Lane Keeper

[Daniel-Martin576]

Goal: Make a node that maintains its lane within the urban challenge. The way we did this before was by merging the image from the left and right camera together with image_merger and then ran our drag race lane keeper code. This was kinda hacky but worked. Test to see if this solution works with urban challenge simulation and make a demo video. Reference the urc launch file with special attention to laplacian_line_detector_side, urc_sides_merger, and urc_centerline_planner. Make a new launch file for testing lane keeper capabilities. This should be a pretty simple issue if our old code works fine since it is mostly familiarizing yourself with the current stack, but if it doesn't work we will need to discuss alternatives. Use the branch from PR #350 since I fixed the side camera there.

New Files Created (at least): rr_iarrc/launch/planners/urc_lane_keeper.launch

Success Criteria:

• Test on Urban Challenge Simulation. Pick up the car and put it in a lane and ensure that it stays in the lane. Check for multiple lanes. Make a demo video.