* [ SimpleGoalChecker ](../configuration/packages/nav2_controller-plugins/simple_goal_checker.html)
        * [ StoppedGoalChecker ](../configuration/packages/nav2_controller-plugins/stopped_goal_checker.html)
      * [ Default Plugins ](../configuration/packages/configuring-controller-server.html#default-plugins)
      * [ Example ](../configuration/packages/configuring-controller-server.html#example)
    * [ DWB Controller ](../configuration/packages/configuring-dwb-controller.html)
      * [ Controller ](../configuration/packages/configuring-dwb-controller.html#controller)
        * [ DWB Controller ](../configuration/packages/dwb-params/controller.html)
        * [ XYTheta Iterator ](../configuration/packages/dwb-params/iterator.html)
        * [ Kinematic Parameters ](../configuration/packages/dwb-params/kinematic.html)
        * [ Publisher ](../configuration/packages/dwb-params/visualization.html)
      * [ Plugins ](../configuration/packages/configuring-dwb-controller.html#plugins)
        * [ LimitedAccelGenerator ](../configuration/packages/dwb-plugins/limited_accel_generator.html)
        * [ StandardTrajectoryGenerator ](../configuration/packages/dwb-plugins/standard_traj_generator.html)
      * [ Trajectory Critics ](../configuration/packages/configuring-dwb-controller.html#trajectory-critics)
        * [ BaseObstacleCritic ](../configuration/packages/trajectory_critics/base_obstacle.html)
        * [ GoalAlignCritic ](../configuration/packages/trajectory_critics/goal_align.html)
        * [ GoalDistCritic ](../configuration/packages/trajectory_critics/goal_dist.html)
        * [ ObstacleFootprintCritic ](../configuration/packages/trajectory_critics/obstacle_footprint.html)
        * [ OscillationCritic ](../configuration/packages/trajectory_critics/oscillation.html)
        * [ PathAlignCritic ](../configuration/packages/trajectory_critics/path_align.html)
        * [ PathDistCritic ](../configuration/packages/trajectory_critics/path_dist.html)
        * [ PreferForwardCritic ](../configuration/packages/trajectory_critics/prefer_forward.html)
        * [ RotateToGoalCritic ](../configuration/packages/trajectory_critics/rotate_to_goal.html)
        * [ TwirlingCritic ](../configuration/packages/trajectory_critics/twirling.html)
      * [ Example ](../configuration/packages/configuring-dwb-controller.html#example)
    * [ Regulated Pure Pursuit ](../configuration/packages/configuring-regulated-pp.html)
      * [ Regulated Pure Pursuit Parameters ](../configuration/packages/configuring-regulated-pp.html#regulated-pure-pursuit-parameters)
      * [ Example ](../configuration/packages/configuring-regulated-pp.html#example)
    * [ Model Predictive Path Integral Controller ](../configuration/packages/configuring-mppic.html)
      * [ MPPI Parameters ](../configuration/packages/configuring-mppic.html#mppi-parameters)
        * [ Trajectory Visualization ](../configuration/packages/configuring-mppic.html#trajectory-visualization)
        * [ Path Handler ](../configuration/packages/configuring-mppic.html#path-handler)
        * [ Ackermann Motion Model ](../configuration/packages/configuring-mppic.html#ackermann-motion-model)
        * [ Constraint Critic ](../configuration/packages/configuring-mppic.html#constraint-critic)
        * [ Goal Angle Critic ](../configuration/packages/configuring-mppic.html#goal-angle-critic)
        * [ Goal Critic ](../configuration/packages/configuring-mppic.html#goal-critic)
        * [ Obstacles Critic ](../configuration/packages/configuring-mppic.html#obstacles-critic)
        * [ Cost Critic ](../configuration/packages/configuring-mppic.html#cost-critic)
        * [ Path Align Critic ](../configuration/packages/configuring-mppic.html#path-align-critic)
        * [ Path Angle Critic ](../configuration/packages/configuring-mppic.html#path-angle-critic)