Adding SE2 Node for Hybrid Sampling - Githubissues

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Adding SE2 Node for Hybrid Sampling #33

Closed SteveMacenski closed 4 years ago

SteveMacenski commented 4 years ago

Finishes #5 #30.

Adds SE2 node
Adds 2D planner server and 2D template
removes balkcom mason, decided against it for now
some linting
removed some debug artifacts

Next tasks

SE2 collision checking #25
Heuristics for expansion, travel costs, weights for turning and reversing. #32 #7
Reeds-Sheep optimization inversely proportional to distance from goal. #6