feat(rmf_plan_executor): make grid configuration dynamic and configurable via parameters and /map - #53
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…able via parameters and /map - Introduce PlanExecutorConfig struct and with_config builder - Add ROS parameters and CLI flags for grid dimensions, resolution, and origin - Subscribe to /map OccupancyGrid to dynamically reconfigure grid dimensions, resolution, and origin - Add unit tests for configuration builders and map handling Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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New feature implementation
Implemented feature
#51 made the PIBT grid size configureable. This PR makes the executor and spatio-temporal allocation configurable.
By default, the plan executor will auto-configure itself using the
/maptopic. In addition we declare a few default ros2 parameters if a map is not provided.Implementation description
TODO: Currently we just fill the map with empty space instead of parsing the occupied vs non-occupied regions. This needs to change.
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