Implement lane change maneuver about selfie_carolocup2019 HOT 5 CLOSED

Status: in progress

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This issue depends on #34.

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@Goldob
Please look at test node. I have implemented the demo version of code. I need to know if this seems ok.
Please do:
A) branch change_line
B) roscore

1. rosrun selfie_control demo_position (one command window)
2. rosrun selfie_control change_lane _lane_width:=1 _error_margin:=0.1 (another command window, width positive, error_margin positive)
3. rosrun selfie_control demo_change_lane _lane:=l (or _lane:=r, another command window, should run commands with l or r argument)

If this is what was needed we could talk about what should be pushed to develop branch (I don't know about demo nodes and I will delete ROS_INFO also inside it couse this is only for demo).

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@nels3 I looked, and I have some comments. Please create a PR where we can discuss them.

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Implemented in #37.

from selfie_carolocup2019.