Major updates

[SteveMacenski]

• Complete obstacle critic changes
• Update readme descriptions and example param file with new / removed parameter types
• Add discussion on tuned behavior with obstacle repulsion critic with weight, costmap scale, distance, and entry cost from non-free space. Document if not, awkward manuevors, wobbles, or refusing to go into non-free space from free space.
• retune obstacle costmap for avoiding obstacles well without path + path align to follow path without major short cutting + path follow to meet other 2 and continue to drive forward
• Update defaults in: critic files, readme table, and example YAML

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• Backup idea: Creates a potential tunnel + prob better alignment near paths in obstacle critic
• Backup idea: have rules in place for the path align and obstacle critics to allow to deviate if dynamic obstacles blocking path. gain schedule weights; if major disagreement, go with obstacle; secondsary soft resets ignore path align for a bit; etc

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Tuning requirements

• OB: No difficult going from free to non-free
• OB: No awkward maneuvors only in free space
• OB: No getting too close to obstacles
• OB: Generally stay in the center of spaces
• OB: Can go through confined spaces without local minima blocking (see pt 1)
• PA: No path shortcutting
• PA: No substantive or problematic slow down in turning
• PA: Can go off path to align, reverse for preferring forward, and generally not awkwardly staying on path when starting or with large errors
• PF: Still going full speed but with reasonable acceleration characteristics
• General: Handle dynamic obstacles in the way but also generally follow path. Special conditions in the path following and alignment logic when path spaces are blocked