Planning revamp

[b1n-ch1kn]

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

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

[required] Description

Added a new path planner implementation. Used by TU Berlin (FaSTTUBe) for global planning within a search window in front of the vehicle. This adds a ROS wrapper around the planner object:

• Subscribes to cone map, car pose TF
• Publishes path, boundaries, occupancy grid map of boundaries

[required] Documentation

Explanation on how this works: https://papalotis-ft-fsd-path-planning-streamlit-main-63xmrt.streamlit.app/

[optional] Usability concerns or breaking changes?

N/a

[b1n-ch1kn]

LGTM pending carpark test

Carpark test pended