Global Planner

The global planner is responsible for generating a high level plan for the navigation stack to follow. Given a goal that is arbitrarily far away from the robot, the global planner will create a series of waypoints for the local planner to achieve. The current implementation of the navigation stack uses a grid-based global planner that assumes the robot is circular in shape. This means that the global planner will produce waypoints for the robot that are optimistic for the actual robot footprint, and may in-fact be infeasible. Also, the global planner doesn't take the dynamics of the robot into account so it can produce plans that are dynamically infeasible as well.