Path generation is done by making bezier curves between all points Alternative method is to use pure quadratic curves.
Choice can be made by setting Bezier to true or false in path_gains_config.yaml config file
point1 MUST be [0,0] as that is the starting point of Husky point2-point6 is configurable in path_gains_config.yaml If Bezier is set to false, subsequent points must have an increasing x-value
Control is done using simple proportional gain on the linear velocity and angular velocity of Husky Gains can be set using linearGain and angularGain in path_gains_config.yaml