Feature/dcist frontiers#139
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GoldenZephyr wants to merge 3 commits intodevelopfrom
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Technically you also had these changes in #121 but never got around to testing them (so ideally we close that PR when you get a chance) |
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The frontiers on develop don't really work. I think at some point these commits got lost in porting the frontiers from ROS 1 / the old active-dsg code. We shouldn't merge this until I validate it a little more, but seems to build/run and frontiers look much cleaner. Putting up this PR now so that we don't lose track of this code.
The changes simplify the frontier logic greatly -- the frontend 3D places aren't used for keeping track of which frontiers to generate anymore.