diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
index f2469197bd9..f3eb1bd0f4a 100644
--- a/nav2_bringup/launch/localization_launch.py
+++ b/nav2_bringup/launch/localization_launch.py
@@ -40,6 +40,7 @@ def generate_launch_description():
     params_file = LaunchConfiguration('params_file')
     use_composition = LaunchConfiguration('use_composition')
     container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
@@ -166,7 +167,7 @@ def generate_launch_description():
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             LoadComposableNodes(
-                target_container=container_name,
+                target_container=container_name_full,
                 condition=LaunchConfigurationEquals('map', ''),
                 composable_node_descriptions=[
                     ComposableNode(
@@ -178,7 +179,7 @@ def generate_launch_description():
                 ],
             ),
             LoadComposableNodes(
-                target_container=container_name,
+                target_container=container_name_full,
                 condition=LaunchConfigurationNotEquals('map', ''),
                 composable_node_descriptions=[
                     ComposableNode(
@@ -191,7 +192,7 @@ def generate_launch_description():
                 ],
             ),
             LoadComposableNodes(
-                target_container=container_name,
+                target_container=container_name_full,
                 composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_amcl',
diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py
index c548dbf95d9..4cc93be54c2 100644
--- a/nav2_bringup/launch/navigation_launch.py
+++ b/nav2_bringup/launch/navigation_launch.py
@@ -36,6 +36,7 @@ def generate_launch_description():
     params_file = LaunchConfiguration('params_file')
     use_composition = LaunchConfiguration('use_composition')
     container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
@@ -194,7 +195,7 @@ def generate_launch_description():
         actions=[
             SetParameter("use_sim_time", use_sim_time),
             LoadComposableNodes(
-                target_container=container_name,
+                target_container=container_name_full,
                 composable_node_descriptions=[
                     ComposableNode(
                         package='nav2_controller',
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
index 21bc2e676f4..d022eff670e 100644
--- a/nav2_bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -55,52 +55,59 @@ bt_navigator:
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_smooth_path_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_assisted_teleop_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_drive_on_heading_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_globally_updated_goal_condition_bt_node
-    - nav2_is_path_valid_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_truncate_path_local_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_path_expiring_timer_condition
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_goal_updated_controller_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-    - nav2_controller_cancel_bt_node
-    - nav2_path_longer_on_approach_bt_node
-    - nav2_wait_cancel_bt_node
-    - nav2_spin_cancel_bt_node
-    - nav2_back_up_cancel_bt_node
-    - nav2_assisted_teleop_cancel_bt_node
-    - nav2_drive_on_heading_cancel_bt_node
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_are_error_codes_active_condition_bt_node
+      - nav2_would_a_controller_recovery_help_condition_bt_node
+      - nav2_would_a_planner_recovery_help_condition_bt_node
+      - nav2_would_a_smoother_recovery_help_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
 
 controller_server:
   ros__parameters:
@@ -172,19 +179,27 @@ local_costmap:
       height: 3
       resolution: 0.05
       robot_radius: 0.22
-      plugins: ["obstacle_layer", "inflation_layer"]
+      plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
         inflation_radius: 0.55
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
+        publish_voxel_map: False
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
         scan:
           topic: /robot1/scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
+          data_type: "LaserScan"
           raytrace_max_range: 3.0
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
@@ -192,27 +207,34 @@ local_costmap:
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-      observation_sources: scan
 
 global_costmap:
   global_costmap:
     ros__parameters:
       robot_radius: 0.22
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
+        observation_sources: scan
         scan:
           topic: /robot1/scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
+          data_type: "LaserScan"
           raytrace_max_range: 3.0
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
       static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
       always_send_full_costmap: True
-      observation_sources: scan
 
 map_server:
   ros__parameters:
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
index 2f8509f24a8..7484dd87980 100644
--- a/nav2_bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -55,52 +55,59 @@ bt_navigator:
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_smooth_path_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_assisted_teleop_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_drive_on_heading_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_globally_updated_goal_condition_bt_node
-    - nav2_is_path_valid_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_truncate_path_local_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_path_expiring_timer_condition
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_goal_updated_controller_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-    - nav2_controller_cancel_bt_node
-    - nav2_path_longer_on_approach_bt_node
-    - nav2_wait_cancel_bt_node
-    - nav2_spin_cancel_bt_node
-    - nav2_back_up_cancel_bt_node
-    - nav2_assisted_teleop_cancel_bt_node
-    - nav2_drive_on_heading_cancel_bt_node
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_are_error_codes_active_condition_bt_node
+      - nav2_would_a_controller_recovery_help_condition_bt_node
+      - nav2_would_a_planner_recovery_help_condition_bt_node
+      - nav2_would_a_smoother_recovery_help_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
 
 controller_server:
   ros__parameters:
@@ -172,14 +179,21 @@ local_costmap:
       height: 3
       resolution: 0.05
       robot_radius: 0.22
-      plugins: ["obstacle_layer", "inflation_layer"]
+      plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
         inflation_radius: 0.55
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
+        publish_voxel_map: False
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
         scan:
           topic: /robot2/scan
           max_obstacle_height: 2.0
@@ -192,27 +206,34 @@ local_costmap:
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-      observation_sources: scan
 
 global_costmap:
   global_costmap:
     ros__parameters:
       robot_radius: 0.22
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
+        observation_sources: scan
         scan:
           topic: /robot2/scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
+          data_type: "LaserScan"
           raytrace_max_range: 3.0
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
       static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
       always_send_full_costmap: True
-      observation_sources: scan
 
 map_server:
   ros__parameters: