Feature/costmap integration

Many changes related to my work on mobile manipulation.

The collision checking is now done initially during onConnectComponent. A costmap will be created and global planning is now based on this. Global planning now only takes ~1ms. However, the creation of the costmap might take several seconds (~10-20s).

Instead of A*, users can now also select the ShortestPathFasterAlgorithm which is applicable if the graph has non-positive edge weights. This might be the case if the distance to the obstacles is considered. The resulting trajectory:

requested review from @dreher

assigned to @fabian.reister

@dreher as discussed, just FYI. You don't need to review the changes.

added 2 commits

• bc9d6b28 - navigation simulation scenario update
• 927ae4f2 - using mask; fix: robot only with collision model (visu model sucks -> segfaults ...)

Compare with previous version

resolved all threads

mentioned in commit 71af4d70

merged