Integrated command publisher node into the planner + navigation code. Fixed boundary bugs in the transfer function. Changed the prototypes of navigate and sendCommand functions. Intoduced a new data structure for the command. This has to be replaced by a standard later.
Working Code. But, memory leaks at a rate of 0.3 Mb per 5 seconds. Yet to fix this.
Merge branch 'master' of http://github.com/jitrc/eklavya-ros-pkg