Create dummy trajectory spoofer
Implement a simple ROS 2 node (not quite a planner), which periodically publishes a slightly nontrivial trajectory rooted at the latest (or maybe a lagging) VehicleKinematicState
.
Can use some of the functionality in https://gitlab.com/aninnymouse/mpc/blob/master/testing/motion_testing/include/motion_testing/motion_testing.hpp
or possibly extend stuff in https://gitlab.com/aninnymouse/mpc/tree/master/testing/motion_testing_nodes
Needed for #208 (closed)