[demo] More 'robotic' behavior demonstration

[SteveMacenski]

In the last couple of years, I've worked to add in algorithms and systems with the idea that a global path is a general sense of a route and I would like dynamic behavior to be possible by the robot using the trajectory planners where ever possible.

I did add in the RPP controller that's a path follower (and obviously MPPI can be tuned for that as well), so I think it would be useful to have a configured robot setup that does more or less very robotic behavior that it precisely rotates to the path heading with the shim controller & stops, follows the path accurately, stops with obstacles, and waits. The more traditional back of house behavior for robotic systems, rather than the highly fluid and dynamic systems I generally work towards.

So action items: Retune and provide an example of a very rigid path following system rather than giving the the trajectory planner broad leeway to find its own way through the world using the global path as a general sense of direction. It may involve a bit of development, but should be straight forward when problems are run into.

Two demos I think would be nice:

• the robotic demo for a usual AMR application
• A robotic demo where its using a QR code grid-esk planner that it goes to each thing. Stops, rotates as needed, and continues.