Make creating a planner optional
Issue
Context
Make the core of the planning and control section about control but leave the local planner creation as something optional that they could do.
Problem or idea
This can be done by adding a static trajectory publisher that would just publish a static path. An easy way to go about it would be to run the global planner on a few tracks record the optimized path (maybe unoptimized as well) and then just save those here and publish them statically.
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