packages/bt-plugins/actions/TruncatePathLocal.html)
        * [ PlannerSelector ](../../configuration/packages/bt-plugins/actions/PlannerSelector.html)
        * [ ControllerSelector ](../../configuration/packages/bt-plugins/actions/ControllerSelector.html)
        * [ SmootherSelector ](../../configuration/packages/bt-plugins/actions/SmootherSelector.html)