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Roll back merge error #602

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Nov 6, 2024
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Roll back merge error #602

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61 changes: 33 additions & 28 deletions plugins/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -103,34 +103,39 @@ Costmap Filters
Controllers
===========

+--------------------------------+--------------------+----------------------------------+-----------------------+
| Plugin Name | Creator | Description | Drivetrain support |
+================================+====================+==================================+=======================+
| `DWB Controller`_ | David Lu!! | A highly configurable DWA | Differential, |
| | | implementation with plugin | Omnidirectional, |
| | | interfaces | Legged |
+--------------------------------+--------------------+----------------------------------+-----------------------+
| `TEB Controller`_ | Christoph Rösmann | A MPC-like controller suitable | **Ackermann**, Legged,|
| | | for ackermann, differential, and | Omnidirectional, |
| | | holonomic robots. | Differential |
+--------------------------------+--------------------+----------------------------------+-----------------------+
| `Regulated Pure Pursuit`_ | Steve Macenski | A service / industrial robot | **Ackermann**, Legged,|
| | | variation on the pure pursuit | Differential |
| | | algorithm with adaptive features.| |
+--------------------------------+--------------------+----------------------------------+-----------------------+
| `MPPI Controller`_ | Steve Macenski | A predictive MPC controller with | Differential, Omni, |
| | Aleksei Budyakov | modular & custom cost functions | **Ackermann** |
| | | that can accomplish many tasks. | |
+--------------------------------+--------------------+----------------------------------+-----------------------+
| `Rotation Shim Controller`_ | Steve Macenski | A "shim" controller to rotate | Differential, Omni, |
| | | to path heading before passing | model rotate in place |
| | | to main controller for tracking.| |
+--------------------------------+--------------------+----------------------------------+-----------------------+
| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential |
| | | pose-following control law to | |
| | | generate smooth trajectories. | |
+--------------------------------+--------------------+----------------------------------+-----------------------+

+--------------------------------+-----------------------+------------------------------------+-----------------------+
| Plugin Name | Creator | Description | Drivetrain support |
+================================+=======================+====================================+=======================+
| `DWB Controller`_ | David Lu!! | A highly configurable DWA | Differential, |
| | | implementation with plugin | Omnidirectional, |
| | | interfaces | Legged |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `TEB Controller`_ | Christoph Rösmann | A MPC-like controller suitable | **Ackermann**, Legged,|
| | | for ackermann, differential, and | Omnidirectional, |
| | | holonomic robots. | Differential |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `Regulated Pure Pursuit`_ | Steve Macenski | A service / industrial robot | **Ackermann**, Legged,|
| | | variation on the pure pursuit | Differential |
| | | algorithm with adaptive features. | |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `MPPI Controller`_ | Steve Macenski | A predictive MPC controller with | Differential, Omni, |
| | Aleksei Budyakov | modular & custom cost functions | **Ackermann** |
| | | that can accomplish many tasks. | |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `Rotation Shim Controller`_ | Steve Macenski | A "shim" controller to rotate | Differential, Omni, |
| | | to path heading before passing | model rotate in place |
| | | to main controller for tracking. | |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential |
| | | pose-following control law to | |
| | | generate smooth trajectories. | |
+--------------------------------+-----------------------+------------------------------------+-----------------------+
| `Vector Pursuit Controller`_ | Black Coffee Robotics | A controller based on the vector | Differential, |
| | | pursuit algorithm useful for | Ackermann, Legged, |
| | | high speed accurate path tracking. | |
+--------------------------------+-----------------------+------------------------------------+-----------------------+

.. _Vector Pursuit Controller: https://github.com/blackcoffeerobotics/vector_pursuit_controller
.. _DWB Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_dwb_controller
.. _TEB Controller: https://github.com/rst-tu-dortmund/teb_local_planner
.. _Regulated Pure Pursuit: https://github.com/ros-navigation/navigation2/tree/main/nav2_regulated_pure_pursuit_controller
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