Feature/basic travel simulator

[MishkaMN]

PR Details

Description

This PR aims to enable platform to run in local VM wihtout needing anymore simulators.
We discussed in today's meeting how we could potentially make the carma run without any other simulators by just feeding its trajectory output directly back into the carma.
in this video, you can see platform appears to be "moving" and planning trajectories fine. This way, we could potentially catch any map issues beforehand without any vehicle, or other simulators.
I just did this locally in my VM running development configuration of carma.

NOTE: With current implementation it bypasses controller plugins (pure pursuit for example) and the speed is hardcoded to use n-th point in trajectory every 0.1s (which is almost constant n * 0.1 m/s) although it publishes correct speed.

Result video:
lane follow
https://leidos.enterprise.slack.com/files/USB9GLECD/F0793BW9TQT/basic_travel_simulator-2024-06-20_19.19.50-success.mp4
"workzone" using cooperative lanechange
https://leidos.enterprise.slack.com/files/USB9GLECD/F07913E37HB/workzone-with-fix-ui-2024-06-20_22.07.16.mp4

Related GitHub Issue

Related Jira Key

Motivation and Context

How Has This Been Tested?

Types of changes

• Defect fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that cause existing functionality to change)

Checklist:

• I have added any new packages to the sonar-scanner.properties file
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have added tests to cover my changes.
• All new and existing tests passed.

[MishkaMN]

Closing it for now not to clutter PR page, since we are not officially planned to merge this yet.