58       /**
  59        * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands
  60        * to send to the base.
  61        * @param pose the current pose of the robot.
  62        * @param velocity the current velocity of the robot.
  63        * @param cmd_vel Will be filled with the velocity command to be passed to the robot base.
  64        * @param message Optional more detailed outcome as a string
  65        * @return Result code as described on ExePath action result:
  66        *         SUCCESS           = 0
  67        *         1..9 are reserved as plugin specific non-error results
  68        *         FAILURE           = 100  # Unspecified failure, only used for old, non-mfb_core based plugins
  69        *         CANCELED          = 101
  70        *         NO_VALID_CMD      = 102
  71        *         PAT_EXCEEDED      = 103
  72        *         COLLISION         = 104
  73        *         OSCILLATION       = 105
  74        *         ROBOT_STUCK       = 106
  75        *         MISSED_GOAL       = 107
  76        *         MISSED_PATH       = 108
  77        *         BLOCKED_GOAL      = 109
  78        *         BLOCKED_PATH      = 110
  79        *         INVALID_PATH      = 111
  80        *         TF_ERROR          = 112
  81        *         NOT_INITIALIZED   = 113
  82        *         INVALID_PLUGIN    = 114
  83        *         INTERNAL_ERROR    = 115
  84        *         OUT_OF_MAP        = 116  # The start and / or the goal are outside the map
  85        *         MAP_ERROR         = 117  # The map is not running properly
  86        *         STOPPED           = 118  # The controller execution has been stopped rigorously
  87        *         121..149 are reserved as plugin specific errors
  88        */

  90                                                const geometry_msgs::TwistStamped& velocity,
  91                                                geometry_msgs::TwistStamped &cmd_vel,
  92                                                std::string &message) = 0;
  93 
  94       /**
  95        * @brief Check if the goal pose has been achieved by the local planner within tolerance limits
  96        * @remark New on MBF API
  97        * @param xy_tolerance Distance tolerance in meters
  98 

  99        * @return True if achieved, false otherwise
 100        */
 101       virtual bool isGoalReached(double xy_tolerance, double yaw_tolerance) = 0;
 102 
 103       /**
 104        * @brief  Set the plan that the local planner is following
 105 

 106        * @return True if the plan was updated successfully, false otherwise
 107        */
 108       virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan) = 0;
 109 
 110       /**
 111        * @brief Requests the planner to cancel, e.g. if it takes too much time
 112 

 113        * @return True if a cancel has been successfully requested, false if not implemented.
 114        */
 115       virtual bool cancel() = 0;
 116 
 117       /**
 118        * @brief Constructs the local planner
 119        * @param name The name to give this instance of the local planner
 120