Best way to add new controller which has a custom path as input

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To extend on this, you should at all times avoid nonstandard messages when standard messages exist. If you absolutely must change the message, you should create adaptors.

The Twist, Path, and Navigate actions are atandard and if you deviate you likely lose compatibility with the entire ecosystem (even robot localization, slam, etc).

But you are correct that if you cannot create an adaptor inside a plugin or change to the standard types, an option you have is to create a new server, plugin interface, and BT node plugin. I would caution you against this, but it is why we made the servers modular to enable extreme cases to do it. Given a pure pursuit plan sounds alot like a normal plan, I’d think you could take in a normal plan and then change the datatype over to pure pursuit when received like Carl suggests

Thanks for the comments.
I think my problem is, that my path has more information in it, like velocities for example.
And I didn‘t look in the code but I think Path2D is a subset of nav2_msgs::Path and therefore easily convertible. I mean I also could calculate velocities in the controller, but in our system we deploy paths from a central server.

Sounds like you may want to be using: http://docs.ros.org/melodic/api/traje... instead.

But anyhow, in order to use the navigation2 default controller server, you need to adhere to our interfaces, or propose a reasonable change to those interfaces to accommodate. You said it may be easily convertible, then why not convert it?

I meant for the DWB it‘s easily convertible. JointTrajectory looks good btw.

He's running the planner from a separate central location. I don't think he'll need to do much of that other than the controller server.

Possibility of sharing a costmap would be great. Because now its fixed to a controller server, and I will have two servers with exactly the same costmap. So this could lead to a resource problem reagrding memory/cpu ..