[TASK] Path generation

[jorgenfj]

Description of task

Create a ros node that generates a path to a waypoint.
We plan to use Isaac Ros Nvblox to generate a 2D slice of the environment in the form of a Euclidean Signed Distance Fields (ESDF). We need a way to generate a safe path to this waypoint in the 2D-plane.

Suggested Workflow

• Here is the paper explaining how Nvblox works if you are interested.
• Read up on different path planning/generation techniques that are applicable to an ESDF

Specifications

• The path should ideally consist of a set of straight lines to be compatible with the auto system.

Contacts

@Andeshog(rider)
@jorgenfj

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)