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Merged
SteveMacenski merged 1 commit into from
May 14, 2025
Merged

Update arguments for custom planner and controller #687

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4 changes: 2 additions & 2 deletions plugin_tutorials/docs/writing_new_nav2controller_plugin.rst
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Expand Up @@ -70,8 +70,8 @@ The list of methods, their descriptions, and necessity are presented in the tabl
| computeVelocityCommands() | Method is called when a new velocity command is demanded by the controller server | Yes |
| | in-order for the robot to follow the global path. This method returns a | |
| | `geometry_msgs\:\:msg\:\:TwistStamped` which represents the velocity command for the | |
| | robot to drive. This method passes 2 parameters: reference to the current robot | |
| | pose and its current velocity. | |
| | robot to drive. This method passes 3 parameters: reference to the current robot | |
| | pose, its current velocity, and a pointer to the `nav2_core::GoalChecker`. | |
+---------------------------+---------------------------------------------------------------------------------------+------------------------+
| cancel() | Method is called when the controller server receives a cancel request. If this method | No |
| | is unimplemented, the controller will immediately stop when receiving a cancel | |
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3 changes: 2 additions & 1 deletion plugin_tutorials/docs/writing_new_nav2planner_plugin.rst
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Expand Up @@ -60,7 +60,8 @@ Let's learn more about the methods needed to write a planner plugin.
+----------------------+-----------------------------------------------------------------------------+-------------------------+
| createPlan() | Method is called when planner server demands a global plan for specified | Yes |
| | start and goal pose. This method returns `nav_msgs\:\:msg\:\:Path` carrying | |
| | global plan. This method takes 2 input params: start pose and goal pose. | |
| | global plan. This method takes 3 input params: start pose, goal pose and | |
| | a function to check if the action has been canceled. | |
+----------------------+-----------------------------------------------------------------------------+-------------------------+

For this tutorial, we will be using methods ``StraightLine::configure()`` and ``StraightLine::createPlan()`` to create straight-line planner.
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