Fixed several issues, including an severe issue in the 0.5m diff topo resend goal trick. Also increased topo nav mapper freq to 4hz in launch files, as otherwise some other issues arose. Furthermore, the max edge creation causes some planned paths to have a next node outside of the global costmap. This is unfortunately a limitation of move_base. For now, I fixed it by adding an max edge length constraint again. Problem: stuttering a little bit with topological navigation: slows a bit down in between switching to next node. Next: fix the second part of the memory freeing issue in rolling gmapping (probably caused by smaps that keep reserving memory).