Fix warnings and errors

configuration/packages/bt-plugins/actions/GetCurrentPose.rst

@@ -36,7 +36,7 @@ Output Ports
 :current_pose:
 
   =============================== =======
-  Type                           Default
+  Type                            Default
   ------------------------------- -------
   geometry_msgs::msg::PoseStamped N/A
   =============================== =======

configuration/packages/configuring-bt-xml.rst

@@ -55,7 +55,6 @@ Action Plugins
   bt-plugins/actions/CancelComputeAndTrackRoute.rst
   bt-plugins/actions/Smooth.rst
   bt-plugins/actions/GetPoseFromPath.rst
-  bt-plugins/actions/GetPoseFromPath.rst
   bt-plugins/actions/DockRobot.rst
   bt-plugins/actions/UndockRobot.rst
   bt-plugins/actions/ConcatenatePaths.rst

configuration/packages/configuring-coverage-server.rst

@@ -247,7 +247,7 @@ Parameters
   ============== ============
 
   Description
-    For ``opennav_row_coverage``, whether to reorder the parsed rows in the order of their ``id``s.
+    For ``opennav_row_coverage``, whether to reorder the parsed rows in the order of their ``id`` s.
 
 Example
 *******

configuration/packages/configuring-docking-server.rst

@@ -226,7 +226,7 @@ Parameters
   ============== ==============
 
   Description
-    Parameter to reduce linear velocity proportional to path curvature. Increasing this linearly reduces the velocity (v(t) = v_max / (1 + beta * |curv|^lambda)).
+    Parameter to reduce linear velocity proportional to path curvature. Increasing this linearly reduces the velocity (v(t) = v_max / (1 + beta * \|curv\|^lambda)).
 
 :controller.lambda:
 
@@ -237,7 +237,7 @@ Parameters
   ============== ==============
 
   Description
-    Parameter to reduce linear velocity proportional to path curvature. Increasing this exponentially reduces the velocity (v(t) = v_max / (1 + beta * |curv|^lambda)).
+    Parameter to reduce linear velocity proportional to path curvature. Increasing this exponentially reduces the velocity (v(t) = v_max / (1 + beta * \|curv\|^lambda)).
 
 :controller.v_linear_min:
 

migration/Jazzy.rst

@@ -444,4 +444,4 @@ Docking backwards as plugin parameter
 *************************************
 In `PR #5079 <https://github.com/ros-navigation/navigation2/pull/5079>`_, the ``dock_backwards`` boolean parameter has been moved from the docking server to the dock plugin as the string parameter ``dock_direction``. This allows the user to have multiple dock plugins with different directions in the same docking server. Default value is ``forward`` but may also be set as ``backward``.
 
-See :ref:`_configuring_docking_server` for more information.
+See :ref:`configuring_docking_server` for more information.

plugin_tutorials/docs/writing_new_costmap2d_plugin.rst

@@ -230,7 +230,9 @@ In this case each plugin object will be handled by its own parameters tree in a
     plugin: nav2_gradient_costmap_plugin::GradientLayer # In Iron and older versions, "/" was used instead of "::"
     enabled: False
     ...
-NOTE: the order in which plugins are listed in the configuration is significant, as it determines the sequence in which they are applied to the costmap. For example, if the inflation layer is listed before the range layer, obstacles added to the costmap by the range layer will not be inflated.
+.. note::
+
+  The order in which plugins are listed in the configuration is significant, as it determines the sequence in which they are applied to the costmap. For example, if the inflation layer is listed before the range layer, obstacles added to the costmap by the range layer will not be inflated.
 
 4- Run GradientLayer plugin
 ---------------------------

setup_guides/footprint/setup_footprint.rst

@@ -10,7 +10,7 @@ Footprint Introduction
 
 The footprint outlines the robot's 2D shape when projected to the ground and is primarily used by Nav2 to avoid collisions during planning. The algorithms involved in this task makes sure that the robot does not collide with the obstacles in the costmap while it computes the robot's paths or plans.
 
-The footprint is set up using the ``footprint`` or ``robot_radius`` parameter of the global and local costmaps which we tackled in the previous tutorials (:ref:`Setting Up Sensors Guide<setup_sensors>`). The value defined in the ``footprint`` parameter is an ordered vector of 2-D points defining the robot's footprint with the ``base_link`` frame as the origin. The first and last points in the vector are joined into the last line segment to close the footprint's shape. As an alternative, you may also use the ``robot_radius`` parameter wherein circular footprint is automatically generated and centered at ``base_link``.  In cases both the ``footprint`` and ``robot_radius`` parameters have been defined in the configuration, the ``footprint`` is used.
+The footprint is set up using the ``footprint`` or ``robot_radius`` parameter of the global and local costmaps which we tackled in the previous tutorials (:ref:`Setting Up Sensors Guide<setup_sensors_gz>`). The value defined in the ``footprint`` parameter is an ordered vector of 2-D points defining the robot's footprint with the ``base_link`` frame as the origin. The first and last points in the vector are joined into the last line segment to close the footprint's shape. As an alternative, you may also use the ``robot_radius`` parameter wherein circular footprint is automatically generated and centered at ``base_link``.  In cases both the ``footprint`` and ``robot_radius`` parameters have been defined in the configuration, the ``footprint`` is used.
 
 .. seealso::
    A section in the previous guide, :ref:`Configuring nav2_costmap_2d<configuring_nav2_costmap_2d>`, explains how to configure basic costmap parameters. Please refer to that guide for more details on costmap configuration.

tutorials/docs/navigation2_route_tool.rst

@@ -20,7 +20,7 @@ Supported operations for the route tool include loading in existing route graphs
 By the end of this tutorial, you should feel comfortable creating and modifying route graphs using the route tool.
 
 Prerequisites
-============
+=============
 
 Prior to using the route tool, you will need to create an occupancy grid map using the slam_toolbox package.
 Follow `this tutorial <https://docs.nav2.org/tutorials/docs/navigation2_with_slam.html>`_ for instructions on how to generate and save an occupancy grid map.

tutorials/docs/navigation2_with_gps.rst

@@ -92,7 +92,7 @@ Tutorial Steps
 0- Setup Gazebo World
 ---------------------
 
-To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway <https://docs.px4.io/v1.12/en/simulation/gazebo_worlds.html#sonoma-raceway>`_ because its aligned with the real location. A sample world has been setup `here <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world>`_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
+To navigate using GPS we first need to create an outdoors Gazebo world with a robot having a GPS sensor to setup for navigation. For this tutorial we will be using the `Sonoma Raceway <https://docs.px4.io/v1.12/en/simulation/gazebo_worlds.html#sonoma-raceway>`_ because its aligned with the real location. A sample world has been setup `in this link <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world>`_ using gazebo's spherical coordinates plugin, which creates a local tangent plane centered in the set geographic origin and provides latitude, longitude and altitude coordinates for each point in the world:
 
 .. code-block:: xml
 
@@ -343,7 +343,7 @@ There are three main possible setups for the global costmap:
         origin_x: 25.0
         origin_y: 25.0
 
-We provide a `Nav2 params file <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml>`_ with the rolling costmap setup and a `launch file <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/gps_waypoint_follower.launch.py>`_ to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot:
+We provide a `Nav2 params file <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml>`_ with the rolling costmap setup and a `launch <https://github.com/ros-navigation/navigation2_tutorials/tree/master/nav2_gps_waypoint_follower_demo/gps_waypoint_follower.launch.py>`_ file to put it all together. Remember that the GPS setup of robot_localization was just a means for setting up the global localization system, however Nav2 is still a cartesian navigation stack and you may still use all its cartesian tools. To confirm that everything is working, launch the provided file (this launches gazebo and RL as well so close them if you have them running from the previous steps) and use rviz to send a goal to the robot:
 
 .. code-block:: bash
 

tutorials/docs/using_groot.rst

@@ -23,7 +23,7 @@ Overview
 `Groot <https://github.com/BehaviorTree/Groot>`_ is the companion application of the `BehaviorTree.CPP <https://github.com/BehaviorTree/BehaviorTree.CPP>`_ library used to create, edit, and visualize behavior trees.
 Behavior Trees are deeply integrated into Nav2, used as the main method of orchestrating task server logic across a complex navigation and autonomy stack.
 Behavior Trees, in short BTs, consist of many nodes completing different tasks and control the flow of logic, similar to a Hierarchical or Finite State Machine, but organized in a tree structure.
-These nodes are of types: `Action`, `Condition`, `Control`, or `Decorator`, and are described in more detail in :ref:`concepts` and `BehaviorTree.CPP <https://www.behaviortree.dev/docs/learn-the-basics/BT_basics#types-of-nodes>`_.
+These nodes are of types: `Action`, `Condition`, `Control`, or `Decorator`, and are described in more detail in :ref:`concepts` and `Types of nodes in BehaviorTree.CPP <https://www.behaviortree.dev/docs/learn-the-basics/BT_basics#types-of-nodes>`_.
 
 :ref:`writing_new_nbt_plugin` offers a well written example of creating a simple ``Action`` node if creating new BT nodes is of interest. This tutorial will focus solely on launching Groot, visualizing a Behavior Tree, and modifying that tree for a given customization, assuming a library of BT nodes. Luckily, Nav2 provides a robust number of BT nodes for your use out of the box, enumerated in :ref:`plugins`.