[Feature]: Create new message type for trajectory messages

[Vroni27]

Feature Description

So far, the planning component publishes a path that is used by the acting component afterwards. In issue #487, the planning and acting team decided that it would be helpful for the acting team to get information like "in 50 m, there is a speed sign which states a maximum speed of 50 km/h" in advance. Since it is complicated to send and handle this type of message, we decided to adapt the Path messages sent on the topic paf/hero/trajectory. For this, we want a new message type to be created which looks somewhat like this:

paf_msg/Trajectory
Header header
paf_msgs/Waypoint waypoints[]

paf_msg/Waypoint
geometry_msgs/Point position
float speed
uint8 behaviour

For the behaviour, a global file with an empty enum should be created. Every behaviour then gets an id which is used in the messages.

Definition of Done

• Message type is created
• File for the behaviours with their ID is created

Effort Estimate

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Testability

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Dependencies

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