Implement ROS Service Navigating Relative Goals and Singular GPS Goals

[lavrenkang]

Description:

• Implement a new launch file/service that accepts three different user inputs and allows accurate navigation

Goals:

• Create a launch file that accounts for receiving: 1. absolute goal in /map 2. relative goal in /map 3. a single gps point, and sending to move_base
• Create a service that allows more flexible interrupts and setting new goals immediately while running

Acceptance Criteria:

• A rover moves to accurate position based on three different input types
• A service runs successfully, allowing user to input any types of goals in a new terminal