Add 6dof support for velocity smoother

configuration/packages/configuring-route-server.rst

@@ -189,7 +189,7 @@ Server Parameters
   ============== ===============
 
   Description
-    Whether to use Breadth-first search to find the nearest traversible node (true) or simply the nearest node (false) for the start and goal when using pose requests.
+    Whether to use Breadth-first search to find the nearest traversable node (true) or simply the nearest node (false) for the start and goal when using pose requests.
 
 :max_nn_search_iterations:
 
@@ -200,7 +200,7 @@ Server Parameters
   ============== ===============
 
   Description
-    The maximum number of iterations to perform Breadth-first search to find the start and goal closest traversible nodes.
+    The maximum number of iterations to perform Breadth-first search to find the start and goal closest traversable nodes.
 
 :num_nearest_nodes:
 
@@ -211,7 +211,7 @@ Server Parameters
   ============== ===============
 
   Description
-    The number of nearest-neighors to extract from a Kd-tree in order to check against in the Breadth-first search.
+    The number of nearest-neighbors to extract from a Kd-tree in order to check against in the Breadth-first search.
 
 :graph_filepath:
 
@@ -610,7 +610,7 @@ DynamicEdgesScorer
 ------------------
 
 This edge scoring plugin will score based on the requested values from a 3rd party application via a service interface.
-It can set dynamically any cost for any edge and also be used to close and reopen particular edges if they are blocked, in use by other robots locking out its shared use by other robots, higher cost due to overlap with other platforms in service, increased cost due to fleet manager analytics that this space is underperforming throughput, or otherwise temporarily non-traversible.
+It can set dynamically any cost for any edge and also be used to close and reopen particular edges if they are blocked, in use by other robots locking out its shared use by other robots, higher cost due to overlap with other platforms in service, increased cost due to fleet manager analytics that this space is underperforming throughput, or otherwise temporarily non-traversable.
 For example, if other robots report an edge to be blocked, all robots can avoid this edge/aisle/etc.
 
 It has no parameters.

configuration/packages/configuring-velocity-smoother.rst

@@ -69,7 +69,7 @@ Velocity Smoother Parameters
   ============== ===========================
 
   Description
-    Maximum velocities (m/s) in ``[x, y, theta]`` axes.
+    Maximum velocities (m/s) in ``[x, y, theta]`` axes or ``[x, y, z, roll, pitch, yaw]`` for full 6-DoF support.
 
 :min_velocity:
 
@@ -80,7 +80,7 @@ Velocity Smoother Parameters
   ============== ===========================
 
   Description
-    Minimum velocities (m/s) in ``[x, y, theta]`` axes. This is **signed** and thus must be **negative** to reverse. Note: rotational velocities negative direction is a right-hand turn, so this should always be negative regardless of reversing preference.
+    Minimum velocities (m/s) in ``[x, y, theta]`` axes or ``[x, y, z, roll, pitch, yaw]`` for full 6-DoF support. This is **signed** and thus must be **negative** to reverse. Note: rotational velocities negative direction is a right-hand turn, so this should always be negative regardless of reversing preference.
 
 :deadband_velocity:
 
@@ -91,7 +91,7 @@ Velocity Smoother Parameters
   ============== ===========================
 
   Description
-    Minimum velocities (m/s) to send to the robot hardware controllers, to prevent small commands from damaging hardware controllers if that speed cannot be achieved due to stall torque.
+    Minimum velocities (m/s) in ``[x, y, theta]`` axes or ``[x, y, z, roll, pitch, yaw]`` for full 6-DoF support to send to the robot hardware controllers, to prevent small commands from damaging hardware controllers if that speed cannot be achieved due to stall torque.
 
 :velocity_timeout:
 
@@ -113,7 +113,7 @@ Velocity Smoother Parameters
   ============== ===========================
 
   Description
-    Maximum acceleration to apply to each axis ``[x, y, theta]``.
+    Maximum acceleration to apply to each axis ``[x, y, theta]`` or ``[x, y, z, roll, pitch, yaw]`` for full 6-DoF support.
 
 :max_decel:
 
@@ -124,7 +124,7 @@ Velocity Smoother Parameters
   ============== ===========================
 
   Description
-    Minimum acceleration to apply to each axis ``[x, y, theta]``. This is **signed** and thus these should generally all be **negative**.
+    Minimum acceleration to apply to each axis ``[x, y, theta]`` or ``[x, y, z, roll, pitch, yaw]`` for full 6-DoF support. This is **signed** and thus these should generally all be **negative**.
 
 :odom_topic:
 

maintainer_docs/distribution_release.rst

@@ -67,7 +67,7 @@ Next, we need to setup Nav2's Nightly and Release docker image jobs in `nav2_doc
 Update ``.github/workflows/build_images.yaml`` to contain the new distribution in the ``ros_distro`` matrix.
 Remove any EOL distributions at this time.
 Within the ``strategy.matrix.version`` map, please a new entry for the distribution being added.
-The ``main_verison`` is ``1`` unless a new major version is set in Nav2's ``package.xml`` files.
+The ``main_version`` is ``1`` unless a new major version is set in Nav2's ``package.xml`` files.
 The ``distro_version`` should be bumped by one from the last distribution representing the release in the format ``1.4.X``.
 Remove any EOL distributions at this time.