[Feature Request] Simulate uncertainty of state and observations

[c-salmi]

🚀 Feature Request

Include customizable uncertainty to help make the benchmarks more representative of real scenarios.

Motivation

At this moment the planner will have access to the ground truth state and observation (in the form of obstacle positions) from the physics simulator. However, in the real world this will not be the case. Including customizable uncertainty could help make the benchmarks more representative of real scenarios.

[maxspahn]

This should probably be solved inside the simulation environments. Then, a function (or option) is exposed to the application, like in this case the localPlannerBench.