CleanUp and Overhaul of Acting ; Final Steering

[hellschwalex]

Description

• Finalized Steering to only use the well-working and now extended PurePursuit Controller.
• New Folder OBSOLETE with old, no longer needed Components, drastically simplifying Acting.
• Overhauled Code to be more readable, Comments etc.

Fixes #168 #167 #52 #206 (issue)

Type of change

• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Does this PR introduce a breaking change?

Stanley Controller is no longer used, PurePursuit drastically improved to now be useable at all speeds (tested to 20m/s)

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.119232
Avg. route completion	0.34
Avg. infraction penalty	0.328024
Collisions with pedestrians	0.0
Collisions with vehicles	20.684
Collisions with layout	62.053
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.003
Route deviations	0.0
Route timeouts	20.684
Agent blocked	20.684
Yield emergency vehicles infractions	0.0
Scenario timeouts	20.684
Min speed infractions	0.0

[samuelkuehnel]

Nice fixes, thanks for removing the ACC and adjusting the steering