Ducanor

My use-case is the first. I tried to somewhat implement your idea with the following callback function: ``` void SimulationManager::callback(nav_msgs::OccupancyGrid msg) { YamlReader world_reader = YamlReader(map_layer_yaml_file_); // load layer information...

[Here is a our copy of the flatland repo:](https://github.com/ignc-research/flatland/tree/task_generation) [This is our github for the whole simulator:](https://github.com/ignc-research/arena-rosnav/tree/task_generation) Im working on the task_generation branch. If necessary the whole setup can be...