cu-rrt-star: anytime RRT* planner component, with a closed-loop example - #1247

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Scofield626 wants to merge 13 commits into

anytime-rrt-star-example

Commits on Aug 3, 2026

example: anytime RRT* planner under two refinement policies
Scofield626
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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
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0fea739
cu-rrt-star: dual-policy integration test
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cu_anytime_rrt_star: closed-loop navigation demo on cu-rrt-star
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cu_anytime_rrt_star: patrol goals with every straight leg blocked
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cu-rrt-star: tolerate missing requests and start-on-goal jobs
Scofield626
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2cbdb23
cu_anytime_rrt_star: cap the trail, reset the clock anchor on thaw
Scofield626
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