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M2: Ready for integration into demo: movement between start and goal pose
Milestone ID: 69
The purpose of this milestone is to use the navigator from statecharts.
- no navigation graph, only "free" movement between start and goal pose
Navigation stack:
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A* -
Trajectory following controller -
Safety guard via ObstacleAwarePlatformUnit
Minimal feedback from navigator:
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goal reached
Default parameterization can be simplified. Does not need to be loaded from memory.
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