Configuration guide

• all parameters listed and their descriptions and defaults
• Namespacing for server maps of plugins

Setup Guide

• setup TF / REP103/105
• setup kinematics / UDRF (+ gazebo plugins for sim)
• setup odom sources + RL
• setup sensor sources (+costmap gradient global at minimum to be correct + param list description links)
• setup footprint and reference CollisionChecker detects a collision when robot footprint hits inscribed radius distance. #1603 under way
• NEW to ROS2: Algorithm selection based on environment / robot type under way
• NEW to ROS2: lifecycle sensors / other nodes -> up before navigation stack with lifecycle manager -> safety! (TF we handle for you) -> autonomy after navigation