TODO:
[x] control node
[x] local planning
[x] localization node

git submodule update --init --recursive --remote run this after cloning to make sure you clone the submodules

Some details on what's going on: current repo -
perception -
listens to odom and publishes pose
odom comes from https://github.com/f1tenth/f1tenth_system f1tenth_system repo
gets rid of speed attribute

local planner -
ignores perception, takes odometry and global race line (not implemented yet)
finds point P on line closest to car
publishes waypoint of destination with starting point being P
does this via a radius and some linear algorithm

control -
publishes speed and orientation to destination given waypoint \

how repo is being run -
launch file (maybe works?) will run every node and f1tenth_system repo

slam_toolbox repo (https://github.com/SteveMacenski/slam_toolbox) -
used for localization and mapping
runs localization at realtime
mapping done previously using teleop (map 1 lap around)
ran as a system package, but the node is separate
launch file will maybe run slam_toolbox too \

How to connect to car - SSH via our IP address host f1tenth HostName 10.195.115.50 User roboracer Password sig run our launch file