Implemented gradual trajectory change - if the new trajectory's orientation is within 20 degrees of the current one, the robot will keep the linear velocity while rotating to the new orientation. This allows for much smoother movement because the robot doesn't have to completely stop and turn each time a new trajectory comes in. The linear velocity chosen is the velocity the robot will move once the new orientation has been met.
The control cycle is now delayed until 75 generations have occurred. This delay helps the population form a near-optimal trajectory before the robots begin moving.
I bought a new wifi adapter for robot 1 because 1) it never had full strength with the on-board adapter and 2) I wanted it to be the same setup as the other robot. I had to update the new ip address in the launch files.
Removed the _full.launch files in launch_include