Feature/global ebs nav #325
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…factor Feature/2024 clean and refactor
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What type of PR is this? (check all applicable)
[required] Description
Previous testing of control in a local reference frame for EBS test has proven limited. Hoping for more stable control with a global reference frame given improvements to SLAM and cone mapping.
[required] Documentation
Not a feature - param changes documented in config and launch files
[optional] Usability concerns or breaking changes?
None
[optional] Screenshots