Skeleton of correct yaw behaviour tree nodes #59
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Left a bunch of comments with some thoughts.
Useful documentation that I based myself on:
https://py-trees.readthedocs.io/en/devel/behaviours.html
https://py-trees.readthedocs.io/en/devel/composites.html
Also see #56 for the diagram I drew out to start drafting the code.
If correct yaw works, the other nodes should be similar in code/design and a lot of the code can be reused.
So this PR focuses on only implementing the skeleton code for the correct yaw node of the maintain orientation node of the first iteration of navigation behaviour tree.
The idea is to discuss and refine this then extend to the entire navigation behaviour tree. Then once we get task handbook we will have to design how to determine what conditions will tick the "correct" nodes. (correct orientation, etc.). This also means that the error threshold needs to be carefully determined.