Update Project 4: Planning.

Vectorize Dubins path computation. This is orders of magnitudes faster than the
previous implementation, so graph caching is now less necessary. As a result,
only graphs for ROS maps are cached; the other test maps are too small to merit
the hassle.

Fix a serious issue with PlanarProblems. Distances were previously measured in
pixels rather than meters. As a result, the connection radius and curvature
parameters didn't have a clear physical interpretation, and would differ based
on the resolution of the map (the conversion factor between meters and pixels).

Add a more efficient edge visualization to RViz, which incrementally sends edges
to be visualized.

Fix minor bugs with zero edges and zero valid samples.

Set a minimum controller speed to avoid issues with reference velocities of
zero. This would occur at the end of a path.
2 jobs for main in 14 minutes and 34 seconds (queued for 1 second)
Name Stage Failure
failed
lint Test
./planning/src/planning/planner_ros.py:56:9: E303 too many blank lines (2)
./planning/src/planning/planner_ros.py:140:5: E303 too many blank lines (2)
./planning/src/planning/problems.py:44:9: F841 local variable 'y' is assigned to but never used
./planning/src/planning/roadmap.py:98:9: F841 local variable 'uv' is assigned to but never used
./planning/src/planning/search.py:77:13: F841 local variable 'weight' is assigned to but never used
./planning/src/planning/search.py:80:13: F841 local variable 'h' is assigned to but never used
./planning/src/planning/search.py:146:1: W391 blank line at end of file
Cleaning up file based variables
ERROR: Job failed: exit code 1
failed
test_packages Test
  >>>

Summary: 130 tests, 42 errors, 49 failures, 0 skipped
Uploading artifacts for failed job
Uploading artifacts...
/builds/cse478/21sp/mushr478/.workspaces/**/test_results/**/*.xml: found 37 matching files and directories

Uploading artifacts as "junit" to coordinator... ok
id=1317556 responseStatus=201 Created token=bvzST55q
Cleaning up file based variables
ERROR: Job failed: exit code 1