graceful-controller

Smooth docking in Nav2 requires a curvature-constrained controller plugin. GracefulController generates arc-like trajectories and supports configurable parameters like min_turning_radius and velocity bounds to prevent abrupt maneuvers during final approaches.

Yes, configuring a minimum turning radius and velocity limits is supported. GracefulController exposes parameters such as min_turning_radius, v_linear_min/max, k_phi, and rotation behaviors to tailor motion planning for specific robotic platforms.

To set up curvature-constrained motion planning, configure the controller as active in your Nav2 controller_server. GracefulController integrates directly as a Nav2 controller plugin and supports per-path selection via the controller_id parameter.

Yes, initial and final rotation behaviors are supported for precise docking. GracefulController includes configurable parameters for initial_rotation and final_rotation, allowing you to control how the robot orients itself when approaching a goal pose.

Handling simple navigation tasks while avoiding sharp maneuvers requires a smooth control law. GracefulController implements curvature-constrained trajectories that produce graceful, arc-like motion instead of abrupt turns, making it suitable for both navigation and docking.

Abrupt turns during final approach happen when the controller lacks curvature constraints. GracefulController solves this by applying a smooth control law that generates arc-like motion, ensuring the robot approaches the goal pose gracefully without jerky movements.