updating readme links to the new domain (ros-navigation#4311)

Signed-off-by: Pradheep <padhupradheep@gmail.com>
Signed-off-by: enricosutera <enricosutera@outlook.com>

README.md

@@ -7,18 +7,18 @@
 </p>
 
 For detailed instructions on how to:
-- [Getting Started](https://navigation.ros.org/getting_started/index.html)
-- [Concepts](https://navigation.ros.org/concepts/index.html)
-- [Build](https://navigation.ros.org/development_guides/build_docs/index.html#build)
-- [Install](https://navigation.ros.org/development_guides/build_docs/index.html#install)
-- [General Tutorials](https://navigation.ros.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://navigation.ros.org/plugin_tutorials/index.html)
-- [Configure](https://navigation.ros.org/configuration/index.html)
-- [Navigation Plugins](https://navigation.ros.org/plugins/index.html)
-- [Migration Guides](https://navigation.ros.org/migration/index.html)
+- [Getting Started](https://docs.nav2.org/getting_started/index.html)
+- [Concepts](https://docs.nav2.org/concepts/index.html)
+- [Build](https://docs.nav2.org/development_guides/build_docs/index.html#build)
+- [Install](https://docs.nav2.org/development_guides/build_docs/index.html#install)
+- [General Tutorials](https://docs.nav2.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://docs.nav2.org/plugin_tutorials/index.html)
+- [Configure](https://docs.nav2.org/configuration/index.html)
+- [Navigation Plugins](https://docs.nav2.org/plugins/index.html)
+- [Migration Guides](https://docs.nav2.org/migration/index.html)
 - [Container Images for Building Nav2](https://github.com/orgs/ros-planning/packages/container/package/navigation2)
-- [Contribute](https://navigation.ros.org/development_guides/involvement_docs/index.html)
+- [Contribute](https://docs.nav2.org/development_guides/involvement_docs/index.html)
 
-Please visit our [documentation site](https://navigation.ros.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).
+Please visit our [documentation site](https://docs.nav2.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).
 
 If you need professional services related to Nav2, please contact Open Navigation at info@opennav.org.
 

nav2_amcl/README.md

@@ -1,4 +1,4 @@
 # AMCL
 Adaptive Monte Carlo Localization (AMCL) is a probabilistic localization module which estimates the position and orientation (i.e. Pose) of a robot in a given known map using a 2D laser scanner. This is largely a refactored port from ROS 1 without any algorithmic changes.
 
-See the [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings.
+See the [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings.

nav2_behavior_tree/README.md

@@ -7,9 +7,9 @@ The nav2_behavior_tree module provides:
 * Navigation-specific behavior tree nodes, and
 * a generic BehaviorTreeEngine class that simplifies the integration of BT processing into ROS2 nodes for navigation or higher-level autonomy applications.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
 
-See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. 
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. 
 
 ## The bt_action_node Template and the Behavior Tree Engine
 

nav2_behaviors/README.md

@@ -10,9 +10,9 @@ The only required class a behavior must derive from is the `nav2_core/behavior.h
 
 The value of the centralized behavior server is to **share resources** amongst several behaviors that would otherwise be independent nodes. Subscriptions to TF, costmaps, and more can be quite heavy and add non-trivial compute costs to a robot system. By combining these independent behaviors into a single server, they may share these resources while retaining complete independence in execution and interface.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-behavior-server.html) for additional parameter descriptions and a [tutorial about writing behaviors](https://navigation.ros.org/plugin_tutorials/docs/writing_new_behavior_plugin.html).
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-behavior-server.html) for additional parameter descriptions and a [tutorial about writing behaviors](https://docs.nav2.org/plugin_tutorials/docs/writing_new_behavior_plugin.html).
 
-See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins.
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins.
 
 The `TimedBehavior` template makes use of a [nav2_util::TwistPublisher](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).
 The `AssistedTeleop` behavior makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).

nav2_bringup/README.md

@@ -10,7 +10,7 @@ Dynamically composed bringup (based on  [ROS2 Composition](https://docs.ros.org/
 
 * Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
 
-To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
+To use, please see the Nav2 [Getting Started Page](https://docs.nav2.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://docs.nav2.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
 
 Note:
 * gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.

nav2_collision_monitor/README.md

@@ -59,7 +59,7 @@ The following diagram is showing the high-level design of Collision Monitor modu
 
 ### Configuration
 
-Detailed configuration parameters, their description and how to setup a Collision Monitor could be found at its [Configuration Guide](https://navigation.ros.org/configuration/packages/configuring-collision-monitor.html) and [Using Collision Monitor tutorial](https://navigation.ros.org/tutorials/docs/using_collision_monitor.html) pages.
+Detailed configuration parameters, their description and how to setup a Collision Monitor could be found at its [Configuration Guide](https://docs.nav2.org/configuration/packages/configuring-collision-monitor.html) and [Using Collision Monitor tutorial](https://docs.nav2.org/tutorials/docs/using_collision_monitor.html) pages.
 
 
 ### Metrics
@@ -94,6 +94,6 @@ The zones around the robot and the data sources are the same as for the Collisio
 
 ### Configuration
 
-Detailed configuration parameters, their description and how to setup a Collision Detector could be found at its [Configuration Guide](https://navigation.ros.org/configuration/packages/collision_monitor/configuring-collision-detector-node.html).
+Detailed configuration parameters, their description and how to setup a Collision Detector could be found at its [Configuration Guide](https://docs.nav2.org/configuration/packages/collision_monitor/configuring-collision-detector-node.html).
 
 The `CollisionMonitor` node makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).

nav2_constrained_smoother/README.md

@@ -2,7 +2,7 @@
 
 A smoother plugin for `nav2_smoother` based on the original deprecated smoother in `nav2_smac_planner` by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) and put into operational state by [**RoboTech Vision**](https://robotechvision.com/). Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.
 
-See documentation on navigation.ros.org: https://navigation.ros.org/configuration/packages/configuring-constrained-smoother.html
+See documentation on docs.nav2.org: https://docs.nav2.org/configuration/packages/configuring-constrained-smoother.html
 
 
 Example of configuration (see indoor_navigation package of this repo for a full launch configuration):
@@ -26,13 +26,13 @@ smoother_server:
       w_cost: 0.015                 # weight to steer robot away from collision and cost
 
       # Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
-      # See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
+      # See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification
       w_cost_cusp_multiplier: 3.0   # option to have higher weight during forward/reverse direction change which is often accompanied with dangerous rotations
       cusp_zone_length: 2.5         # length of the section around cusp in which nodes use w_cost_cusp_multiplier (w_cost rises gradually inside the zone towards the cusp point, whose costmap weight equals w_cost*w_cost_cusp_multiplier)
 
       # Points in robot frame to grab costmap values from. Format: [x1, y1, weight1, x2, y2, weight2, ...]
       # IMPORTANT: Requires much higher number of iterations to actually improve the path. Uncomment only if you really need it (highly elongated/asymmetric robots)
-      # See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
+      # See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification
       # cost_check_points: [-0.185, 0.0, 1.0]
 
       optimizer:

nav2_controller/README.md

@@ -4,8 +4,8 @@ The Nav2 Controller is a Task Server in Nav2 that implements the `nav2_msgs::act
 
 An execution module implementing the `nav2_msgs::action::FollowPath` action server is responsible for generating command velocities for the robot, given the computed path from the planner module in `nav2_planner`. The nav2_controller package is designed to be loaded with multiple plugins for path execution. The plugins need to implement functions in the virtual base class defined in the `controller` header file in `nav2_core` package. It also contains progress checkers and goal checker plugins to abstract out that logic from specific controller implementations.
 
-See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available controller plugins. 
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available controller plugins. 
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-controller-server.html) for additional parameter descriptions and a [tutorial about writing controller plugins](https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html).
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-controller-server.html) for additional parameter descriptions and a [tutorial about writing controller plugins](https://docs.nav2.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html).
 
 The `ControllerServer` makes use of a [nav2_util::TwistPublisher](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).

nav2_costmap_2d/README.md

@@ -2,9 +2,9 @@
 
 The costmap_2d package is responsible for building a 2D costmap of the environment, consisting of several "layers" of data about the environment. It can be initialized via the map server or a local rolling window and updates the layers by taking observations from sensors. A plugin interface allows for the layers to be combined into the costmap and finally inflated via an inflation radius based on the robot footprint. The nav2 version of the costmap_2d package is mostly a direct ROS2 port of the ROS1 navigation stack version, with minimal noteable changes necessary due to support in ROS2. 
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-costmaps.html) for additional parameter descriptions for the costmap and its included plugins. The [tutorials](https://navigation.ros.org/tutorials/index.html) and [first-time setup guides](https://navigation.ros.org/setup_guides/index.html) also provide helpful context for working with the costmap 2D package and its layers. A [tutorial](https://navigation.ros.org/plugin_tutorials/docs/writing_new_costmap2d_plugin.html) is also provided to explain how to create costmap plugins.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-costmaps.html) for additional parameter descriptions for the costmap and its included plugins. The [tutorials](https://docs.nav2.org/tutorials/index.html) and [first-time setup guides](https://docs.nav2.org/setup_guides/index.html) also provide helpful context for working with the costmap 2D package and its layers. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_costmap2d_plugin.html) is also provided to explain how to create costmap plugins.
 
-See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. 
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. 
 
 ## To visualize the voxels in RVIZ:
 - Make sure `publish_voxel_map` in `voxel_layer` param's scope is set to `True`.
@@ -24,4 +24,4 @@ See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html)
 
 ### Overview
 
-Costmap Filters - is a costmap layer-based instrument which provides an ability to apply to map spatial-dependent raster features named as filter-masks. These features are used in plugin algorithms when filling costmaps in order to allow robots to change their trajectory, behavior or speed when a robot enters/leaves an area marked in a filter masks. Examples of costmap filters include keep-out/safety zones where robots will never enter, speed restriction areas, preferred lanes for robots moving in industries and warehouses. More information about design, architecture of the feature and how it works could be found on Nav2 website: https://navigation.ros.org.
+Costmap Filters - is a costmap layer-based instrument which provides an ability to apply to map spatial-dependent raster features named as filter-masks. These features are used in plugin algorithms when filling costmaps in order to allow robots to change their trajectory, behavior or speed when a robot enters/leaves an area marked in a filter masks. Examples of costmap filters include keep-out/safety zones where robots will never enter, speed restriction areas, preferred lanes for robots moving in industries and warehouses. More information about design, architecture of the feature and how it works could be found on Nav2 website: https://docs.nav2.org.

nav2_dwb_controller/README.md

@@ -10,7 +10,7 @@ DWB improves on DWA in a few major ways:
 
 It is possible to tune DWB to gain both DWA and base local planner behaviors, as well as expansions using new plugins for totally use-case specific behaviors. The current trajectory generator plugins work for omnidirectional and differential drive robots, though an ackermann generator would be trivial to add. The current critic plugins work for both circular and non-circular robots and include many of the cost functions needed to build a path tracking system with various attributes.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-dwb-controller.html) for additional parameter descriptions.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-dwb-controller.html) for additional parameter descriptions.
 
 ## DWB Plugins
 

nav2_graceful_controller/README.md

@@ -1,7 +1,7 @@
 # Graceful Motion Controller
 The graceful motion controller implements a controller based on the works of Jong Jin Park in "Graceful Navigation for Mobile Robots in Dynamic and Uncertain Environments". (2016). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-graceful-motion-controller.html) for additional parameter descriptions.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-graceful-motion-controller.html) for additional parameter descriptions.
 
 ## Smooth control law
 The smooth control law is a pose-following kinematic control law that generates a smooth and confortable trajectory for the robot to follow. It is Lyapunov-based feedback control law made of three components:

nav2_lifecycle_manager/README.md

@@ -1,7 +1,7 @@
 ### Background on lifecycle enabled nodes
 Using ROS2’s managed/lifecycle nodes feature allows the system startup to ensure that all required nodes have been instantiated correctly before they begin their execution. Using lifecycle nodes also allows nodes to be restarted or replaced on-line. More details about managed nodes can be found on [ROS2 Design website](https://design.ros2.org/articles/node_lifecycle.html). Several nodes in Nav2, such as map_server, planner_server, and controller_server, are lifecycle enabled. These nodes provide the required overrides of the lifecycle functions: ```on_configure()```, ```on_activate()```, ```on_deactivate()```, ```on_cleanup()```, ```on_shutdown()```, and ```on_error()```.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-lifecycle.html) for additional parameter descriptions.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-lifecycle.html) for additional parameter descriptions.
 
 ### nav2_lifecycle_manager
 Nav2's lifecycle manager is used to change the states of the lifecycle nodes in order to achieve a controlled _startup_, _shutdown_, _reset_, _pause_, or _resume_ of the navigation stack. The lifecycle manager presents a ```lifecycle_manager/manage_nodes``` service, from which clients can invoke the startup, shutdown, reset, pause, or resume functions. Based on this service request, the lifecycle manager calls the necessary lifecycle services in the lifecycle managed nodes. Currently, the RVIZ panel uses this ```lifecycle_manager/manage_nodes``` service when user presses the buttons on the RVIZ panel (e.g.,startup, reset, shutdown, etc.), but it is meant to be called on bringup through a production system application.