rktl_planner

This package provides classical algorithms to plan trajectories for the car, as well as algorithms to control the car. Both a “patrolling” planner and a planner based on generating bezier curves are included. In this package, path generation is handled in two parts: planner nodes decide where a car should go, and then call upon a server node to decide how it will get there. Currently, only 2 nodes adhere to this schema (path_planner and bezier_path_server, respectively), but the idea is that once multiple of these nodes are created, they should be able to be switched out seamlessly.