Feature request

I noticed that the planner tolerance is only considered/useful when reaching max_iterations .

The tolerance is not considered when reaching the max_planning_time, despite having the _best_heuristic_node variable potentially not empty. The path creation function systematically fails in this case.

Feature description

I think that the same behavior should apply when reaching max_iterations or max_planning_time: the path with the best heuristic within the tolerance should be returned.

Implementation considerations