for the first time, all segements of the tasks, departing platform, finding the first target, finding other targets, capturing the targets, heading to home, and moving onto the platform have code and compile.  There are tons of bugs and we are not doing obstacle avoidance everywhere yet, but the structure is all there.  Finally.  and it compiles.
for the first time, all segements of the tasks, departing platform, finding the first target, finding other targets, capturing the targets, heading to home, and moving onto the platform have code and compile.  There are tons of bugs and we are not doing obstacle avoidance everywhere yet, but the structure is all there.  Finally.  and it compiles.

dan-git/outdoor_bot,dan-git/outdoor_bot,dan-git/outdoor_bot