The Nav2 Controller is an Execution Module 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).