Advance navigation submodule
Print segment sequence numbers in checkSegmentAcceleration
More logging
A few more useful places to publish the stitched path
Drop short segments during stitching
Quiter logging in smooth_planner
Added flag to latched when the goal has been reached
Merge remote-tracking branch 'robotLocal/sbpl' into sbpl
Forgot header file
Add have_goal state to recover from pause
Fix compile warnings
Fix odometry remaps
disallow replans that are too close in distance to the current point

now they have to be replan time * maximum linear velocity away in
distance. this is to prevent the annoying "replan in turn in place"
bug.
Add linear goal tolerance
No need to subscribe to the plan

it will be delivered by a function call
Set planer to only run when requested
Merge remote-tracking branch 'robot/sbpl' into sbpl
Handle turn in place detection separately for new path and old path to be prepended

Also adjusted thresholds for comparing poses
Fixed motion primitive generation for 16 angles and updated mprim file
Fixed compile errors