Global Path Smoothing

[Udit8348]

Problem: Path is not smooth

• Probably because of resizing but not the only issue
• Other features use global path (progress heuristic and opponent car predictor)
• Likely with have to apply some path smoothing
• It would be nice to know how long it takes to produce a global path. (it is like 10 secs might be a problem)
• The code can def be a bit cleaner (optional)
• If possible, fix issue where map is not displayed probably in different reference frames in rviz