Merge branch 'development' into 'master'

Development

See merge request !3

params/global_planner/iri_opendrive_params.yaml

 base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
 OpendriveGlobalPlanner:
+  opendrive_frame: "opendrive"
   angle_tol: 0.5
   dist_tol: 0.3
   multi_hyp: True

params/local_planner/ackermann_params.yaml

@@ -42,6 +42,9 @@ AckermannPlannerROS:
   wheel_distance: 0.265
   wheel_radius: 0.05
 
+  use_trans_vel_deadzone: true
+  trans_vel_deadzone: 0.1
+
   split_ignore_length: 0.1
 
   cmd_vel_avg: 1