Mapping planned path

[ZCKaufman]

• LCM .py import types corrected This should fix the decoder error
• Adds drawing with planned path You should be able to see the path the robot will traverse after it plans with A* NOTE: Currently the map lags too much so this is hard to test
• Created new LCM type with plan request planner_request_t and the .py should be included in the repo
• TODO: Add right click or ctrl+click for moving without a plan
• Corrected X/Y inversion on map The yellow marker should no longer exist, the green marker should show up on the cell you clicked. Origin is at lower left and X should be horizontal, Y should be vertical