Note: Choosing a Nav2 Controller¶
You are probably here because the robot technically navigates, but the motion still feels wrong: hesitant, oscillatory, crude, overly sharp, or too expensive computationally.
Likely First Answer¶
Start with Nav2 Controller Selection Guide.
If the Real Problem Is...¶
- rough path tracking: Path Tracking Metrics That Actually Matter
- DWB behavior: DWB Controller Basics and Tuning
- MPPI behavior: MPPI Controller Basics and Tuning
- clean final approach: Graceful Controller for Smooth Approach
- upstream path quality: Nav2 Planner Selection Guide