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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -678,8 +678,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>

diff --git a/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt b/_sources/configuration/packages/configuring-graceful-motion-controller.rst.txt
@@ -1,18 +1,18 @@
 .. _configuring_graceful_motion_controller:
 
-Graceful Motion Controller
-##########################
+Graceful Controller
+###################
 
 Source code on Github_.
 
-.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller
+.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller
 
-The graceful motion controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment" (ICRA 2011). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.
+The graceful controller implements a controller based on the works of Jong Jin Park and Benjamin Kuipers in "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment" (ICRA 2011). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.
 
 See the package's ``README`` for more complete information.
 
-Graceful Motion Controller Parameters
-*************************************
+Graceful Controller Parameters
+******************************
 
 :transform_tolerance:
 
@@ -215,7 +215,7 @@ Example
         yaw_goal_tolerance: 0.25
         stateful: True
       FollowPath:
-        plugin: nav2_graceful_motion_controller::GracefulMotionController
+        plugin: nav2_graceful_controller::GracefulController
         transform_tolerance: 0.1
         motion_target_dist: 0.6
         initial_rotation: true

diff --git a/_sources/plugins/index.rst.txt b/_sources/plugins/index.rst.txt
@@ -126,7 +126,7 @@ Controllers
 |                                |                    | to path heading before passing   | model rotate in place |
 |                                |                    | to main controller for  tracking.|                       |
 +--------------------------------+--------------------+----------------------------------+-----------------------+
-| `Graceful Motion Controller`_  | Alberto Tudela     | A controller based on a          | Differential          |
+| `Graceful Controller`_         | Alberto Tudela     | A controller based on a          | Differential          |
 |                                |                    | pose-following control law to    |                       |
 |                                |                    | generate smooth trajectories.    |                       |
 +--------------------------------+--------------------+----------------------------------+-----------------------+
@@ -136,7 +136,7 @@ Controllers
 .. _Regulated Pure Pursuit: https://github.com/ros-planning/navigation2/tree/main/nav2_regulated_pure_pursuit_controller
 .. _Rotation Shim Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_rotation_shim_controller
 .. _MPPI Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_mppi_controller
-.. _Graceful Motion Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_motion_controller
+.. _Graceful Controller: https://github.com/ros-planning/navigation2/tree/main/nav2_graceful_controller
 
 Planners
 ========

diff --git a/about/index.html b/about/index.html
@@ -680,8 +680,8 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters">Graceful Controller Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
 </ul>
 </li>