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Added a lidar clearing source with a PointCloud2.

Merged Fernando Herrero requested to merge development into master

Changed some configuration parameters:

  • global costmap resolution: to 0.05 to improve the quality of the global plan.
  • inflated obstacles radius: to 0.5 to allow navigation in narrow passages.
  • planner frequency: to 1 to replan when temporal obstacles appear on the path.

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