change heuristic to account for cost
added service functionality to lab 3
start of new package for lab4
fix lab4 manifest
subscribes to map topic
add move code
optimizer and partial expansion (bug in horizontal expansion)
write node for robot base
add optimizercode
merge fix
Merge branch 'motion_dev' into lab4_dev
run basenode
obstacle growing and deres-ing images with some Yellow Jeep level design
movment updates and gitignore
merge new optimizer code
patch modules together
errors corrected in baseNode and pathNode
optimizer keeps walls instead of averaging them
crisis averted commit
fixed error in map_optimizer that madd all non-free space into walls