MISSION_PLANNING: Added area spread behavior to swarm manager

ap_mission_planning/src/swarm_manager_node.py

@@ -14,6 +14,7 @@ import ap_mission_planning.swarm_manager as manager
 import ap_path_planning.independent_transit_plugin as it
 import ap_path_planning.patrol_box_plugin as pb
 import ap_path_planning.tactic_interface_plugin as ti
+import ap_path_planning.area_spread_plugin as aspr
 import autonomy_itar.linear_formation_plugin as lf
 import autonomy_itar.greedy_shooter_plugin as gs
 import autonomy_itar.smart_shooter_plugin as ss
@@ -32,6 +33,7 @@ if __name__ == '__main__':
     manager.add_behavior(enums.SWARM_LINEAR_FORMATION, "linear_formation", lf.LinearFormation)
     manager.add_behavior(enums.SWARM_SEQUENCE_LAND, "swarm_landing_sequencer", sls.SwarmLandingSequencer)
     manager.add_behavior(enums.PATROL_BOX, "patrol_box", pb.PatrolBox)
+    manager.add_behavior(enums.AREA_SPREAD, "patrol_box", aspr.AreaSpread)
     manager.add_behavior(enums.CONSTRAINED_SHOOTER, "constrained_shooter", cs.ConstrainedShooter)
     manager.add_behavior(enums.GREEDY_SHOOTER, "greedy_shooter", gs.GreedyShooter)
     manager.add_behavior(enums.OPPORTUNISTIC_SHOOTER, "opportunistic_shooter", os.OpportunisticShooter)