# Get a plan from the current position to the goal Pose

# The start pose for the plan
geometry_msgs/PoseStamped start

# The final pose of the goal position
geometry_msgs/PoseStamped goal

# If the goal is obstructed, how many meters the planner can
# relax the constraint in x and y before failing.
float32 tolerance
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# Array of poses from start to goal if one was successfully found.
Path plan