!!! THIS IS A COPY OF THE ROS-PACKAGE BASE_LOCAL_PLANNER, USED FOR EXPERIMENTATION. DO NOT RELEASE THIS PACKAGE !!!Sjoerd van den Dries    ORIGINAL DESCRIPTION:This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane. Given a plan to follow and a costmap, the controller produces velocity commands to send to a mobile base. This package supports both holonomic and non-holonomic robots, any robot footprint that can be represented as a convex polygon or circle, and exposes its configuration as ROS parameters that can be set in a launch file. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the