"Path planning using the Lanelet2 map (Global Planner)"

WIP #192 (closed)

• Update the global_path_planner pkg to include the drivable area in the route + update the design document
• Add the global_path_planner_node as the ROS interface to the global_path_planner, this includes

  Map loader client 2 Subscribers: current_pose, goal_pose 1 Publisher: send out the global path with PlanTrajectory message

At the moment, the binary map is loaded upon the Lanelet2GlobalPlannerNode construction. It is then waiting for the current and goal pose message. The global path is sent out after the goal_pose received, provided the map is loaded.