restored AckermannMotionModel parameter section

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

Author: Alessio-Parmeggiani

configuration/packages/configuring-mppic.rst

@@ -53,17 +53,6 @@ MPPI Parameters
     The plugin to use for the motion model constraints of the MPPI planner. 
     Supported motion model plugins include "mppi::DiffDriveMotionModel", "mppi::OmniMotionModel", and "mppi::AckermannMotionModel" for differential drive, omnidirectional, and Ackermann robots respectively.
 
-:``<motion_model>``.min_turning_r:
-
-  ============== ===========================
-  Type           Default
-  -------------- ---------------------------
-  double         0.2
-  ============== ===========================
-
-  Description
-    The minimum turning radius possible for the vehicle platform (m). This is only used if ``<motion_model>``.plugin is set to "mppi::AckermannMotionModel".
-
 :critics:
 
   ============== ===========================
@@ -397,6 +386,19 @@ Trajectory Visualization
   Description
     Whether to allow QoS profiles to be overwritten with parameterized values.
 
+AckermannMotionModel
+--------------------
+
+:``<motion_model>``.min_turning_r:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  double         0.2
+  ============== ===========================
+
+  Description
+    The minimum turning radius possible for the vehicle platform (m). This is only used if ``<motion_model>``.plugin is set to "mppi::AckermannMotionModel".
 
 Default Optimal Trajectory Validator
 ------------------------------------

migration/Kilted.rst

@@ -946,8 +946,8 @@ Global planner plugin natively accepts viapoints
 
 The function signature for ``createPath`` must be updated accordingly for all custom planner plugins inheriting from the ``BaseGlobalPlanner``. This change does not alter the behavior of ``ComputePathThroughPoses`` that connects consecutive segments end-to-end but does upgrade the ``ComputePathToPose`` action.
 
-MPPI motion uses support plugin-based configuration
-----------------------------------------------------
+MPPI motion models use plugin-based configuration
+--------------------------------------------------
 
 `PR #6076 <https://github.com/ros-navigation/navigation2/pull/6076>`_ adds support for plugin-based configuration of motion models in MPPI. 
 
@@ -966,4 +966,4 @@ Supported motion model plugins are:
   - ``mppi::OmniMotionModel`` : replaces ``motion_model: Omni``
   - ``mppi::AckermannMotionModel`` : replaces ``motion_model: Ackermann``
 
-While "diff_drive" is the default value for ``motion_model`` parameter, it is still required to specify the plugin for it, as shown above.
+While "diff_drive" is the default value for ``motion_model`` parameter, it is still required to specify the plugin for it, as shown above.