Begin planner configuration
Add empty global map for testing
This configuration loads and moves the robot

It makes a nice local costmap, but the robot always moves in the wrong
direction. Error is unknown at this point.
rviz config for planner so far
Update rviz config

Turn off TF by default
Turn on planner display
Set up cost grid visualization
Only run global planner once when given a new goal
Allow pure zero x velocity moves
Allow negative Y velocity

Now the robot can drive straight since 0 y velocity is allowed
Speed up slowest allowed move
Expand allowed range of theta velocities
Make the robot stick to the path more strongly
Simulate 10s into the future

Instead of 1.7. This may be a bad change, but it makes the visualization
more useful
Adjust sampling grid

More X velocities at the expense of theta and Y
Remove unused value

This one is in the documentation but not the code.
Add acceleration limit calculation and trivial unit test.

This is just a transcription of the algebra, it doesn't actually do
anything useful yet.
Send direction into optimizer
Debugging statements
Carefully initialize first step
Add large jump detection
Add velocity to optimizer