Adding global-velocity-planner package to test the controllers

Description

Global velocity planner will run like the lane planner. It will fill the longitudinal velocity, acceleration, orientation, steering rate of trajectory point. It takes global route as input and it generates the trajectory. Generated trajectory will have longitudinal velocities with respect to curvatures of the global route.

Purpose

It will make easier to test controllers. It provides additional information like the reference velocity and acceleration for the controllers.

Desired Behavior

It will take the lateral and longitudinal acceleration as parameter, it listens the global route and creates trajectory.

Definition of Done

• Create waypoints by using global path
• Define longitudinal velocity of the trajectory points
• Test the trajectory with MPC