Merge branch 'develop' into survey_planner

.gitmodules

@@ -13,3 +13,4 @@
 	path = astrobee/survey_manager/survey_dependencies/popf
 	url = https://github.com/Bckempa/popf.git
 	branch = noetic-devel
+

astrobee/survey_manager/survey_planner/behavior_trees/collecting_panoramas.xml

@@ -0,0 +1,7 @@
+<root BTCPP_format="4" main_tree_to_execute = "MainTree" >
+    <BehaviorTree ID="MainTree">
+       <Sequence name="root_sequence">
+           <Move    name="collecting_panoramas" goal="${arg2}"/>
+       </Sequence>
+    </BehaviorTree>
+</root>

astrobee/survey_manager/survey_planner/behavior_trees/move_to.xml

@@ -0,0 +1,7 @@
+<root BTCPP_format="4" main_tree_to_execute = "MainTree" >
+    <BehaviorTree ID="MainTree">
+       <Sequence name="root_sequence">
+           <Move    name="move" goal="${arg2}"/>
+       </Sequence>
+    </BehaviorTree>
+</root>

astrobee/survey_manager/survey_planner/behavior_trees/move_to_inspect.xml

@@ -0,0 +1,8 @@
+<root BTCPP_format="4" main_tree_to_execute = "MainTree" >
+    <BehaviorTree ID="MainTree">
+       <Sequence name="root_sequence">                                                                 
+           <NavigateNode name="move_to_inspect" robot="${arg0}" pose_id="${arg2}" />
+           <!--<TakePictureNavCam robot="${arg0}" waypoint="${arg2}"/>-->
+       </Sequence>
+    </BehaviorTree>
+</root>

dense_map/geometry_mapper/readme.md

@@ -176,7 +176,7 @@ To compile Voxblox, clone
 
     https://github.com/oleg-alexandrov/voxblox/
 
-(branch isaac, comitt 9098a0f). This fork differs from the main repository at
+(branch isaac). This fork differs from the main repository at
 https://github.com/ethz-asl/voxblox by the introduction of a small
 tool named batch_tsdf.cc that reads the clouds to fuse and the
 transforms from disk and writes the output mesh back to disk, instead
@@ -185,7 +185,7 @@ fusing the clouds, which is computed by the geometry mapper.
 
 Compile it using the instructions at:
 
-    https://github.com/oleg-alexandrov/voxblox/blob/master/docs/pages/Installation.rst
+    https://github.com/oleg-alexandrov/voxblox/blob/isaac/docs/pages/Installation.rst
 
 This should end up creating the program: