Test and deploy code

modernize path planning code #285

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8 warnings

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

warning libmamba Could not parse mod/etag header

This job succeeded