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Erl19/stop before obstacle

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Merged Niko Schmidt requested to merge erl19/stop_before_obstacle into master Jan 11, 2019
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Added explicit check for the stop_before_obstacle flag, so that the robot actually stops immediately if an unmapped obstacle is in the calculated path and do_mapping is turned off. TargetUnrechableMessage will be send. FYI @raphael @muellerd

@mmints @buchhold

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Source branch: erl19/stop_before_obstacle