diff --git a/nav2_controller/README.md b/nav2_controller/README.md new file mode 100644 index 0000000000000000000000000000000000000000..833526829cf2f98b22381e568cb94c096652d3d4 --- /dev/null +++ b/nav2_controller/README.md @@ -0,0 +1,8 @@ +# Nav2 Controller + +The Nav2 Controller is an [Execution Module](../doc/requirements/requirements.md) that implements the `nav2_msgs::action::FollowPath` action server. + +An execution module implementing the `nav2_msgs::action::FollowPath` action server is responsible for generating command velocities for the robot, given the computed path from the planner module in `nav2_planner`. The nav2_controller package is designed to be loaded with plugins for path execution. The plugins need to implement functions in the virtual base class defined in the `local_planner` header file in `nav2_core` package. + + +Currently available controller plugins are: DWB, and [TEB (dashing release)](https://github.com/rst-tu-dortmund/teb_local_planner/tree/dashing-devel). \ No newline at end of file diff --git a/nav2_core/README.md b/nav2_core/README.md new file mode 100644 index 0000000000000000000000000000000000000000..72a8630c96780f393cd01ab02679f1dc512be91b --- /dev/null +++ b/nav2_core/README.md @@ -0,0 +1,7 @@ +# Nav2 Core + +This package hosts the abstract interface (virtual base classes) for plugins to be used with the following: +- global planner (e.g., `nav2_navfn_planner`) +- local planner (i.e, path execution controller, e.g `nav2_dwb_controller`) +- goal checker +- recovery behaviors diff --git a/nav2_core/include/nav2_core/local_planner.hpp b/nav2_core/include/nav2_core/local_planner.hpp index 14b953c8ad2b5ecf08272b46b7af5ccfb4606023..6fd7691d231269b92e6a3fb852edd04795cf3537 100644 --- a/nav2_core/include/nav2_core/local_planner.hpp +++ b/nav2_core/include/nav2_core/local_planner.hpp @@ -54,7 +54,7 @@ namespace nav2_core /** * @class LocalPlanner - * @brief planner interface that will be inherited by all local planners + * @brief planner interface that acts as a virtual base class for all local planner plugins */ class LocalPlanner {