Missions use states

[b1n-ch1kn]

What type of PR is this? (check all applicable)

• [ ] Refactor
• [x] Feature
• [ ] Bug Fix
• [x] Optimisation

[required] Description

Expanded the supervisor state to include lap counter field. Rather than have each processing node subscribe to the ‘counter’, ‘ready-to-drive’, and ‘state’ topics, this would consolidate these through a single signal monitor - vehicle supervisor.

[required] Documentation

Rev C added to: Driverless/Documentation/Software/Infrastructure/Vehicle State Control

[optional] Usability concerns or breaking changes?

Aligns with our new simulator state interface so that it can work optimally. Running the new interface requires this addition to extract the most out of it. REQUIRED: the mission launcher now starts a ROS 2 launch file from a different repo which is for better mapping packages: https://github.com/b1n-ch1kn/QUTMS_Nav_Integration Clone into the ~/QUTMS/ folder - next to this repo and the sim. Then follow the install instructions to install dependencies in the Readme.

[optional] Screenshots

[b1n-ch1kn]

Please add breaking change notes, as QUTMS_Nav_Integration needs to be checked out and built in order to run this.

Updated readme to include install instructions too

[b1n-ch1kn]

Not 100% sure how i feel about having that addition for pure pursuit TFs on this branch - it doesnt really fit the branch aim. I think it could be better suited in the upcoming pursuit additions

[Grant-ed]

I've moved the pure pursuit changes onto a new pure-pursuit-upgrade branch