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I believe Smac State Lattice Planner is able to achieve both. Have a look below↓ https://navigation.ros.org/configuration/packages/smac/configuring-smac-lattice.html

You might have to generate custom control sets for your vehicle.

I believe Smac State Lattice Planner is able to achieve both. Have a look below↓ https://navigation.ros.org/configuration/packages/smac/configuring-smac-lattice.html

You might have to generate custom control sets for your vehicle.

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