Implement ackermann steering #2
Description
Ackerman steering reduces the amount the wheels are scrubbed when turning, this should, in principle, make the car handle better.
In principle, we could implement this geometrically by having a desired given turning radius. However this isn't like most road cars, we should have both an "ideal" low speed turning radius and an ackermann percentage.
https://www.racecar-engineering.com/articles/tech-explained-ackermann-steering-geometry/
In general, ackermann also depends on toe, which we currently do not implement.