Narasimhan,

You're correct that the transform_tolerance parameter is also not used by
the TrajectoryPlannerROS and can be removed from
base_local_planner_params.yaml. I think that you've been pulling
configuration files from the move_base_stage package which is out of date.
For example configuration files that are up to date, you should look in the
navigation_stage package off of which you've linked your tutorial. The
package will only work for CTurtle because the world file format for stage
has changed, but all of the navigation specific configuration files should
be correct.

Hope this helps,

Eitan

On Tue, Jul 13, 2010 at 6:06 AM, Narasimhan <narasimhan1990@yahoo.co.in>wrote:

>
> k. thanks for editing. i didnt find transform_tolerance in navfn. thats why
> i
> was not sure why it was there. transform tolerance is also present in
> base_local_planner_params.yaml. As there is no such parameter in
> http://www.ros.org/wiki/base_local_planner base_local_planner  i guess it
> was also a part of the older version. So can i remove that also.
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