cu-rrt-star component + closed-loop Rerun navigation demo - #2

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Scofield626 wants to merge 7 commits into

anytime-rrt-star-component

Commits on Aug 3, 2026

example: anytime RRT* planner under two refinement policies
Scofield626
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1bcf0fb
example: publish drivable RRT* paths and derive gamma from the map
Scofield626
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3b16d19
cu-rrt-star: extract the anytime RRT* planner into a component
Scofield626
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9b86111
cu-rrt-star: carry the map in the plan request
Scofield626
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0fea739
cu-rrt-star: dual-policy integration test
Scofield626
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7a45e29
cu_anytime_rrt_star: closed-loop navigation demo on cu-rrt-star
Scofield626
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925bfc3
cu_anytime_rrt_star: patrol goals with every straight leg blocked
Scofield626
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feaae1b