Global trajectories (from a global planner, coming in as series of waypoints) are continuously checked as they are sent out to the controller.
This means that this system should now behave much more safely in changing or dynamic maps. Before long paths were just tracked after a while without replanning taking place.
Bring up state to on-board tests for submitted JFR 2019 journal. The submitted journal can be found here: http://helenol.github.io/publications/jfr_2019_system.pdf (arXiv version coming to the readme shortly) And an accompanying video showing experiments is here: https://www.youtube.com/watch?v=xQTokwr1le0
Main change:
This means that this system should now behave much more safely in changing or dynamic maps. Before long paths were just tracked after a while without replanning taking place.