[Feature]: Manual override during leaderboard testing

[vinzenzm]

Description

In current testing environment there is no way to intervene in vehicle action.
Due to non perfect implementation of perception, action and planning the vehicle often gets stuck on obstacles.
Also in different discussions with other students the wish for "reproducible" scenarios came up.

I therefore suggest implementing a manual override functionality. The operator should be able to maneuver the vehicle manually.
In best case scenario this could be done by keyboard or by a game-pad. A simpler solution would be to implement a qt-panel for rviz for simple steering and throttle.

Definition of Done

• vehicle can be maneuvered manually

[vinzenzm]

As described in #420 this currently relies on catkin_make beeing executed manually if any changes want to be made. Probably should not be merged until the mentioned issue is resolved.

[vinzenzm]

Current implementation (7edac9d)

[vinzenzm]

There is also a implementation from carla:
https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_manual_control/

In leaderdboard testing I couldn't get it to work yet. The pygame window opens and pressing 'B' will change Modes. There are however to topics beeing published to vehicle_cmd.

[ll7]

There is also a implementation from carla: https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_manual_control/

In leaderdboard testing I couldn't get it to work yet. The pygame window opens and pressing 'B' will change Modes. There are however to topics beeing published to vehicle_cmd.

If you launch with the carla manual control, you would have to disable the original vehicle control command or change the topic to a dead sink. Remapping the topic to a new dead sink topic should be possible with a dedicated .launch file.