SimpleGoalChecker
Checks whether the robot has reached the goal pose.
Parameters
<nav2_controller plugin>: nav2_controller plugin name defined in the goal_checker_plugin_id parameter in Controller Server.
<nav2_controller plugin>.xy_goal_tolerance: |
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- Description
Tolerance to meet goal completion criteria (m).
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<nav2_controller plugin>.yaw_goal_tolerance: |
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- Description
Tolerance to meet goal completion criteria (rad).
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<nav2_controller plugin>.stateful: |
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- Description
Whether to check for XY position tolerance after rotating to goal orientation in case of minor localization changes.
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