diff --git a/sphinx_doc/howtos/index.rst b/sphinx_doc/howtos/index.rst
index d58bcf5fdbb975ebf5e55172fb7fd19deb5e5f01..a2e068d9eb060378693dd574a2042791e14744e1 100644
--- a/sphinx_doc/howtos/index.rst
+++ b/sphinx_doc/howtos/index.rst
@@ -7,3 +7,4 @@ How-Tos
:maxdepth: 1
docs/index.rst
+ tunning/index.rst
diff --git a/sphinx_doc/howtos/tunning/index.rst b/sphinx_doc/howtos/tunning/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..d06adebf825bf8f273d464dfba362aa80e39aba3
--- /dev/null
+++ b/sphinx_doc/howtos/tunning/index.rst
@@ -0,0 +1,12 @@
+.. _docs_tunning:
+
+Tunning Guidelines
+##################
+
+This guide provides a process through which the user can adjust the tunable parameters to obtain
+the best navigation performance.
+
+.. toctree::
+ :maxdepth: 1
+
+ params/tunable-params.rst
diff --git a/sphinx_doc/howtos/tunning/params/tunable-params.rst b/sphinx_doc/howtos/tunning/params/tunable-params.rst
new file mode 100644
index 0000000000000000000000000000000000000000..315d4346a7b8db25d89b9999e8619031d7d19eac
--- /dev/null
+++ b/sphinx_doc/howtos/tunning/params/tunable-params.rst
@@ -0,0 +1,415 @@
+.. _docs_tunable-params:
+
+Tunable Parameters
+##################
+
+Below is a list of all tunable parameters per node with some example values.
+Only relevant nodes are shown.
+
+Also, the `nav2_bringup pkg`_ contains a `nav2_params file`_ with the default values to use for TB3.
+
+.. rst-class:: content-collapse
+
+ACML
+====
+
+.. code-block:: yaml
+
+ amcl:
+ ros__parameters:
+ alpha1: 0.2
+ alpha2: 0.2
+ alpha3: 0.2
+ alpha4: 0.2
+ alpha5: 0.2
+ always_reset_initial_pose: false
+ base_frame_id: base_footprint
+ beam_skip_distance: 0.5
+ beam_skip_error_threshold: 0.9
+ beam_skip_threshold: 0.3
+ do_beamskip: false
+ global_frame_id: map
+ lambda_short: 0.1
+ laser_likelihood_max_dist: 2.0
+ laser_max_range: 100.0
+ laser_min_range: -1.0
+ laser_model_type: likelihood_field
+ max_beams: 60
+ max_particles: 2000
+ min_particles: 500
+ odom_frame_id: odom
+ pf_err: 0.05
+ pf_z: 0.99
+ recovery_alpha_fast: 0.0
+ recovery_alpha_slow: 0.0
+ resample_interval: 1
+ robot_model_type: differential
+ save_pose_rate: 0.5
+ set_initial_pose: false
+ sigma_hit: 0.2
+ tf_broadcast: true
+ transform_tolerance: 1.0
+ update_min_a: 0.2
+ update_min_d: 0.25
+ use_sim_time: true
+ z_hit: 0.5
+ z_max: 0.05
+ z_rand: 0.5
+ z_short: 0.05
+
+
+.. rst-class:: content-collapse
+
+Controller Server
+=================
+
+Hosts the `DWB` controller.
+
+.. code-block:: yaml
+
+ controller_server:
+ ros__parameters:
+ BaseObstacle:
+ scale: 0.02
+ sum_scores: false
+ BaseObstacle/class: BaseObstacle
+ GoalAlign:
+ aggregation_type: last
+ scale: 0.0
+ GoalAlign/class: GoalAlign
+ GoalDist:
+ aggregation_type: last
+ scale: 24.0
+ GoalDist/class: GoalDist
+ Oscillation:
+ scale: 1.0
+ x_only_threshold: 0.05
+ Oscillation/class: Oscillation
+ PathAlign:
+ aggregation_type: last
+ scale: 0.0
+ PathAlign/class: PathAlign
+ PathDist:
+ aggregation_type: last
+ scale: 32.0
+ PathDist/class: PathDist
+ RotateToGoal:
+ scale: 32.0
+ RotateToGoal/class: RotateToGoal
+ acc_lim_theta: 3.2
+ acc_lim_x: 2.5
+ acc_lim_y: 0.0
+ controller_frequency: 20.0
+ critics:
+ - RotateToGoal
+ - Oscillation
+ - BaseObstacle
+ - GoalAlign
+ - PathAlign
+ - PathDist
+ - GoalDist
+ debug_trajectory_details: true
+ decel_lim_theta: -3.2
+ decel_lim_x: -2.5
+ decel_lim_y: 0.0
+ discretize_by_time: false
+ goal_checker_name: dwb_plugins::SimpleGoalChecker
+ local_controller_plugin: dwb_core::DWBLocalPlanner
+ max_speed_xy: 0.26
+ max_vel_theta: 1.0
+ max_vel_x: 0.26
+ max_vel_y: 0.0
+ min_speed_theta: 0.0
+ min_speed_xy: 0.0
+ min_theta_velocity_threshold: 0.001
+ min_vel_x: 0.0
+ min_vel_y: 0.0
+ min_x_velocity_threshold: 0.001
+ min_y_velocity_threshold: 0.5
+ prune_distance: 1.0
+ prune_plan: true
+ publish_cost_grid_pc: false
+ publish_evaluation: true
+ publish_global_plan: true
+ publish_local_plan: true
+ publish_trajectories: true
+ publish_transformed_plan: true
+ sim_time: 1.7
+ trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator
+ transform_tolerance: 0.2
+ use_dwa: false
+ use_sim_time: true
+ vx_samples: 20
+ vy_samples: 5
+ xy_goal_tolerance: 0.25
+ yaw_goal_tolerance: 0.25
+
+
+.. rst-class:: content-collapse
+
+Local Costmap
+=================
+
+Hosted on the `PlannerServer` node.
+
+.. code-block:: yaml
+
+ local_costmap:
+ ros__parameters:
+ always_send_full_costmap: true
+ clearable_layers:
+ - obstacle_layer
+ footprint: '[]'
+ footprint_padding: 0.01
+ global_frame: odom
+ height: 3
+ inflation_layer:
+ cost_scaling_factor: 3.0
+ enabled: true
+ inflate_unknown: false
+ inflation_radius: 0.55
+ lethal_cost_threshold: 100
+ map_topic: /map
+ observation_sources: ''
+ obstacle_layer:
+ combination_method: 1
+ enabled: true
+ footprint_clearing_enabled: true
+ max_obstacle_height: 2.0
+ observation_sources: scan
+ scan:
+ clearing: true
+ data_type: LaserScan
+ expected_update_rate: 0.0
+ inf_is_valid: false
+ marking: true
+ max_obstacle_height: 2.0
+ min_obstacle_height: 0.0
+ observation_persistence: 0.0
+ obstacle_range: 2.5
+ raytrace_range: 3.0
+ sensor_frame: ''
+ topic: /scan
+ origin_x: 0.0
+ origin_y: 0.0
+ plugin_names:
+ - obstacle_layer
+ - voxel_layer
+ - inflation_layer
+ plugin_types:
+ - nav2_costmap_2d::ObstacleLayer
+ - nav2_costmap_2d::VoxelLayer
+ - nav2_costmap_2d::InflationLayer
+ publish_frequency: 1.0
+ resolution: 0.05
+ robot_base_frame: base_link
+ robot_radius: 0.22
+ rolling_window: true
+ track_unknown_space: false
+ transform_tolerance: 0.3
+ trinary_costmap: true
+ unknown_cost_value: 255
+ update_frequency: 5.0
+ use_maximum: false
+ use_sim_time: true
+ voxel_layer:
+ combination_method: 1
+ enabled: true
+ footprint_clearing_enabled: true
+ mark_threshold: 0
+ max_obstacle_height: 2.0
+ observation_sources: pointcloud
+ origin_z: 0.0
+ pointcloud:
+ clearing: true
+ data_type: PointCloud2
+ expected_update_rate: 0.0
+ inf_is_valid: false
+ marking: true
+ max_obstacle_height: 2.0
+ min_obstacle_height: 0.0
+ observation_persistence: 0.0
+ obstacle_range: 2.5
+ raytrace_range: 3.0
+ sensor_frame: ''
+ topic: /intel_realsense_r200_depth/points
+ publish_voxel_map: true
+ unknown_threshold: 15
+ z_resolution: 0.2
+ z_voxels: 10
+ width: 3
+
+
+.. rst-class:: content-collapse
+
+Planner Server
+=================
+
+Hosts the `NAVFN` controller.
+
+.. code-block:: yaml
+
+ planner_server:
+ ros__parameters:
+ allow_unknown: true
+ planner_plugin: nav2_navfn_planner/NavfnPlanner
+ tolerance: 0.0
+ use_astar: false
+ use_sim_time: true
+
+
+.. rst-class:: content-collapse
+
+Global Costmap
+=================
+
+Hosted on the `ControllerServer` node.
+
+.. code-block:: yaml
+
+ global_costmap:
+ ros__parameters:
+ always_send_full_costmap: true
+ clearable_layers:
+ - obstacle_layer
+ footprint: '[]'
+ footprint_padding: 0.01
+ global_frame: map
+ height: 10
+ inflation_layer:
+ cost_scaling_factor: 10.0
+ enabled: true
+ inflate_unknown: false
+ inflation_radius: 0.55
+ lethal_cost_threshold: 100
+ map_topic: /map
+ observation_sources: ''
+ obstacle_layer:
+ combination_method: 1
+ enabled: true
+ footprint_clearing_enabled: true
+ max_obstacle_height: 2.0
+ observation_sources: scan
+ scan:
+ clearing: true
+ data_type: LaserScan
+ expected_update_rate: 0.0
+ inf_is_valid: false
+ marking: true
+ max_obstacle_height: 2.0
+ min_obstacle_height: 0.0
+ observation_persistence: 0.0
+ obstacle_range: 2.5
+ raytrace_range: 3.0
+ sensor_frame: ''
+ topic: /scan
+ origin_x: 0.0
+ origin_y: 0.0
+ plugin_names:
+ - static_layer
+ - obstacle_layer
+ - voxel_layer
+ - inflation_layer
+ plugin_types:
+ - nav2_costmap_2d::StaticLayer
+ - nav2_costmap_2d::ObstacleLayer
+ - nav2_costmap_2d::VoxelLayer
+ - nav2_costmap_2d::InflationLayer
+ publish_frequency: 1.0
+ resolution: 0.1
+ robot_base_frame: base_link
+ robot_radius: 0.22
+ rolling_window: false
+ static_layer:
+ enabled: true
+ map_subscribe_transient_local: true
+ subscribe_to_updates: false
+ track_unknown_space: false
+ transform_tolerance: 0.3
+ trinary_costmap: true
+ unknown_cost_value: 255
+ update_frequency: 5.0
+ use_maximum: false
+ use_sim_time: true
+ voxel_layer:
+ combination_method: 1
+ enabled: true
+ footprint_clearing_enabled: true
+ mark_threshold: 0
+ max_obstacle_height: 2.0
+ observation_sources: pointcloud
+ origin_z: 0.0
+ pointcloud:
+ clearing: true
+ data_type: PointCloud2
+ expected_update_rate: 0.0
+ inf_is_valid: false
+ marking: true
+ max_obstacle_height: 2.0
+ min_obstacle_height: 0.0
+ observation_persistence: 0.0
+ obstacle_range: 2.5
+ raytrace_range: 3.0
+ sensor_frame: ''
+ topic: /intel_realsense_r200_depth/points
+ publish_voxel_map: true
+ unknown_threshold: 15
+ z_resolution: 0.2
+ z_voxels: 10
+ width: 10
+
+
+.. rst-class:: content-collapse
+
+Map Server
+=================
+
+.. code-block:: yaml
+
+ map_server:
+ ros__parameters:
+ use_sim_time: true
+ yaml_filename: turtlebot3_world.yaml
+
+
+.. rst-class:: content-collapse
+
+Recovery Server
+=================
+
+Hosts multiple recovery actions
+
+.. code-block:: yaml
+
+ recoveries_server:
+ ros__parameters:
+ costmap_topic: local_costmap/costmap_raw
+ cycle_frequency: 10.0
+ footprint_topic: local_costmap/published_footprint
+ max_rotational_vel: 1.0
+ min_rotational_vel: 0.4
+ plugin_names:
+ - Spin
+ - BackUp
+ - Wait
+ plugin_types:
+ - nav2_recoveries/Spin
+ - nav2_recoveries/BackUp
+ - nav2_recoveries/Wait
+ rotational_acc_lim: 3.2
+ simulate_ahead_time: 2.0
+ use_sim_time: true
+
+
+.. rst-class:: content-collapse
+
+BT Navigator
+=================
+Behavior-Tree-based Navigator
+
+.. code-block:: yaml
+
+ bt_navigator:
+ ros__parameters:
+ bt_xml_filename: navigate_w_replanning_and_recovery.xml
+ use_sim_time: true
diff --git a/sphinx_doc/substitutions.txt b/sphinx_doc/substitutions.txt
index cfd56b99a7dcd57a789b1d29762752816f73207f..cdef10005eacae967e4485cab473f5e1135bfdb5 100644
--- a/sphinx_doc/substitutions.txt
+++ b/sphinx_doc/substitutions.txt
@@ -9,6 +9,10 @@
.. _documentation repo: https://github.com/ros-planning/navigation2/doc
+.. _nav2_bringup pkg: https://github.com/ros-planning/navigation2/tree/master/nav2_bringup/bringup
+
+.. _nav2_params file: https://github.com/ros-planning/navigation2/blob/master/nav2_bringup/bringup/params/nav2_params.yaml
+
.. _documentation site: https://rosplanning.github.io/navigation2/
.. _project website: https://rosplanning.github.io/navigation2/