Make use of pathplanner features

[amorygalili]

Some unexplored pathplanner features that could be useful:

• [ ] We're adding our own sendable chooser for picking autos, but pathplanner has a feature to do that for us: https://pathplanner.dev/pplib-build-an-auto.html#create-a-sendablechooser-with-all-autos-in-project
• [ ] Logging pathplanner robot pose and current path: https://pathplanner.dev/pplib-custom-logging.html
• [ ] Automatically find path to target pose while avoiding obstacles: https://pathplanner.dev/pplib-pathfinding.html
• [ ] Override robot rotation while following path (useful if we want to face something we've detected like a game piece): https://pathplanner.dev/pplib-override-target-rotation.html