nav2_smac_planner 1.1.18 Smac global planning plugin: A*, Hybrid-A*, State Lattice Steve Macenski Apache-2.0 ament_cmake rclcpp rclcpp_action rclcpp_lifecycle visualization_msgs nav2_util nav2_msgs nav_msgs geometry_msgs builtin_interfaces nav2_common tf2_ros nav2_costmap_2d nav2_core pluginlib eigen3_cmake_module eigen ompl nlohmann-json-dev angles ament_lint_common ament_lint_auto ament_cmake_gtest ament_cmake_pytest ament_cmake