Description

DO NOT MERGE, SOME CHANGES ARE TESTING-ONLY AND WILL BREAK ON THE ACTUAL LEADERBOARD Vehicle_Controller:

Disabled the PID in vehicle controller
Disabled the tuning of the calculated Steering-Inputs from the Steering Controllers ( * -5 )
Removed the clipping of the carla-steering-singal to -0.75 ; 0.75 to now use the full range -1 ; 1. -> Vehicle_Controller should only "map" the steering-Inputs from rad to [-1 ; 1] and invert them (*-1) (since for the carla_steering-signal right and left are just inverted from what is calculated in both controllers). --> This simplifies the understanding of the signalflow for steering alot, and allows proper tuning of PurePursuit and Stanley in the future.

PurePursuit_Controller:

Simplified the way the look_ahead_distance is calculated without affecting the overall performance of the controller.
- Now it calculates the look_ahead_distance from current velocity only: = K_LAD * SPEED
- clips the calculated look_ahead__distance to fit the range [MIN_LA_DIST ; MAX_LA_DIST]
Tuned the 3 parameters K_LAD, MIN_LA_DISTANCE and MAX_LA_DISTANCE for a good working low-velocity steering controller (performing well to at least 10m/s)

Stanley_Controller:

Prepared this module for tuning in the upcoming Sprint for higher velocities (10 to 25 m/s)

Acting_DebuggerNode:

Updated the test-trajectories this Node can publish to better use the node for Steering-Tuning
Updated the testcases and introduced more global variables for even better Debugging/Tuning

Fixes #155 #141 (issue)

Does this PR introduce a breaking change?

Yes, we can now drive along a given trajectory again on the new leaderboard2.0 again.

The way the Vehicle Controller works with the steering Inputs is simplified and fixed
The PurePursuit Controller is highly simplified and tuned for lower speeds (since the Stanley Controller overall performs better at higher speeds, we will keep this design-decision from last PAF to use 2 Controllers up and running)

[x] My code follows the style guidelines of this project
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
[x] New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

Metric	Value
Avg. driving score	0.078603
Avg. route completion	0.735
Avg. infraction penalty	0.234915
Collisions with pedestrians	0.0
Collisions with vehicles	34.104
Collisions with layout	8.526
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.003
Route deviations	0.0
Route timeouts	17.052
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	17.052
Min speed infractions	0.0