Full Version of Exploration Algorithmn

Exploration Algorithm until now->

1. Bug regarding random location action server is fixed which depends upon the 'false' value of   approach_path_accessibility_check in map_accessibility_analysis_params.yaml from package
cob_map_accessibility_analysis and also setting of the parameter in node_handle_.param("map_accessibility_analysis/approach_path_accessibility_check", approach_path_accessibility_check_, false); to false in map_accessibility_analysis_server.cpp .Because, sometimes it does not work if it is only changed in yaml file. I don't know the why.

2. Code styling is completed.

3. Additional debugging option is added.

4. All the action server is separated (library concept is removed). And the action server is initialized all the time.

5. The full version is checked against both the simulation and with the real robot. It worked smoothly without any bugs.

6. The video of the real robot is under process. will be released soon.

7. The trash bin detection action server is under process. Hopefully, will be completed  at the end of this week.