custom-controller-plugin

What problem does it solve?

This skill provides a blueprint to implement and expose a custom Nav2 controller plugin that extends the Nav2 navigation stack with a new local controller.

Core Features & Use Cases

• Extensible: Implement and register a custom controller plugin that integrates with the Nav2 lifecycle and plugin system.
• Interoperability: Works with local costmaps, TF transforms, and global plans to produce velocity commands.
• Use Case: Build a domain-specific controller for a differential-drive robot that adheres to the Nav2 controller interface and can be swapped at runtime.

Quick Start

Author a new controller by creating a class that inherits from nav2_core::Controller, implement the required methods, and register the plugin with pluginlib so that the Nav2 system can load it at runtime.