Add a-star based global planner

mg_msgs/CMakeLists.txt

@@ -10,13 +10,16 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Path.msg"
   "msg/Point2d.msg"
   "msg/TEdit.msg"
   "msg/TEditCycle.msg"
+  "action/MoveGlobal.action"
   "action/MoveStraight.action"
   "action/MovePoint.action"
   "action/LookAt.action"
   "action/Rotate.action"
+  "srv/CalcPath.srv"
   "srv/SendDouble.srv"
 )