Path Planner

[w29ahmed]

Port over last year's path planner code

• Research new path planner algorithms/ improvements to try and utilize IMU data for more versatile path planning

[w29ahmed]

We need to figure out how to use the translate the output from sign detection (left, right, or straight) to the correct path output from the path planner.

Some notes from me and Andrew's discussions:

• Have sign detection publish the output as an enum to a topic (eg 0: no sign, 1: left, 2: right, 3: straight) @MartinEthier , and setup a callback in path planner to it
• In the sign detection callback, we can set internal flags to tell us when each sign has been detected, and keep checking the topic until the sign is gone, so the sign we were looking at it is no longer visible, and we need to now change the path to obey what the sign said