Smooth path even if goal pose is so much near to the robot (#5423)

* Smooth path even if goal pose is so much near to the robot

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Apply suggestions

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Remove unnecessary diff

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

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Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

Author: CihatAltiparmak

nav2_smoother/src/simple_smoother.cpp

@@ -81,7 +81,7 @@ bool SimpleSmoother::smooth(
   std::lock_guard<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap->getMutex()));
 
   for (unsigned int i = 0; i != path_segments.size(); i++) {
-    if (path_segments[i].end - path_segments[i].start > 9) {
+    if (path_segments[i].end - path_segments[i].start > 3) {
       // Populate path segment
       curr_path_segment.poses.clear();
       std::copy(