Narasimhan,

The "transform_tolerance" parameter actually applies only to Costmap2DROS
objects (
http://www.ros.org/wiki/costmap_2d#Coordinate_frame_and_tf_parameters) and
not to NavfnROS. Much older versions of NavfnROS required the
transform_tolerance parameter, which is probably how you ended up finding a
navfn_params.yaml file, but the tutorial would be more correct if the
navfn_params.yaml file was left out altogether or if it was used to set the
"allow_unknown" parameter which is the only parameter read by NavfnROS -
http://www.ros.org/wiki/navfn#Parameters. For now, I've changed the tutorial
to set the "allow_unknown" parameter to its default value as it might be
useful for people to see how they could set parameters on the NavfnROS
object.

Hope all is well,

Eitan

On Mon, Jul 12, 2010 at 6:16 PM, Narasimhan <narasimhan1990@yahoo.co.in>wrote:

>
> i've added navfn_params.yaml to the tutorial. It just sets the tolerance
> for
> NavfnROS(yet to explore it myself). i think now the tutorial is complete(
> atleast without errors). thanks for helping out.
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