[x] Update readme descriptions and example param file with new / removed parameter types
[x] Add discussion on tuned behavior with obstacle repulsion critic with weight, costmap scale, distance, and entry cost from non-free space. Document if not, awkward manuevors, wobbles, or refusing to go into non-free space from free space.
[x] retune obstacle costmap for avoiding obstacles well without path + path align to follow path without major short cutting + path follow to meet other 2 and continue to drive forward
[ ] Update defaults in: critic files, readme table, and example YAML
[x] ~Backup idea: Creates a potential tunnel + prob better alignment near paths in obstacle critic~
[x] ~Backup idea: have rules in place for the path align and obstacle critics to allow to deviate if dynamic obstacles blocking path. gain schedule weights; if major disagreement, go with obstacle; secondsary soft resets ignore path align for a bit; etc~
Tuning requirements
[x] OB: No difficult going from free to non-free
[x] OB: No awkward maneuvors only in free space
[x] OB: No getting too close to obstacles
[x] OB: Generally stay in the center of spaces
[x] OB: Can go through confined spaces without local minima blocking (see pt 1)
[x] PA: No path shortcutting
[x] PA: No substantive or problematic slow down in turning
[x] PA: Can go off path to align, reverse for preferring forward, and generally not awkwardly staying on path when starting or with large errors
[x] PF: Still going full speed but with reasonable acceleration characteristics
[x] General: Handle dynamic obstacles in the way but also generally follow path. Special conditions in the path following and alignment logic when path spaces are blocked
[x] ~Backup idea: have rules in place for the path align and obstacle critics to allow to deviate if dynamic obstacles blocking path. gain schedule weights; if major disagreement, go with obstacle; secondsary soft resets ignore path align for a bit; etc~
Tuning requirements