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Signed-off-by: navigation2-ci <navigation2-ci@circleci.com>

_sources/configuration/packages/configuring-controller-server.rst.txt

@@ -102,14 +102,14 @@ Parameters
 
 :goal_checker_plugins:
 
-  ============== ==============
+  ============== ================
   Type           Default
-  -------------- --------------
-  string         'goal_checker'
-  ============== ==============
+  -------------- ----------------
+  vector<string> ["goal_checker"]
+  ============== ================
 
   Description
-    Mapped name for goal checker plugin for checking goal is reached.
+    Mapped name for goal checker plugin for checking goal is reached. When the number of the plugins is more than 2, each :code:`FollowPath` action needs to specify the goal checker plugin name with its :code:`goal_checker_id` field.
 
   Note
     The plugin namespace defined needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace.
@@ -247,7 +247,7 @@ Example
         failure_tolerance: 0.3
         odom_topic: "odom"
         progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
-        goal_checker_plugin: "goal_checker"
+        goal_checker_plugins: ["goal_checker"] # goal_checker_plugin: "goal_checker" For Galactic and older
         controller_plugins: ["FollowPath"]
         progress_checker:
           plugin: "nav2_controller::SimpleProgressChecker"

configuration/packages/configuring-controller-server.html

@@ -1157,20 +1157,20 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 <dt class="field-even">goal_checker_plugins</dt>
 <dd class="field-even"><table class="docutils align-default">
 <colgroup>
-<col style="width: 50%" />
-<col style="width: 50%" />
+<col style="width: 47%" />
+<col style="width: 53%" />
 </colgroup>
 <tbody>
 <tr class="row-odd"><td><p>Type</p></td>
 <td><p>Default</p></td>
 </tr>
-<tr class="row-even"><td><p>string</p></td>
-<td><p>‘goal_checker’</p></td>
+<tr class="row-even"><td><p>vector&lt;string&gt;</p></td>
+<td><p>[“goal_checker”]</p></td>
 </tr>
 </tbody>
 </table>
 <dl>
-<dt>Description</dt><dd><p>Mapped name for goal checker plugin for checking goal is reached.</p>
+<dt>Description</dt><dd><p>Mapped name for goal checker plugin for checking goal is reached. When the number of the plugins is more than 2, each <code class="code docutils literal notranslate"><span class="pre">FollowPath</span></code> action needs to specify the goal checker plugin name with its <code class="code docutils literal notranslate"><span class="pre">goal_checker_id</span></code> field.</p>
 </dd>
 <dt>Note</dt><dd><p>The plugin namespace defined needs to have a <code class="code docutils literal notranslate"><span class="pre">plugin</span></code> parameter defining the type of plugin to be loaded in the namespace.</p>
 <p>Example:</p>
@@ -1383,7 +1383,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">    </span><span class="nt">failure_tolerance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.3</span>
 <span class="w">    </span><span class="nt">odom_topic</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;odom&quot;</span>
 <span class="w">    </span><span class="nt">progress_checker_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;progress_checker&quot;</span><span class="p p-Indicator">]</span><span class="w"> </span><span class="c1"># progress_checker_plugin: &quot;progress_checker&quot; For Humble and older</span>
-<span class="w">    </span><span class="nt">goal_checker_plugin</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;goal_checker&quot;</span>
+<span class="w">    </span><span class="nt">goal_checker_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;goal_checker&quot;</span><span class="p p-Indicator">]</span><span class="w"> </span><span class="c1"># goal_checker_plugin: &quot;goal_checker&quot; For Galactic and older</span>
 <span class="w">    </span><span class="nt">controller_plugins</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;FollowPath&quot;</span><span class="p p-Indicator">]</span>
 <span class="w">    </span><span class="nt">progress_checker</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">plugin</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;nav2_controller::SimpleProgressChecker&quot;</span>