Migrated Vizzy navigation to move_base_flex.
Cleaned old parameter and launcher files (left them in LEGACY folders) to avoid to avoid unnecessary confusion (like: "I changed this parameter and nothing happened!").
The move_base_flex node gives us an interface to control planning, recovery behaviors, etc... So we need a control mechanism (like a state machine or behavior tree) on top of it. This pull request uses a python program provided by the move_base_flex package that mimics the old move_base behaviors. Later we can make a new one where Vizzy asks for help when it gets stuck :)
Migrated Vizzy navigation to move_base_flex. Cleaned old parameter and launcher files (left them in LEGACY folders) to avoid to avoid unnecessary confusion (like: "I changed this parameter and nothing happened!").
The move_base_flex node gives us an interface to control planning, recovery behaviors, etc... So we need a control mechanism (like a state machine or behavior tree) on top of it. This pull request uses a python program provided by the move_base_flex package that mimics the old move_base behaviors. Later we can make a new one where Vizzy asks for help when it gets stuck :)