David Spielman

Reorganized planner_server.cpp to simplify motion plan generations which will allow for easier addition of custom motion plans

Several parameters for the `StopReconstruction` service are currently hard coded. We should expose them as parameters instead so they can be changed dynamically by the application https://github.com/ros-industrial-consortium/scan_n_plan_workshop/blob/34fd88f5cb00f3820dd88b98a15fe91b3241ed86/snp_application/src/bt/snp_bt_ros_nodes.cpp#L159-L166

Created a node that uses a noether toolpath planner to create a configurable snakelike scanning trajectory on a plane of configuarable dimensions. The spacing of the waypoints on this plane...

Created tool path planner that creates a snakelike pattern on a plane of configurable size, with configurable spacing between waypoints at an offset from a given reference frame.

- [Added documentation for running the Noether gui application](https://github.com/ros-industrial/noether/commit/34fa1c3bea34ee160f26878ad40a85b3c9f120f5)

Using behavior tree pre/post conditions to prevent rescanning directly after a failed tool path generation. Pre/post conditions shown in blue below.