Different type of controller support

[JustinShih0918]

As we can see, in the param file, we can find different type of controller with different param, having different feature.

Eurobot-2026-Navigation2/src/navigation2_run/params/nav2_params_default.yaml

Lines 147 to 218 in 6778933

	DidilongController:
	plugin: "custom_controller::CustomController"
	external_velocity_data_path: "$(find-pkg-share navigation2_run)/params/dynamic_params/nav_didilong_params.yaml"
	max_linear_vel: 1.5
	max_angular_vel: 1.0
	linear_kp: 2.2
	angular_kp: 3.7
	transform_tolerance: 0.1
	look_ahead_distance: 0.2
	speed_decade: 0.125
	costmap_tolerance: 95 # rival is 98
	keep_planning: false
	non_stop_min_vel: 0.3
	Fast:
	plugin: "custom_controller::CustomController"
	external_velocity_data_path: "$(find-pkg-share navigation2_run)/params/dynamic_params/nav_fast_params.yaml"
	max_linear_vel: 1.1
	max_angular_vel: 12.0
	linear_kp: 2.2
	angular_kp: 3.7
	transform_tolerance: 0.1
	look_ahead_distance: 0.2
	speed_decade: 0.125
	costmap_tolerance: 95 # rival is 98
	keep_planning: false
	spin_delay_threshold: 0.5
	rival_slowdown_radius: 0.5
	rival_decay: 0.5
	non_stop_min_vel: 0.3
	Slow:
	plugin: "custom_controller::CustomController"
	external_velocity_data_path: "$(find-pkg-share navigation2_run)/params/dynamic_params/nav_slow_params.yaml"
	max_linear_vel: 0.8
	max_angular_vel: 2.0
	linear_kp: 2.2
	angular_kp: 3.7
	transform_tolerance: 0.1
	look_ahead_distance: 0.2
	speed_decade: 0.125
	costmap_tolerance: 95 # rival is 98
	keep_planning: false
	non_stop_min_vel: 0.3
	LinearBoost:
	plugin: "custom_controller::CustomController"
	external_velocity_data_path: "$(find-pkg-share navigation2_run)/params/dynamic_params/nav_linearBoost_params.yaml"
	max_linear_vel: 1.1
	max_angular_vel: 2.0
	linear_kp: 2.2
	angular_kp: 3.7
	transform_tolerance: 0.1
	look_ahead_distance: 0.2
	speed_decade: 0.125
	costmap_tolerance: 95 # rival is 98
	keep_planning: false
	non_stop_min_vel: 0.3
	AngularBoost:
	plugin: "custom_controller::CustomController"
	external_velocity_data_path: "$(find-pkg-share navigation2_run)/params/dynamic_params/nav_angularBoost_params.yaml"
	max_linear_vel: 0.5
	max_angular_vel: 12.0
	linear_kp: 2.2
	angular_kp: 3.7
	transform_tolerance: 0.1
	look_ahead_distance: 0.2
	speed_decade: 0.125
	costmap_tolerance: 95 # rival is 98
	keep_planning: false
	non_stop_min_vel: 0.3

please look into your teb controller implementation, mock the functionality of each controller, and test if each work on both rviz2 and real robot.

For [custom_controller] to have these parameters to set, it defined:

Eurobot-2026-Navigation2/src/custom_controller/src/custom_controller.cpp

Lines 83 to 98 in 6778933

	declare_parameter_if_not_declared(node, plugin_name_ + ".max_linear_vel", rclcpp::ParameterValue(0.7));
	declare_parameter_if_not_declared(node, plugin_name_ + ".min_linear_vel", rclcpp::ParameterValue(0.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".max_angular_vel", rclcpp::ParameterValue(3.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".min_angular_vel", rclcpp::ParameterValue(0.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".max_linear_acc", rclcpp::ParameterValue(0.3));
	declare_parameter_if_not_declared(node, plugin_name_ + ".max_angular_acc", rclcpp::ParameterValue(1.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".yaw_goal_tolerance", rclcpp::ParameterValue(0.01));
	declare_parameter_if_not_declared(node, plugin_name_ + ".angular_kp", rclcpp::ParameterValue(4.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".linear_kp", rclcpp::ParameterValue(1.5));
	declare_parameter_if_not_declared(node, plugin_name_ + ".transform_tolerance", rclcpp::ParameterValue(0.1));
	declare_parameter_if_not_declared(node, plugin_name_ + ".look_ahead_distance", rclcpp::ParameterValue(1.0));
	declare_parameter_if_not_declared(node, plugin_name_ + ".costmap_tolerance", rclcpp::ParameterValue(60));
	declare_parameter_if_not_declared(node, plugin_name_ + ".speed_decade", rclcpp::ParameterValue(0.7));
	declare_parameter_if_not_declared(node, plugin_name_ + ".keep_planning", rclcpp::ParameterValue(true));
	declare_parameter_if_not_declared(node, plugin_name_ + ".spin_delay_threshold", rclcpp::ParameterValue(0.5));
	declare_parameter_if_not_declared(node, plugin_name_ + ".non_stop_min_vel", rclcpp::ParameterValue(0.3));

Look into your implementation of teb, what parameter did you define? Can they be used and tuned to make different type of controller?