trying to fix merge conflict

acoustics/acoustics_data_record/acoustics_data/.gitignore

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+*

guidance/d_star_lite/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(d_star_lite)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vortex_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+  d_star_lite/ros_d_star_lite_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(python_tests tests)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+endif()
+
+ament_package()

guidance/d_star_lite/README.md

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+# D* lite
+Given a map of obstacles and a minimum safe distance to the obstacles, this algorithm will compute the shortest path from the start point to the end point. This is an example of an obstacle map:
+
+![Obstacle Map](https://drive.google.com/uc?export=download&id=1MohnPBQMoQHHbLaDkbUe43MjBPp5sTiF)
+
+And when using this map when running the D* lite algorithm with safe distance 4.5 we get this path:
+
+![Path](https://drive.google.com/uc?export=download&id=1il-i2aJM3pkQacTO8Jg77_2zDVcZF1ty)
+
+A D* lite object consists of these parameters:
+
+```
+dsl_object = DStarLite(obstacle_x, obstacle_y, start, goal, safe_dist_to_obstacle, origin, height, width)
+```
+
+where `obstacle_x` and `obstacle_y` are lists containg the x and y coordinates of the obstacles. `start` and `goal` are the start and goal node for the selected mission. `origin`, `height` and `width` are parameters to create the world boundaries and are used to compute `x_min`, `x_max`, `y_min` and `y_max`. See the figures below for visual representation.
+
+![World Grid](https://drive.google.com/uc?export=download&id=1RYXcRTjFWMFRhYBMRx5ILmheNvEKahrY)
+
+![Obstacle](https://drive.google.com/uc?export=download&id=1M43ohD3wpKwmgkjJ44Ut1uOT3f5MlSQI)
+
+# D* lite ROS2 node
+The node is responsible for gathering the waypoints found from the algorithm and send them to the waypoint manager. The node receives the mission parameters from the mission planner. It is both a client and a server.
+