Bug report

Feature request

Feature description

There is currently a "isGoalReached" method in the controller plugin interface. DWB implements this method by loading a "GoalChecker" plugin and passing the parameters through to the plugin with virtually no change.

There is nothing about the "GoalChecker" plugins that is DWB specific, so it makes sense to pull them out and load the GoalChecker independently, so that the plugins can be reused with no changes needed by the controller plugin implementation.

Implementation considerations

1. We can load the plugin in the controller server with minimal changes.
2. We can load the plugin in the behavior tree. It already has something similar.

Between the two options, 1. is relatively simple. 2. is more in line with long term goals, but might have reliability implications.