Fixes

SharedPtr for laser scan messages for thread safety.

Follow-the-Gap with Gazebo

Uses Egocircle to compensate for FoV problems. Reconfigurable to simulate a simple laser scan message to show off limited FoV. Scoring function implemented for non-suboptimal paths. Better documentation and launch files, Travers-ability check and Go-To-Goal behavior fusion and collision check.

Works favorably with Gazebo, since it uses perfect localization, need to modify pose callback function if want to use on a robot in real life.

Follow the Gap - Vanilla Kinect-only Version

Implementation of Follow the Gap on Turtlebot using limited field of view depth sensor Kinect.