Heuristic bi-direction star RRT algorithm.

• C++: gRPC (newest version, aka CORE_VERSION = 7.0.0, CPP_VERSION = 1.22.0)
• Python3
  • numpy
  • Rtree
  • plotly
  • grpcio

1. set ROUTE_ALGORITHM in config.ini as RRTRPC
2. start RRT server: python route_guide_server.py
3. start V-REP
4. start Planning program