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reimplement return_home action #6

@jjblum

Description

@jjblum

Branch: feature/reactivate_going_home

Expected behavior: an autonomous behavior with action "return_home" should cause the boat to automatically execute A* to find the path from its current position to its current home position and begin following the resulting waypoints in the path

Current behavior: the return home action definition in VehicleServerImpl has not been implemented, so nothing occurs when the trigger is evaluated as true and the action is performed

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