Added two reconfigurable parameters for the stanley controller for the steering.

cfg/AckermannLocalPlanner.cfg

@@ -103,6 +103,8 @@ splines.add("n1_samples",                int_t,     0, "Number of samples for th
 splines.add("n2_samples",                int_t,     0, "Number of samples for the N2 parameter of the spline",                                           10,1,100)
 splines.add("n3_samples",                int_t,     0, "Number of samples for the N3 parameter of the spline",                                           1,1,100)
 splines.add("n4_samples",                int_t,     0, "Number of samples for the N4 parameter of the spline",                                           1,1,100)
+splines.add("lateral_offset_gain",       double_t,  0, "Gain for the lateral offset steering correction",                                                0.1,0.001,10)
+splines.add("temp_horizon",              double_t,  0, "Future time to compute the control command",                                                     0.2,0.01,10)
 
 gen.add("restore_defaults",        bool_t,    0, "Restore to the original configuration.",                                                               False)