This module runs a path planning algorithm in a separate process.
If given, the algorithm respects the given robot shape as well as a dictionary of accessible areas and a dictionary of obstacles, both of which a backed up and restored automatically. The path planner can search paths, check if a spline interferes with obstacles and get the distance of a pose to any obstacle.
|OBSTACLES_CHANGED||the obstacles have changed (argument: dictionary of obstacles)|
|AREAS_CHANGED||the areas have changed (argument: list of areas that have changed, can be None for all areas)|