Checks if distance between current and previous pose is above a threshold Checks if distance and angle between current and previous pose is above a threshold Checks if current pose is within goal window for x,y and yaw Checks linear and angular velocity after stopping Goal checker that only checks XY position and ignores orientation Goal checker with two tolerance tiers: accepts tight tolerance immediately, or loose tolerance when the robot stops making progress toward the goal Goal checker that checks progress along the axis defined by the last 2 poses of the path Prunes the global plan around the robot and transforms the remaining portion into the odom frame for local control