For Motion Planning

PIDv4

PIDv1 - basic code with error wrt angle subtended to the next waypoint
PIDv2 - fixed many logical errors and implement rviz and matplotlib visualisation
PIDv3 - entire revamp of the code, error is now the cross track error.
PIDv4 (LATEST) - pid paramaters now support auto-tuning with respect to any path.

Image showing the auto-tuning process

Image showing the path followed with the tuned parameters for a sinosuidal curve

Also started changelog tracking in this repo

Initial works

Generates an Arbritary Occupancy Matrix Calculates target and its points Generates a straight line path to reach at a certain distance before it.
Plots a straight line path as shown. Magenta dot is start position. Green dot is target/stopping postion.