[ros2-mater] xy_goal_tolerance from GoalChecker + remove xy_goal_tolerance param

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

http://wiki.ros.org/teb_local_planner

BSD 3-Clause "New" or "Revised" License

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[ros2-mater] xy_goal_tolerance from GoalChecker + remove xy_goal_tolerance param #286

Closed doisyg closed 3 years ago

doisyg commented 3 years ago

Last nav2 main changes the computeVelocityCommands interface. This PR fix compilation against last nav2 main and use the newly added goal_checker arg to retrieve the xy_goal_tolerance from the goal_checker arg as discussed here: https://github.com/rst-tu-dortmund/teb_local_planner/pull/284#issuecomment-800483825 Plus remove unneeded xy_goal_tolerance TEB param (goal tolerances should be set with the GoalChecker plugin params from now)