Add Parameters to VoxelMap.msg

[ankitVP77]

Added the variables, val_occ, val_even, val_unknown, val_free, val_add and val_default to VoxelMap.msg file with their default value. Subsequently replaced hard-codings of all these variables in map_utils.h files of the mpland jps3d packages, voxel_mapper.h file from mapper package and global_plan_server.cpp and local_plan_server.cpp files from action_planner package

[fcladera]

Checks seem to be failing. This is a problem on our end.

[versatran01]

I very much hope that JPS does not depend on planning_ros_msgs. Please do not merge this atm. I will provide some feedback later.

[versatran01]

Here are a few high-level points:

1. JPS should not depend on planning_ros_msgs.
2. voxel values should not be hardcoded in msg as well, they should be fields, which can be assigned during msg creation. These values should be set in a parameter yaml file read by the mapper.
3. Main APIs in JPS/MPL should then be augmented to take these values as parameters.

This task is highly non-trivial, you need to look into many files in JPS/MPL to understand how things work. If you are not familiar with C++, then it is unlikely to fix this in one go. Therefore, I suggest a preliminary task, which is to add back some of the tests I removed from JPS/MPL. https://github.com/KumarRobotics/jps3d/tree/master/test

Once the tests are in place, you can then proceed to make these voxel values (val_occ,...) input parameters to functions like setMap() https://github.com/KumarRobotics/kr_autonomous_flight/blob/d510ae20ebca88b277ec6f7af0d7b0092603d102/autonomy_core/map_plan/jps3d/include/jps/map_util.h#L82

[fcladera]

@ankit16-py please fetch, rebase on origin/master and force push to this branch.

[XuRobotics]

@ankit16-py please fetch, rebase on origin/master and force push to this branch.

Good point, I will do this after I merge the other PR.

[XuRobotics]

Approving the changes now, but Chao's suggestions need to be considered, probably we will create a new PR for this.