added position goal checker (#689)

* added position goal checker

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* removed yaw tolerance

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* added position goal checker to migration

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* Update migration/Jazzy.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update migration/Jazzy.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Author: PrabhavSaxena

configuration/packages/configuring-controller-server.rst

@@ -251,6 +251,7 @@ Provided Plugins
   nav2_controller-plugins/pose_progress_checker.rst
   nav2_controller-plugins/simple_goal_checker.rst
   nav2_controller-plugins/stopped_goal_checker.rst
+  nav2_controller-plugins/position_goal_checker.rst
 
 Default Plugins
 ***************

configuration/packages/nav2_controller-plugins/position_goal_checker.rst

@@ -0,0 +1,33 @@
+.. _configuring_nav2_controller_position_goal_checker_plugin:
+
+PositionGoalChecker
+=================
+
+Checks whether the robot has reached the goal pose.
+
+Parameters
+**********
+
+``<nav2_controller plugin>``: nav2_controller plugin name defined in the **goal_checker_plugin_id** parameter in :ref:`configuring_controller_server`.
+
+:``<nav2_controller plugin>``.xy_goal_tolerance:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.25
+  ====== =======
+
+    Description
+        Tolerance to meet goal completion criteria (m).
+
+:``<nav2_controller plugin>``.stateful:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool true
+  ==== =======
+
+    Description
+        Whether to check for XY position tolerance after rotating to goal orientation in case of minor localization changes.

migration/Jazzy.rst

@@ -472,3 +472,8 @@ Docking backwards as plugin parameter
 In `PR #5079 <https://github.com/ros-navigation/navigation2/pull/5079>`_, the ``dock_backwards`` boolean parameter has been moved from the docking server to the dock plugin as the string parameter ``dock_direction``. This allows the user to have multiple dock plugins with different directions in the same docking server. Default value is ``forward`` but may also be set as ``backward``.
 
 See :ref:`configuring_docking_server` for more information.
+
+New Position Goal Checker
+*************************
+
+In `PR #5162 <https://github.com/ros-navigation/navigation2/pull/5162>`_, a new goal checker plugin called ``PositionGoalChecker`` has been added to Nav2. This plugin provides an alternative to the existing goal checkers by focusing only on the position component of the robot pose, ignoring orientation. This is used by the RPP controller to create stateful behavior to rotate to heading once meeting the goal tolerance.

plugins/index.rst

@@ -311,9 +311,15 @@ Goal Checkers
 |                                 |                        | , rotational distance of goal,   |
 |                                 |                        | and velocity threshold.          |
 +---------------------------------+------------------------+----------------------------------+
+| `PositionGoalChecker`_          | Prabhav Saxena         | A plugin check whether robot     |
+|                                 |                        | is within translational distance |
+|                                 |                        | of goal, without requiring       |
+|                                 |                        | rotational convergence.          |
++---------------------------------+------------------------+----------------------------------+
 
 .. _SimpleGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/simple_goal_checker.cpp
 .. _StoppedGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/stopped_goal_checker.cpp
+.. _PositionGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/position_goal_checker.cpp
 
 Progress Checkers
 =================