Add LocalPath topic for website to visualize

[jamenkaye]

Description

Local Pathfinding would like to visualize paths on the website. This provides a ROS topic to communicate the path to the website.

Verification

• The local path is just a list of waypoints, so the implementation is identical to the Global Path

Things I'd like to confirm:

• Do I need to do anything to indicate the topic is named local_path or does that just come up when the publisher is made? I couldn't find anything analogous with global_path
• Can someone please confirm the changes I made to the readme are accurate?

Also, should we rename the GlobalPath type to just Path or WaypointList or something, since the same type is used for Local and Global paths?

[jamenkaye]

Patrick pointed out that Pathfinding may want to communicate other data to the website to be visualized. This data can now be added to the LPathData type. As I'm still unsure exactly what form the other data will take, I haven't added it yet, so currently LPathData just includes a Path.

I'm not sure how to fix the failing test? I thought the colcon test was for tests in the test folder, but this repo doesn't seem to have one.

[patrick-5546]

I'm not sure how to fix the failing test?

It can't build, you can verify this by running the build package for custom_interfaces task locally.

You have to add your new msg here: https://github.com/UBCSailbot/custom_interfaces/blob/d3c8af1e4c0fe6d7848031569187f81330e49785/CMakeLists.txt#L16-L35