click for BIT* plan in CAMP

[sjwo]

UI feature where clicking on chart calls BIT* planner, generates plan, and boat starts following the plan.

[sjwo]

• [ ] possible TODO in Executive:

          // TODO SJW: maybe alter the following two blocks for BIT*? I.e., we're not checking ribbon coverage, we're just checking if we got to a goal pose. Maybe this would change once we have the point-and-click feature.
          { // and again
              std::lock_guard<std::mutex> lock1(m_RibbonManagerMutex);
              if (m_RibbonManager.done()) {
                  // tell the node we're done
                  cerr << "Finished covering ribbons" << endl;
                  m_TrajectoryPublisher->allDone();
                  break;
              }
          }
          // display ribbons
          { // one more time
              std::lock_guard<std::mutex> lock1(m_RibbonManagerMutex);
              m_TrajectoryPublisher->displayRibbons(m_RibbonManager);
          }