Apply Changes from Integration to Master - behavior_planner

#687 (closed)

This merges feature developed in integration branch which was used for AVP demo. Major changes includes:

• Fix interaction with global_planner

• Cropping of trajectory before passing to obstacle collision estimator

• Add gear change features

• Add parameter to set offsets to a switching point between lane_planner and parking_planner

• bug fixes:

  • goal arrival conditions
  • vehicle stopping condition
  • lint errors

• Still working on fixing CI.