FSF-4929 | launch files + fixed control (#365)

added launch files for more disciplines in pacsim
fixed error in control node due to acos not clamped to [-1, 1], resulting in NaN steering
fixed car model not appearing in foxglove

gtruths/tracks/pacsim/skidpad/skidpad.csv

@@ -0,0 +1,116 @@
+x, y, color
+-1.637 , 0.0 , blue
+-2.216 , -2.913 , blue
+-3.867 , -5.382 , blue
+-6.336 , -7.033 , blue
+-9.25 , -7.612 , blue
+-12.16 , -7.033 , blue
+-14.63 , -5.382 , blue
+-16.28 , -2.913 , blue
+-16.86 , 0.0 , blue
+-16.28 , 2.9131 , blue
+-14.63 , 5.3828 , blue
+-12.16 , 7.033 , blue
+-9.25 , 7.6125 , blue
+-6.336 , 7.033 , blue
+-3.867 , 5.3828 , blue
+-2.216 , 2.9131 , blue
+1.7458 , 7.5041 , blue
+5.1887 , 9.8046 , blue
+9.25 , 10.612 , blue
+13.311 , 9.8046 , blue
+16.754 , 7.5041 , blue
+19.054 , 4.0612 , blue
+19.862 , 0.0 , blue
+19.054 , -4.061 , blue
+16.754 , -7.504 , blue
+13.311 , -9.804 , blue
+9.25 , -10.61 , blue
+5.1887 , -9.804 , blue
+1.7458 , -7.504 , blue
+-1.637 , 0.0 , blue
+16.862 , 0.0 , yellow
+16.283 , -2.913 , yellow
+14.632 , -5.382 , yellow
+12.163 , -7.033 , yellow
+9.25 , -7.612 , yellow
+6.3368 , -7.033 , yellow
+3.8671 , -5.382 , yellow
+2.2169 , -2.913 , yellow
+1.6375 , 0.0 , yellow
+2.2169 , 2.9131 , yellow
+3.8671 , 5.3828 , yellow
+6.3368 , 7.033 , yellow
+9.25 , 7.6125 , yellow
+12.163 , 7.033 , yellow
+14.632 , 5.3828 , yellow
+16.283 , 2.9131 , yellow
+-1.745 , 7.5041 , yellow
+-5.188 , 9.8046 , yellow
+-9.25 , 10.612 , yellow
+-13.31 , 9.8046 , yellow
+-16.75 , 7.5041 , yellow
+-19.05 , 4.0612 , yellow
+-19.86 , 0.0 , yellow
+-19.05 , -4.061 , yellow
+-16.75 , -7.504 , yellow
+-13.31 , -9.8 , yellow
+-9.25 , -10.61 , yellow
+-5.188 , -9.804 , yellow
+-1.745 , -7.504 , yellow
+16.862 , 0.0 , yellow
+-1.783 , 1.4851 , big_orange
+-1.783 , -1.485 , big_orange
+1.7837 , 1.4851 , big_orange
+1.7837 , -1.485 , big_orange
+-1.637 , -9.0 , orange
+-1.637 , -11.0 , orange
+1.6375 , -9.0 , orange
+1.6375 , -11.0 , orange
+-1.637 , 9.0 , orange
+-1.637 , 11.0 , orange
+-1.637 , 13.0 , orange
+-1.637 , 15.0 , orange
+-1.637 , 17.0 , orange
+-1.637 , 19.0 , orange
+1.6375 , 9.0 , orange
+1.6375 , 11.0 , orange
+1.6375 , 13.0 , orange
+1.6375 , 15.0 , orange
+1.6375 , 17.0 , orange
+1.6375 , 19.0 , orange
+-1.637 , 21.0 , orange
+1.6375 , 21.0 , orange
+-0.55 , 21.0 , orange
+0.55 , 21.0 , orange
+0.00024999999999997247 , 0.0 , midpoint
+0.0004499999999998394 , -2.913 , midpoint
+2.80645 , -6.443 , midpoint
+5.7627500000000005 , -8.4185 , midpoint
+9.25 , -9.111 , midpoint
+12.737 , -8.4185 , midpoint
+15.693000000000001 , -6.443 , midpoint
+17.6685 , -3.487 , midpoint
+18.362 , 0.0 , midpoint
+17.6685 , 3.48715 , midpoint
+15.693000000000001 , 6.44345 , midpoint
+12.737 , 8.418800000000001 , midpoint
+9.25 , 9.11225 , midpoint
+5.7627500000000005 , 8.418800000000001 , midpoint
+2.80645 , 6.44345 , midpoint
+0.0004499999999998394 , 2.9131 , midpoint
+-2.806 , 6.44345 , midpoint
+-5.7620000000000005 , 8.418800000000001 , midpoint
+-9.25 , 9.11225 , midpoint
+-12.735 , 8.418800000000001 , midpoint
+-15.690000000000001 , 6.44345 , midpoint
+-17.665 , 3.48715 , midpoint
+-18.36 , 0.0 , midpoint
+-17.665 , -3.487 , midpoint
+-15.690000000000001 , -6.443 , midpoint
+-12.735 , -8.416500000000001 , midpoint
+-9.25 , -9.111 , midpoint
+-5.7620000000000005 , -8.4185 , midpoint
+-2.806 , -6.443 , midpoint
+0.00024999999999997247 , 0.0 , midpoint
+0.0 , -14.4 , car_start