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In the params of the local planners you linked

yaw_goal_tolerance: 0.03 #Means 0.03 radian xy_goal_tolerance: 0.08 #Means 8 Centimeters

It seems your ca 10cm goal tolerance is expected. Be aware that for docking and other high precision positioning, many people use additional functionality. example roomba docking

In the params of the local planners you linked

yaw_goal_tolerance: 0.03 #Means 0.03 radian radian

xy_goal_tolerance: 0.08 #Means 8 Centimeters

It seems your ca 10cm goal tolerance is expected. Be aware that for docking and other high precision positioning, many people use additional functionality. example roomba docking

In the params of the local planners you linked

  • yaw_goal_tolerance: 0.03 #Means 0.03 radian

  • xy_goal_tolerance: 0.08 #Means 8 Centimeters

It seems your ca 10cm goal tolerance is expected. Be aware that for docking and other high precision positioning, many people use additional functionality. example roomba docking