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X-lanni
2025-05-27 19:03:40 +08:00
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navigation2/nav2_controller/README.md
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# Nav2 Controller
The Nav2 Controller is a Task Server in Nav2 that implements the `nav2_msgs::action::FollowPath` action server.
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 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).