Write and verify operation of Path Planner in simulation

[wheitman]

Problem

In order for our car to steer itself, it must first calculate a smooth, safe, sensible path.

Solution

Per our latest plan, "a Path is an array of <X, Y> poses." The solution has three parts:

1. Provide a route, either from the Route Planner or from a static message.
2. Use Lanelet data, the current pose, and current velocity to produce a path in the above format.
3. Visualize this path using an Rviz Marker message (e.g. a Line Strip) so that our result can be manually verified.

Success condition

Manually driving the car using the keyboard controls, drive the car around GoMentum Station in the following route: https://ibb.co/0mz3PWq This task is successful if the Path Planner produces a smooth, safe, and sensible path at each timestep. This means that the path stays within the lane.

Note that dynamic obstacles do not need to be considered.

This task is due on Sunday, January 23rd. A video should be submitted for documentation purposes.