<class_libraries>

<library path="simple_progress_checker">

<class type="nav2_controller::SimpleProgressChecker" base_class_type="nav2_core::ProgressChecker">

<description>Checks if distance between current and previous pose is above a threshold</description>

</class>

</library>

<library path="pose_progress_checker">

<class type="nav2_controller::PoseProgressChecker" base_class_type="nav2_core::ProgressChecker">

<description>Checks if distance and angle between current and previous pose is above a threshold</description>

</class>

</library>

<library path="simple_goal_checker">

<class type="nav2_controller::SimpleGoalChecker" base_class_type="nav2_core::GoalChecker">

<description>Checks if current pose is within goal window for x,y and yaw</description>

</class>

</library>

<library path="stopped_goal_checker">

<class type="nav2_controller::StoppedGoalChecker" base_class_type="nav2_core::GoalChecker">

<description>Checks linear and angular velocity after stopping</description>

</class>

</library>

<library path="position_goal_checker">

<class type="nav2_controller::PositionGoalChecker" base_class_type="nav2_core::GoalChecker">

<description>Goal checker that only checks XY position and ignores orientation</description>

</class>

</library>

<library path="adaptive_tolerance_goal_checker">

<class type="nav2_controller::AdaptiveToleranceGoalChecker" base_class_type="nav2_core::GoalChecker">

<description>Goal checker with two tolerance tiers: accepts tight tolerance immediately, or loose tolerance when the robot stops making progress toward the goal</description>

</class>

</library>

<library path="axis_goal_checker">

<class type="nav2_controller::AxisGoalChecker" base_class_type="nav2_core::GoalChecker">

<description>Goal checker that checks progress along the axis defined by the last 2 poses of the path</description>

</class>

</library>

<library path="feasible_path_handler">

<class type="nav2_controller::FeasiblePathHandler" base_class_type="nav2_core::PathHandler">

<description>Prunes the global plan around the robot and transforms the remaining portion into the odom frame for local control</description>

</class>

</library>

</class_libraries>