Integrate Graph Search into Navigation

elvout / cs393r

CS 393R Graduate Autonomous Robots, Fall 2021 | Autobots

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Closed elvout closed 3 years ago

elvout commented 3 years ago

This issue aims to prepare the Navigation class for global planning.

[x] Remove code that assumes only local navigation (command line flags, methods, etc).
[x] Read map file into Graph at construction.
[x] Compute global path when a new goal is set.
[x] Visualize (and update) global goal paths.