plugins.xml

<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="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>
</class_libraries>