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nav2_dwb_controller: add forward_prune_distance parameter (#3374)
Until now, the prune_distance was used as distance threshold to shorten the upcoming path when shorten_transformed_plan was enabled. However, the prune and shortening mechanisms are de-correlated mechanisms. One could wish to use a different shortening distance for upcoming points, than the prune distance used for passed points. For this reason, a new parameter "forward_prune_distance" was added.
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