Added Hydro-compatible sbpl lattice planner code
Added Ackermann motion primitives and sbpl config
SBPL test environment is working using a first-pass motion primitive file

Run the test sbpl launch file to test sbpl (using rviz)
First pass of the Smoooooth local planner
The smooth planner receives paths from SBPL lattice planner
Changed the smooth planner topic subscription name and added remap
The Smooth planner receives path messages from SBPL
WIP - the smooth planner code to compute and assign times and velocities to a path

This does not compile yet.  I just want to check point my work thus far
Fixed compile errors and added rviz Marker visualization publishing
Fixed runtime .so link issues and added vector marker visualization for velocity along path
Added deceleration computation and fixed bug in sbpl

The acceleration and deceleration is supposed to be symmetric, but it isn't.  There is still a bug lurking about...
Merge remote-tracking branch 'origin/pvt_segment_mode' into sbpl

Conflicts:
	ros_workspace/src/platform_motion_msgs/CMakeLists.txt
Publish platform_motion_msgs::Path
Created new module for sbpl_lattice_planner's msgs

This is a work around for a catkin_make msg build dependency bug
Fixed compile error
Updated lattice planner launch file to run on the robot
Merge remote-tracking branch 'origin/camera_sync' into sbpl

Conflicts:
	.gitmodules
Fixed duplicate line in launch file
Use pvtToZero instead of safety segment

More controlled decel, simpler path maintenance
Clear path and decel to stop on overrun