Added AStarNode, Direction Enum, and incomplete Astar search,
Astar should recieve odom data and set goal pose. Doesn't search yet. Testing pending
Added launch file for convenience.
Added goal and initial pose calculation. Pending: Astar search, heuristic, move cost functions
Added rviz config file for astar search
Modified launch file to work properly, print outputs, and use config_astar.rviz
Modified Astar.py. Partially working
Astar works. Add set nav_goal