Creeping fix

[Rohit-R-Rao]

Hello Professor,

I have updated my other branch (creep-parking-planning) to resolve the issues. These were not issues with my file, as there were other integration changes from parking and planning. I hope the code can be resolved through that PR now. I just wanted to make sure the code gets approved so I decided to create this branch.

The only difference with this code and s2025 is the addition of my creeping planner.

The code I have included is in Gemstack/onboard/planning/creep_planning.py

This should resolve the issues.

[Rohit-R-Rao]

Hello Professor, I know it says there is a duplication issue, this is because the code is very much based on plannings original code. Can you please excuse this.

[sonarqubecloud[bot]]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

[Rohit-R-Rao]

Hello Professor, I handled the duplicate code issues, I believe the code passes all the sonarcloud analysis tests. Can you take a look once and approve Professor?

[Rohit-R-Rao]

I want to clarify that the committed code is independent of controls PR, as it was originally developed for integration with the planning and parking teams. We had decided during one of our standups with the class for Parking's creep control requirement, control would handle it rather than planning. Hence why most of the code only affects the motion planning component. Moving forward, the new creep_planning.py will rely on parking_motion_planning for generating longitudinal plans and issuing brake commands. As for how creep_control will be triggered, this would be just a one line change in the parking_detection.yaml. where motion planning should be set like this: motion_planning: type: creep_planning.CreepTrajectoryPlanner I didn't think i needed to create a duplicate yaml for this one change. Please let me know if I should do so.

And please let me know if there are any other details I can provide for this PR.