* [ 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)