The planners:

(i) AStarSkeleton.py comes from 133b HW#1, running directly on a grid.
    But updated for ROS and to run backwards (from goal to start), in
    case the start is moving.  Please FIX the distance and other
    costs!!

(ii) prm_mattress.py is straight from 133b HW#3.  You'll have to
     remove the visualization and update for our map, etc.  Also note
     it was originally written for python 3, though the differences
     are small (see Ed Discussion for a post).

The moveskeletonv2.py adds two features: (a) it publishes the
waypoints for RVIZ - nice to see and debug.  You will need a MARKER
display in RVIZ to see.  And (b) it checks whether the TF library is
properly set before starting.  Else startup (could) trigger temporary
TF errors, always annoying.