Three major updates on this PR:
1) The camera sensor positions are not fixed in the code anymore. Users can define the relative position of a vehicle in the yaml file.
2) Safety manager is added to the cooperative driving system for each cav. It will prompt a safety message when hazards come.
3) We have made the configuration system more organized. We provide a yaml file called "default.yaml" with default parameters. The users can just change the part that needs to be modified in their own scenario yaml file.
Three major updates on this PR: 1) The camera sensor positions are not fixed in the code anymore. Users can define the relative position of a vehicle in the yaml file. 2) Safety manager is added to the cooperative driving system for each cav. It will prompt a safety message when hazards come. 3) We have made the configuration system more organized. We provide a yaml file called "default.yaml" with default parameters. The users can just change the part that needs to be modified in their own scenario yaml file.