Hey, I am trying to set the default tolerance on the GlobalPlanner using move_base for a simulation I am doing with a husky. The key behavior I am looking for is that if I give the husky a goal that is in a known obstacle, it will use the default tolerance parameter to replan to a point that is not in an obstacle. I had success in this endeavor using NavfnROS as the planner and setting the default tolerance, but the behavior of NavfnROS is not what I want, it's very unreliable and the husky often stops 4 or 5 times along the way to a goal.
My problem is that when I set the default_tolerance parameter using the GlobalPlanner (using the same method I used to set it with the NavfnROS) is that the planner won't find a valid plan if I set a goal in an obstacle. I have included below the launch file I am using, with the portion of interest being the move_base launch include, as well as the .yaml file I am using to specify the parameters I want to use.
launch file portion:
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