feat(freespace_planning_algorithms): Debug tools for Python wrapper of freespace planning algorithms

[TakumIto]

Description

Debug tools for Python wrapper of freespace planning algorithms. New features are as follows:

• GUI to generate manual costmap
• Search for trajectory to goal on grid
• GUI to visualize the searched results and the trajectories

See README for the detailed explanation.

Related links

Python wrapper of A* algorithms PR#6398

Interface changes

There are no changes in interfaces.

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