@naiveHobo did a great job making a distance based replanning decorator node, analog to the constant replanning rate.

In case the robot ends up in a bad situation that it can't move and needs to replan, perhaps we should consider a way to use both time and space decorators to influence the replanning.

A good question is whether its distance traveled or time expired, or distance traveled and time expired.

At high speeds doing "or", we could be replanning quite frequently, however if its "both" then we'd be stuck with the failure modes of both of them.

Alternatively, we could keep them as separate options for users. This ticket is to explore the possibility of combining them into a single workflow.

A potential idea is to back off on the time-based replanning to be every 5 or 10 seconds to account for those issues and do primarily the distance based replanning. I would like to hear other peoples' opinions on this and see what we can come up with.