Navigating to "Far Away" Navigation Goals

[erickmu1]

Description:

• Investigate how far/well we can plan a path in a the IGVC field while still navigating between the lanes

Goals:

• Determine whether we can plan a path and navigate to any point within the robot's internal map bounds (provided the destination is not too difficult to reach)
  • If we cannot plan long paths, determine ways to potentially insert artificial waypoints
• Repeat the above but with a static map loaded and localized to

Acceptance Criteria:

• We can navigate to far-away waypoints (that are reasonably reachable and within the internal costmap) with no difficulties

Notes:

• If lane detection is not in, we can manually add walls to where lanes exist as to simulate this