message: get_plan: supporting tolerance parameter
diff: @@ -2420,7 +2420,7 @@ bool CoreWrapper::getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::Ge
  pose = t * pose;
  }
  - if(rtabmap_.computePath(pose))
  + if(rtabmap_.computePath(pose, req.tolerance))
  {
  NODELET_INFO("Planning: Time computing path = %f s", timer.ticks());
  const std::vector<std::pair<int, Transform> > & poses = rtabmap_.getPath();
  