changed velocity joystick

increased gain io lin

added safety check for reaching waypoints

put flag to not use synced sim

fixed odometry values

fixed discontinuity for wheeled odom

added try catch for jax and acados

added jaxlib in docker, changed default controller ros

update alias startup coppeliasim

restoring docker as main install instruction

restoring docker as main install instruction

removed slam toolbox

re-added slam toolbo

re-added docker instruction

minor fix