Given to ongoing community efforts to add a global goal tolerance to the global_planner here and here I want to introduce two new packages which together implement a global planner goal tolerance as a planner agnostic plugin.
The first one is the so called global_planner_pipeline. If basically is a “meta” plugin which can execute pre-planning and post-planning steps before calling the actual planner plugin.
The second one is the dpose_goal_tolerance. It implements the goal tolerance as a pre-planning step. Its not released yet - so I can incorporate your feedback. If you want to try it out you would have to compile it from source and adjust your config to load it. Its build around Ipopt and users familiar with the lib or with TEB should be able to tweak it to their usecase.