Navigation2 how to make robot stop navigation before 2 meters from the target goal_pose

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Hello,

I am a newbie to this robot field.

I am now making an environment where the robot is navigating to the target human.

I want the robot to stop 2 meters in front of the target human, to avoid the collision of robot and target human. I searched this issue and find out that I should set the xy_goal_tolerance to 2 in simple goal checker but for me it didn't work.

Is there any other way to solve this issue? Thanks in advance!