Changes:
- Add OMPL PRM Algorithm support
- Add support to run RRT and PRM at the same time
- When both have above 0.5 confidence (means have a solution)
- Choose the one that produces a lower-cost path
- Added a rviz config
- Updated pipeline docker image
Bug Fixed:
- OAC GPS mod, wrong facing issue (drone head/yaw is uncontrolled)
- RRT Cost calculation error
- OAC Gaol arrival determination issue
Existing Issues:
- Observed random crashes.
Segmentation fault. in fcl::OcTree<double>::nodeHasChildren(octomap::OcTreeNode const*) const () from /opt/ros/melodic/lib/libfcl.so.0.6
Suggest Minimum Tests:
+ [PASS] Pipeline compile test
+ [PASS] Existing dev environment compile test
+ [PASS] Regression test on RRT
+ [PASS with Issues] PRM
+ [PASS with Issues] PRM with RRT
+ [PASS] rviz config
+ [PASS] New OAC step rate reliablity