Basic Info

Description of contribution in a few bullet points

• Added a goal checker pointer to the controllers so that they may access its information while computing commands
• If it returns true, the controller could use that information to halt
• Add function to goal checkers so that a plugin can access more particular information, like the XY vs yaw tolerance met to rotate in place, or robot "done" speed requirements so that it can dissect more information.
• Use these getTolerance parameters in RPP rather than any parameters duplicated across it

Description of documentation updates required from your changes

• Add to documentation migration guide this API changed
• Remove parameters duplicated now removed from RPP in config page

Future work that may be required in bullet points

? N/A ?

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page