CF 965 Enable Dynamic Rerouting #20
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PR Details
Description
This PR enables dynamic rerouting when sending MOMs commanding the CDA 1Tenth vehicle to a new destination.
Related PR: usdot-fhwa-stol/cda1tenth-bringup#45
Related GitHub Issue
NA
Related Jira Key
CF-965
Motivation and Context
This allows the CDA 1Tenth vehicle to have its goal preempted with a new goal and dynamically reroute to a new destination without stopping.
How Has This Been Tested?
Tested in the turtlebot simulator
Types of changes
Checklist: