Modified from CMU's ground_based_autonomy_basic https://github.com/jizhang-cmu/ground_based_autonomy_basic and autonomous_exploration_development_environment https://github.com/HongbiaoZ/autonomous_exploration_development_environment
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Modified from CMU's ground_based_autonomy_basic https://github.com/jizhang-cmu/ground_based_autonomy_basic and autonomous_exploration_development_environment https://github.com/HongbiaoZ/autonomous_exploration_development_environment