Autonomy Testing 10/2

[qhdwight]

Tested the autonomy stack today. Ended with successfully getting to a waypoint published by the debug script. No ArUco tag yet, ran out of time.

Notes

• Need a launch script for debug script + navigation
• Probably should switch back to radians instead of dot product for error
• Need to solidify the topic names for GPS and IMU, currently they are different between sim and rover
• Added a static broadcaster between base_link and imu_link, we should add a gps_link (also this should be done by xacro?)
• The navsat transform node barely gives any info when it lacks info, makes it hard to debug
• Spin outer wheels faster than inner?