Publish desired heading

[jamenkaye]

Purpose

Currently, we return 0.0 as the desired heading in node_navigate.py. We need to return the heading of the next local waypoint from the current boat position. We are referring to this line.

Description

[See above]

Resources

• https://github.com/UBCSailbot/local_pathfinding/blob/main/local_pathfinding/node_navigate.py#L154
• https://ubcsailbot.github.io/sailbot_workspace/main/reference/sailing/miscellaneous/ contains useful information on wind direction conventions and headings.