What problem does it solve? Differential-drive robots often face a different direction than a new navigation path requires, causing awkward or inefficient initial motion when the primary controller must rotate and translate simultaneously. This Skill provides the configuration knowledge to make the Nav2 RotationShimController handle that initial in-place rotation cleanly before handing off to the primary controller. ## Core Features & Use Cases - Parameter Guidance: Explains angular_dist_threshold, forward_sampling_distance, rotate_to_heading_angular_vel, max_angular_accel, and simulate_ahead_time with typical tuning values. - Complete YAML Examples: Provides a full controller_server configuration wrapping MPPI, including pass-through of primary controller parameters. - Controller Compatibility Advice: Covers when to combine RotationShim with MPPI, DWB, RPP, or GracefulController, and when to avoid it entirely. - Use Case: A differential-drive robot receives a goal behind it; with RotationShim configured, it rotates in place to face the path, then MPPI takes over for smooth forward driving. ## Quick Start Configure the Nav2 FollowPath plugin as RotationShimController wrapping MPPI with an angular_dist_threshold of 0.785 radians.
