Updated potential field planner

cubic_polynomial_planner/config/firefly_config.yaml

...clude/cubic_polynomial_planner/CubicPolynomialPlanner.hpp

cubic_polynomial_planner/launch/a2.launch

cubic_polynomial_planner/src/CubicPolynomialPlanner.cpp

kinematic_controller/CMakeLists.txt

kinematic_controller/config/joint_controller.yaml

kinematic_controller/config/joint_planner.yaml

...ntroller/include/kinematic_controller/JointController.hpp

kinematic_controller/launch/joint_controller.launch

kinematic_controller/package.xml

kinematic_controller/src/JointController.cpp

...tic_controller/src/__pycache__/mobilerobot.cpython-38.pyc

kinematic_controller/src/task_controller.py

potential_field_planner/CMakeLists.txt

..._planner/include/potential_field_planner/JointPlanner.hpp

potential_field_planner/src/JointPlanner.cpp

potential_field_planner/src/joint_planner_node.cpp