On-the-fly trajectories and following to field locations

[PChild]

Purpose The purpose of this addition is to add on-the-fly trajectory generation and following to the robot project. This should allow us to automate most if not all scoring actions when undefended.

Project Scope

• [ ] Use PathPlanner OTF to generate trajectories from current pose to important field locations (speaker? amp, source)
• [ ] Implement controls to allow drivers to use this
• [ ] Test in sim
• [ ] Test on hardware

[PChild]

I set this as Advanced because I'm not sure we want to prioritize it before Blacksburg, but it would be nice to have :)

[redPlover]

I started some of the boilerplate necessary for this in the auto PR. It "should be fairly easy" to incorporate.

[jkleiber]

Yeah this is firmly in the Advanced category (i.e. we should prioritize all MVP work over this)

[jkleiber]

This likely will be needed for #123

[jkleiber]

Arbitrary OTF will likely not make it in for VAFAL, moving to DCMP

[linglejack06]

@jkleiber i saw honzik added a OTF path generation command for climb, is it a lot of extra code to just add different poses in there? If not I could code that this weekend to have it ready.

[jkleiber]

@linglejack06 it's totally worth it for us to have additional locations if possible. We'll just need to get our climb stuff in first

[jkleiber]

@aidnem / @linglejack06 FYI, I'd like us to start making progress on this ticket in support of #182. Ideally they could be worked in parallel