Shared pointer removed from motion controller & robot. Working with local variables
Collision checking fixed (to the robot center). Must check for collision between two consecutive places
Collision checking for robot center fixed
Collision fixed for footprint points
Obstacle collision check bug fixed
When robot is re-placed on walls, it fails
Fixed error in while condition. Robot does not cross horizontal walls
Fixed collision avoidance.
Fixed robot theta bug, when moving robot
Refactored stdr_robot code
Fixed robot reposition from gui bug