This repository implements FAR Planner (Fast, Attemptable Route Planner using Dynamic Visibility Update), a robotic navigation system designed for subterranean environments. It builds and dynamically updates a visibility graph from LiDAR point cloud data to enable fast replanning in static and dynamic environments. The system uses a modular ROS architecture with separate components for contour detection, graph management, path planning, terrain handling, and sensor processing. Key features include dual-threaded operation (graph update and path search), RViz visualization, teleoperation capabilities, and integration with custom ROS message types for graph communication. The code was field-tested by the CMU-OSU Team in the DARPA Subterranean Challenge, where it won the 'Most Sectors Explored Award'.